2 papers
cs.RO2026
HCSG: Human-Centric Semantic-Geometric Reasoning for Vision-Language Navigation
Haoxuan Xu, Tianfu Li, Wenbo Chen +7
VLN has achieved remarkable progress by scaling data and model capacity. However, the assumption of a static environment breaks down in real-world indoor scenarios, where robots in…
cs.RO2024
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments
Jianhao Jiao, Ruoyu Geng, Yuanhang Li +7
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges r…