7 papers
Follow Everything: A Leader-Following and Obstacle Avoidance Framework with Goal-Aware Adaptation
Qianyi Zhang, Shijian Ma, Boyi Liu +2
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form…
SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation
Jincheng Wang, Lingfan Bao, Tong Yang +3
The challenge of generating reliable local plans has long hindered practical applications in highly cluttered and dynamic environments. Key fundamental bottlenecks include acquirin…
OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigation
Jianhao Jiao, Changkun Liu, Jingwen Yu +4
Scalable and maintainable maps are fundamental to large-scale navigation and the long-term deployment of robots in real-world environments. However, conventional maps that explicit…
UniGS: Unified Geometry-Aware Gaussian Splatting for Multimodal Rendering
Yusen Xie, Zhenmin Huang, Jianhao Jiao +2
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framew…
The Starlink Robot: A Platform and Dataset for Mobile Satellite Communication
Boyi Liu, Qianyi Zhang, Qiang Yang +3
The integration of satellite communication into mobile devices represents a paradigm shift in connectivity, yet the performance characteristics under motion and environmental occlu…
LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
Jianhao Jiao, Jinhao He, Changkun Liu +4
This paper presents LiteVLoc, a hierarchical visual localization framework that uses a lightweight topo-metric map to represent the environment. The method consists of three sequen…