12 papers
OmniVLN: Omnidirectional 3D Perception and Token-Efficient LLM Reasoning for Visual-Language Navigation across Air and Ground Platforms
Zhongyuang Liu, Min He, Shaonan Yu +5
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliab…
Topological Motion Planning Diffusion: Generative Tangle-Free Path Planning for Tethered Robots in Obstacle-Rich Environments
Yifu Tian, Xinhang Xu, Thien-Minh Nguyen +1
In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planne…
Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain
Jiaxing Li, Wen Tian, Xinhang Xu +3
Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-h…
AEOS: Active Environment-aware Optimal Scanning Control for UAV LiDAR-Inertial Odometry in Complex Scenes
Jianping Li, Xinhang Xu, Zhongyuan Liu +3
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload c…
Following Is All You Need: Robot Crowd Navigation Using People As Planners
Yuwen Liao, Xinhang Xu, Ruofei Bai +4
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight p…
AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness
Yizhuo Yang, Shenghai Yuan, Muqing Cao +2
In this study, we introduce AV-PedAware, a self-supervised audio-visual fusion system designed to improve dynamic pedestrian awareness for robotics applications. Pedestrian awarene…