3 papers
cs.RO2026
SSMG-Nav: Enhancing Lifelong Object Navigation with Semantic Skeleton Memory Graph
Haochen Niu, Lantao Zhang, Xingwu Ji +3
Navigating to out-of-sight targets from human instructions in unfamiliar environments is a core capability for service robots. Despite substantial progress, most approaches underut…
cs.RO2025
A Skeleton-Based Topological Planner for Exploration in Complex Unknown Environments
Haochen Niu, Xingwu Ji, Lantao Zhang +3
The capability of autonomous exploration in complex, unknown environments is important in many robotic applications. While recent research on autonomous exploration have achieved m…
cs.RO2025
An Online Adaptation Method for Robust Depth Estimation and Visual Odometry in the Open World
Xingwu Ji, Haochen Niu, Dexin Duan +3
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a m…