7 papers
A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration
Kuan Xu, Ruimeng Liu, Yizhuo Yang +5
Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operat…
Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies
Junhe Sheng, Ruofei Bai, Kuan Xu +5
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, b…
LST-SLAM: A Stereo Thermal SLAM System for Kilometer-Scale Dynamic Environments
Zeyu Jiang, Kuan Xu, Changhao Chen
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) rem…
A Fast and Light-weight Non-Iterative Visual Odometry with RGB-D Cameras
Zheng Yang, Kuan Xu, Shenghai Yuan +1
In this paper, we introduce a novel approach for efficiently estimating the 6-Degree-of-Freedom (DoF) robot pose with a decoupled, non-iterative method that capitalizes on overlapp…
Enhancing Scene Coordinate Regression with Efficient Keypoint Detection and Sequential Information
Kuan Xu, Zeyu Jiang, Haozhi Cao +3
Scene Coordinate Regression (SCR) is a visual localization technique that utilizes deep neural networks (DNN) to directly regress 2D-3D correspondences for camera pose estimation.…
AirSwarm: Enabling Cost-Effective Multi-UAV Research with COTS drones
Xiaowei Li, Kuan Xu, Fen Liu +3
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widesp…