7 papers
UniNav: A Unified World-Action Diffusion Model for Visual Navigation
Changqing Zhou, Yueru Luo, Zeyu Jiang +1
Image-goal visual navigation is a fundamental capability for embodied agents. Existing navigation policies efficiently predict waypoint trajectories but lack visual foresight, whil…
Reasoning to Regulate: Chain-of-Thought for Traffic Rule Understanding
Yueru Luo, Xu Yan, Changqing Zhou +5
Understanding and complying with traffic regulations is a safety-critical requirement for autonomous driving, yet remains challenging due to the diversity and context dependence of…
GPOcc++: Unified Sparse Gaussian Occupancy Prediction with Visual Geometry Priors
Changqing Zhou, Yueru Luo, Yulan Guo +3
The paper introduces GPOcc and its extension GPOcc++, which turn visual geometry priors into sparse Gaussian occupancy representations for efficient 3D scene modeling, supporting b…
Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes
Changqing Zhou, Yueru Luo, Han Zhang +2
Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxon…
FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
Zeyu Jiang, Changqing Zhou, Xingxing Zuo +1
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for…
Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction
Changqing Zhou, Yueru Luo, Changhao Chen
Accurate 3D scene understanding is essential for embodied intelligence, with occupancy prediction emerging as a key task for reasoning about both objects and free space. Existing a…