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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…