9 papers
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the states of an unknown and time-varying number of moving objects from n…
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger +1
Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding…
Building Explicit World Model for Zero-Shot Open-World Object Manipulation
Xiaotong Li, Gang Chen, Javier Alonso-Mora
Open-world object manipulation remains a fundamental challenge in robotics. While Vision-Language-Action (VLA) models have demonstrated promising results, they rely heavily on larg…
BEACON: Language-Conditioned Navigation Affordance Prediction under Occlusion
Xinyu Gao, Gang Chen, Javier Alonso-Mora
Language-conditioned local navigation requires a robot to infer a nearby traversable target location from its current observation and an open-vocabulary, relational instruction. Ex…
MobileOcc: A Human-Aware Semantic Occupancy Dataset for Mobile Robots
Junseo Kim, Guido Dumont, Xinyu Gao +3
Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomo…
Pushing Through Clutter With Movability Awareness of Blocking Obstacles
Joris J. Weeda, Saray Bakker, Gang Chen +1
Navigation Among Movable Obstacles (NAMO) poses a challenge for traditional path-planning methods when obstacles block the path, requiring push actions to reach the goal. We propos…
Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments
Gang Chen, Zhaoying Wang, Wei Dong +1
Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such…
Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps
Siyuan Wu, Gang Chen, Moji Shi +1
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynam…
Evaluating Dynamic Environment Difficulty for Obstacle Avoidance Benchmarking
Moji Shi, Gang Chen, Álvaro Serra Gómez +2
Dynamic obstacle avoidance is a popular research topic for autonomous systems, such as micro aerial vehicles and service robots. Accurately evaluating the performance of dynamic ob…