4 papers
I2O2I-Nav: A Benchmark with a Modular Agent for Long-Horizon Indoor-to-Outdoor-to-Indoor Navigation
Zhengjie Shu, Wanyu Li, Di Xiao +11
Service and delivery robots often need to complete long-horizon navigation missions spanning indoor and outdoor environments. Existing embodied navigation benchmarks primarily eval…
Video2DoorTraversal: Push Door Traversal via Simulated Door Twins
Xincheng Tang, Yiji Chen, Youhan Xie +8
Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and coordinated base-arm control. We present Video2DoorTraversal, a sin…
StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots
Xincheng Tang, Youhan Xie, Zhengjie Shu +5
Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In th…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Wenkang Hu, Haoran Wang, Yitong Li +10
RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simul…