4 papers
FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion
Tao Dong, Jia Yu, Yuxuan Fan +5
Humanoid locomotion over complex terrain requires anticipating footholds that may no longer be visible at touchdown. Limited camera coverage and self-occlusion make it necessary to…
WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning
Chunkai Yang, Andong Yang, Chao Gao
Robot policies receive heterogeneous observations at each decision step, yet sequence models differ in how they organize these inputs over time. We introduce WorldToken, a time-fir…
AirDreamer: Generalist Drone Navigation with World Models
Zian Liu, Andong Yang, Chunkai Yang +3
Navigating a drone in unseen and cluttered environments requires reliable generalization to unseen scene layouts and understanding of environmental structure relative to the robot'…
Self-Aligning Depth-regularized Radiance Fields for Asynchronous RGB-D Sequences
Yuxin Huang, Andong Yang, Zirui Wu +6
It has been shown that learning radiance fields with depth rendering and depth supervision can effectively promote the quality and convergence of view synthesis. However, this para…