8 papers
Retrospective Open-Vocabulary Memory for Long-Term Object Search
Jiaming Wang, Zhiwei Xue, Chen Jizhuo +2
Long-term object search requires learning where objects usually appear from repeated but uneven observations of a changing environment. We formulate retrospective open-vocabulary m…
VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Lingwei Zhang, Jiaming Wang, Tianlin Zhang +5
Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissibl…
Change-Robust Online Topological Memory for Long-Term Relocalization and Semantic Navigation
Jiaming Wang, Jizhuo Chen, Diwen Liu +4
Long-term semantic navigation requires a robot to reuse past observations after appearance and scene change, but semantic memories are only useful if the robot can relocalize into…
TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasing
Jiaming Wang, Jizhuo Chen, Diwen Liu +5
Topological mapping offers a compact and robust representation for navigation, but progress in the field is hindered by the lack of standardized evaluation metrics, datasets, and p…
GBPP: Grasp-Aware Base Placement Prediction for Robots via Two-Stage Learning
Jizhuo Chen, Diwen Liu, Jiaming Wang +1
GBPP is a fast learning based scorer that selects a robot base pose for grasping from a single RGB-D snapshot. The method uses a two stage curriculum: (1) a simple distance-visibil…
GeNIE: A Generalizable Navigation System for In-the-Wild Environments
Jiaming Wang, Diwen Liu, Jizhuo Chen +4
Reliable navigation in unstructured, real-world environments remains a significant challenge for embodied agents, especially when operating across diverse terrains, weather conditi…
Training-free Task-oriented Grasp Generation
Jiaming Wang, Diwen Liu, Jizhuo Chen +1
This paper presents a training-free pipeline for task-oriented grasp generation that combines pre-trained grasp generation models with vision-language models (VLMs). Unlike traditi…
Probable Object Location (POLo) Score Estimation for Efficient Object Goal Navigation
Jiaming Wang, Harold Soh
To advance the field of autonomous robotics, particularly in object search tasks within unexplored environments, we introduce a novel framework centered around the Probable Object…