4 papers
PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration
Cunxi Dai, Haoran Chang, Aditya Nisal +5
Behavior cloning for contact-rich bimanual manipulation remains challenging because diverse demonstrations are expensive to collect, and even small disturbances can push the system…
SysNav: Multi-Level Systematic Cooperation Enables Real-World, Cross-Embodiment Object Navigation
Haokun Zhu, Zongtai Li, Zihan Liu +8
Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long…
NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
Botao He, Amir Hossein Shahidzadeh, Yu Chen +8
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions whil…
Search-Based Path Planning in Interactive Environments among Movable Obstacles
Zhongqiang Ren, Bunyod Suvonov, Guofei Chen +4
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the ro…