8 papers
Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
Hongyu Ding, Sizhuo Zhang, Ziming Xu +13
Embodied navigation requires an agent to map language and visual observations to a stream of spatial actions that drive a real robot through environments it has never seen. The dom…
Metropolis-Scale Resilient and Trustworthy Traffic Flow Inference Using Multi-Source Data
Qishen Zhou, Yifan Zhang, Michail A. Makridis +3
Inferring network-wide traffic states from sparse observations with high accuracy and trustworthy uncertainty quantification is essential for intelligent transportation systems, ye…
Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion
Yifan Zhang, Yudong Huang, Yuchong Zhang +4
This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robot…
Mode-as-Sequence: Translating Multimodal Motion Prediction into Unified Sequential Mode Modeling
Zikang Zhou, Haibo Hu, Xinhong Chen +5
Multimodal motion forecasting is inherently under-supervised: each training scene provides only one realized future, yet multiple plausible futures exist. This sparse supervision o…
RE-SAC: Disentangling aleatoric and epistemic risks in bus fleet control: A stable and robust ensemble DRL approach
Yifan Zhang, Liang Zheng
Bus holding control is challenging due to stochastic traffic and passenger demand. While deep reinforcement learning (DRL) shows promise, standard actor-critic algorithms suffer fr…
The fragile nature of road transportation networks
Linghang Sun, Yifan Zhang, Cristian Axenie +3
Major cities worldwide experience problems with the performance of their road transportation networks, and the continuous increase in traffic demand presents a substantial challeng…