Showing 2025Show all
3 papers · 1 filter
cs.RO2025
Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
Yue Hu, Junzhe Wu, Ruihan Xu +5
Semantic navigation requires an agent to navigate toward a specified target in an unseen environment. Employing an imaginative navigation strategy that predicts future scenes befor…
cs.RO2025
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +4
Designing optimal Bayes filters for nonlinear non-Gaussian systems is a challenging task. The main difficulties are: 1) representing complex beliefs, 2) handling non-Gaussian noise…
cs.RO2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
Sangli Teng, Tzu-Yuan Lin, William A Clark +2
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. Although direct trajectory optimization is widely applied to solve this problem,…