From the 1 of 7 linked papers with an AI index.
7 papers
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Tianyu Yang, Yiming Zeng, Wenzhe Cai +5
The paper introduces X-NavDP, a diffusion-based visual navigation policy that is fine‑tuned with a novel Group Q-score Reweighted Matching (GQRM) reinforcement learning framework t…
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Hao Ren, Zetong Bi, Yiming Zeng +5
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when up…
STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation
Hao Ren, Zetong Bi, Yiming Zeng +3
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches hav…
RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
Zhaoliang Wan, Zetong Bi, Zida Zhou +7
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To ac…
Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models
Hao Ren, Yiming Zeng, Zetong Bi +3
Recent advancements in diffusion-based imitation learning, which show impressive performance in modeling multimodal distributions and training stability, have led to substantial pr…
NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigation
Yiming Zeng, Hao Ren, Shuhang Wang +2
Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize…