4 papers · 1 filter
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…