7 papers
LH-AVLN: A Benchmark for Long-Horizon Audio-Visual-Language Navigation
Rufeng Chen, Yue Chang, Zili Shao +5
Embodied navigation is moving toward long-horizon missions, yet existing long-horizon benchmarks are largely acoustically silent, and audio-visual navigation tasks typically focus…
Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics
Yue Chang, Rufeng Chen, Yifan Tian +7
While 3D Scene Graphs (3DSGs) provide crucial structured representations for embodied agents, conventional Ahead-of-Time, build-everything-then-filter pipelines conflict with the r…
PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making
Rufeng Chen, Yue Chang, Xiaqiang Tang +2
Open-vocabulary navigation requires embodied agents to manage significant perception uncertainty stemming from semantic ambiguity and model errors. However, most existing works set…
SAM-Sode: Towards Faithful Explanations for Tiny Bacteria Detection
Wanying Tan, Shuo Yan, Dazhi Huang +7
Interpretability in object detection provides crucial confidence support for clinical auxiliary diagnosis. However, in tiny bacteria detection, traditional explanation methods ofte…
Quantile Geometry Regularization for Distributional Reinforcement Learning
Zhaofan Zhang, Minghao Yang, Rufeng Chen +2
Quantile-based distributional reinforcement learning methods learn return distributions through sampled quantile regression, but their bootstrapped target quantiles may induce dist…
Decoupled Guidance Diffusion for Adaptive Offline Safe Reinforcement Learning
Rufeng Chen, Zhaofan Zhang, Zhejiang Yang +2
Offline safe reinforcement learning often requires policies to adapt at deployment time to safety budgets that vary across episodes or change within a single episode. While diffusi…