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cs.CV2025
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…
cs.RO2025
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…
cs.RO2025
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…