1 citations · 2 across the 4 of their papers we have counts for
5 papers
Boosting Vision-Language-Action Finetuning with Feasible Action Neighborhood Prior
Haochen Niu, Kanyu Zhang, Shuyu Yin +3
In real-world robotic manipulation, states typically admit a neighborhood of near-equivalent actions. That is, for each state, there exist a feasible action neighborhood (FAN) rath…
SSMG-Nav: Enhancing Lifelong Object Navigation with Semantic Skeleton Memory Graph
Haochen Niu, Lantao Zhang, Xingwu Ji +3
Navigating to out-of-sight targets from human instructions in unfamiliar environments is a core capability for service robots. Despite substantial progress, most approaches underut…
An Online Adaptation Method for Robust Depth Estimation and Visual Odometry in the Open World
Xingwu Ji, Haochen Niu, Dexin Duan +3
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a m…
A Skeleton-Based Topological Planner for Exploration in Complex Unknown Environments
Haochen Niu, Xingwu Ji, Lantao Zhang +3
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved m…
Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency
Xingwu Ji, Peilin Liu, Haochen Niu +3
Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present a…