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cs.RO2026
Point-Level Refinable Semantic Mapping for Spatial Understanding
Taimeng Fu, Yi Du, Zitong Zhan +4
Open-vocabulary 3D semantic maps have emerged as a key spatial memory representation for long-horizon robot autonomy, enabling robots to reason about objects, their spatial relatio…
cs.CV2026
HAVANA: A Hierarchical Video-Action Model for Vision-Language Navigation
Dongzhihan Wang, Yi Du, Chen Wang +2
Vision-Language Navigation (VLN) requires long-horizon instruction-consistent planning and short-horizon local planning in current geometry. Video-action models (VAMs) offer a prom…
cs.CV2026
GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning
Yiren Lu, Yi Du, Disheng Liu +3
Effective embodied exploration requires agents to accumulate and retain spatial knowledge over time. However, existing scene representations, such as discrete scene graphs or stati…