8 papers
StageVLN: Spatial and Trajectory Auxiliary Guidance for Efficient Vision-Language Navigation
Anh Dao, Quan-Dung Pham, Le Danh Vinh +6
Vision-and-Language Navigation (VLN) policies increasingly benefit from strong semantic priors provided by large vision-language models (VLMs). However, standard action supervision…
Learning Reflexive Behavior for Contact-Rich Manipulation
Quan Nguyen, Yunho Kim, Joonho Lee
During contact-rich manipulation, interactions between a robot and its environment carry information about local geometry: a surface prevents penetration, a bore guides a peg. A co…
Bundled Contact Gradients: Stabilizing Differentiable Simulation for Deployable Dynamic Tasks
Dyuman Aditya, Jin Cheng, Clemens Schwarke +4
Differentiable simulation provides analytic gradients of robot dynamics, enabling fast and sample-efficient first-order policy optimization. However, obtaining smooth and informati…
OREN-X: Octree Residual Network for Real-Time Multi-Modal Mapping
Zhirui Dai, Qihao Qian, Dinh Minh Nguyen +6
To achieve general-purpose autonomy over long horizons, a robot needs to maintain spatial environment information that supports a variety of tasks: geometry for planning and contro…
OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation
Dinh Tuan Nguyen, Anh Dao, Phuong Nam Dang +4
Open-vocabulary 3D scene graphs provide compact semantic memory for language-guided navigation, but mapped objects are often exposed through a single fused feature or committed sem…
HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments
Quan-Dung Pham, Anh Dao, The-Anh Nguyen +8
Vision-Language Navigation (VLN) for humanoid robots poses challenges existing benchmarks fail to address: bipedal locomotion imposes physical constraints absent from wheeled agent…
Mastering Agile Jumping Skills from Simple Practices with Iterative Learning Control
Chuong Nguyen, Lingfan Bao, Quan Nguyen
Achieving precise target jumping with legged robots poses a significant challenge due to the long flight phase and the uncertainties inherent in contact dynamics and hardware. Forc…
Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots
Chuong Nguyen, Abdullah Altawaitan, Thai Duong +2
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To addre…