5 papers
Generation of Indoor Open Street Maps for Robot Navigation from CAD Files
Jiajie Zhang, Shenrui Wu, Xu Ma +1
The deployment of autonomous mobile robots is predicated on the availability of environmental maps, yet conventional generation via SLAM (Simultaneous Localization and Mapping) suf…
osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy
Yongqi Zhang, Jiajie Zhang, Chengqian Li +2
The deployment of mobile robots in large-scale, multi-floor environments demands navigation systems that achieve spatial scalability without compromising local kinematic precision.…
From Observation to Action: Latent Action-based Primitive Segmentation for VLA Pre-training in Industrial Settings
Jiajie Zhang, Sören Schwertfeger, Alexander Kleiner
We present a novel unsupervised framework to unlock vast unlabeled human demonstration data from continuous industrial video streams for Vision-Language-Action (VLA) model pre-trai…
WiFi-based Global Localization in Large-Scale Environments Leveraging Structural Priors from osmAG
Xu Ma, Jiajie Zhang, Fujing Xie +1
Global localization is essential for autonomous robotics, especially in indoor environments where the GPS signal is denied. We propose a novel WiFi-based localization framework tha…
Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot
Fujing Xie, Jiajie Zhang, Sören Schwertfeger
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike rob…