4 papers
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…
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…