5 papers
UniNav: A Unified World-Action Diffusion Model for Visual Navigation
Changqing Zhou, Yueru Luo, Zeyu Jiang +1
Image-goal visual navigation is a fundamental capability for embodied agents. Existing navigation policies efficiently predict waypoint trajectories but lack visual foresight, whil…
Reasoning to Regulate: Chain-of-Thought for Traffic Rule Understanding
Yueru Luo, Xu Yan, Changqing Zhou +5
Understanding and complying with traffic regulations is a safety-critical requirement for autonomous driving, yet remains challenging due to the diversity and context dependence of…
GPOcc++: Unified Sparse Gaussian Occupancy Prediction with Visual Geometry Priors
Changqing Zhou, Yueru Luo, Yulan Guo +3
Accurate 3D scene understanding is fundamental to embodied intelligence and autonomous driving, where 3D occupancy provides a unified representation of objects, structures, and fre…
FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
Zeyu Jiang, Changqing Zhou, Xingxing Zuo +1
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for…
Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction
Changqing Zhou, Yueru Luo, Changhao Chen
Accurate 3D scene understanding is essential for embodied intelligence, with occupancy prediction emerging as a key task for reasoning about both objects and free space. Existing a…