5 papers
DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation
Zheng Yang, Wenjie Zhang, Xiangyu Chen +9
Mobile manipulation requires a robot to coordinate base and arm motion under continuously changing viewpoints and contact conditions, within an action space far larger than that of…
Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification
Jiawen Wen, Penglei Sun, Wenjie Zhang +4
As embodied AI transitions to real-world deployment, the success of the Vision-and-Language Navigation (VLN) task tends to evolve from mere reachability to social compliance. Howev…
LGEST: Dynamic Spatial-Spectral Expert Routing for Hyperspectral Image Classification
Jiawen Wen, Suixuan Qiu, Zihang Luo +2
Deep learning methods, including Convolutional Neural Networks, Transformers and Mamba, have achieved remarkable success in hyperspectral image (HSI) classification. Nevertheless,…
Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis
Weisheng Xu, Jian Li, Yi Gu +12
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-bas…
SDG-Track: A Heterogeneous Observer-Follower Framework for High-Resolution UAV Tracking on Embedded Platforms
Jiawen Wen, Yu Hu, Suixuan Qiu +2
Real-time tracking of small unmanned aerial vehicles (UAVs) on edge devices faces a fundamental resolution-speed conflict. Downsampling high-resolution imagery to standard detector…