4 papers
Beyond Waypoints: Dual-Heatmap Grounding for Cross-Embodiment Semantic Navigation
Kaijie Yun, Yue Chen
Grounding open-ended semantic instructions into physically executable local goals is a fundamental challenge in human-robot interaction. While existing navigation frameworks often…
Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generation
Zongwu Xie, Kaijie Yun, Yang Liu +2
We present a robust multi-modal framework for predicting traversability costmaps for planetary rovers. Our model fuses camera and LiDAR data to produce a bird's-eye-view (BEV) terr…
Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledge
Yiming Ji, Kaijie Yun, Yang Liu +4
The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location pr…
Neural-Network-Driven Reward Prediction as a Heuristic: Advancing Q-Learning for Mobile Robot Path Planning
Yiming Ji, Kaijie Yun, Yang Liu +2
Q-learning is a widely used reinforcement learning technique for solving path planning problems. It primarily involves the interaction between an agent and its environment, enablin…