3 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.RO2025
Ergodic Trajectory Planning with Dynamic Sensor Footprints
Ziyue Zheng, Yongce Liu, Hesheng Wang +1
This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolution-varying sensor footprint. Ergodic planning offers a principled frame…
cs.RO2024
Multi-Agent Combinatorial Path Finding with Heterogeneous Task Duration
Yuanhang Zhang, Xuemian Wu, Hesheng Wang +1
Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their initial locations to destinations, visiting a set of intermediate target loc…