1 citations · 1 across the 10 of their papers we have counts for
10 papers
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Tianyu Yang, Yiming Zeng, Wenzhe Cai +5
Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nomina…
Unordered Landmark Visual Navigation
Hao Ren, Junzhe Zhu, Yihan Li +8
Image-goal navigation is a fundamental capability for embodied AI, yet its practical deployment is strained by strong prior assumptions. Existing methods predominantly rely on temp…
RLMM-Flow: A Flow-based Mobile Manipulation Framework with Latent-Space Reinforcement Learning
Shuhang Wang, Ziming Li, Hui Cheng
Mobile manipulation requires generating whole-body action chunks that jointly satisfy goal reaching, collision avoidance, base kinematic constraints, manipulator joint limits, and…
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Hao Ren, Zetong Bi, Yiming Zeng +5
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when up…
STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation
Hao Ren, Zetong Bi, Yiming Zeng +3
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches hav…
GET: Goal-directed Exploration and Targeting for Large-Scale Unknown Environments
Lanxiang Zheng, Ruidong Mei, Mingxin Wei +2
Object search in large-scale, unstructured environments remains a fundamental challenge in robotics, particularly in dynamic or expansive settings such as outdoor autonomous explor…
Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models
Hao Ren, Yiming Zeng, Zetong Bi +3
Recent advancements in diffusion-based imitation learning, which show impressive performance in modeling multimodal distributions and training stability, have led to substantial pr…
NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigation
Yiming Zeng, Hao Ren, Shuhang Wang +2
Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize…
OPG-Policy: Occluded Push-Grasp Policy Learning with Amodal Segmentation
Hao Ding, Yiming Zeng, Zhaoliang Wan +1
Goal-oriented grasping in dense clutter, a fundamental challenge in robotics, demands an adaptive policy to handle occluded target objects and diverse configurations. Previous meth…
LVDiffusor: Distilling Functional Rearrangement Priors from Large Models into Diffusor
Yiming Zeng, Mingdong Wu, Long Yang +4
Object rearrangement, a fundamental challenge in robotics, demands versatile strategies to handle diverse objects, configurations, and functional needs. To achieve this, the AI rob…