6 papers
The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms
Lingdong Kong, Shaoyuan Xie, Zeying Gong +135
Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under…
Stairway to Success: An Online Floor-Aware Zero-Shot Object-Goal Navigation Framework via LLM-Driven Coarse-to-Fine Exploration
Zeying Gong, Rong Li, Tianshuai Hu +6
Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements f…
Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalization
Jiaming Zhou, Ke Ye, Jiayi Liu +6
The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However…
SD-OVON: A Semantics-aware Dataset and Benchmark Generation Pipeline for Open-Vocabulary Object Navigation in Dynamic Scenes
Dicong Qiu, Jiadi You, Zeying Gong +3
We present the Semantics-aware Dataset and Benchmark Generation Pipeline for Open-vocabulary Object Navigation in Dynamic Scenes (SD-OVON). It utilizes pretraining multimodal found…
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation
Jiaming Zhou, Teli Ma, Kun-Yu Lin +3
Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited s…
From Cognition to Precognition: A Future-Aware Framework for Social Navigation
Zeying Gong, Tianshuai Hu, Ronghe Qiu +1
To navigate safely and efficiently in crowded spaces, robots should not only perceive the current state of the environment but also anticipate future human movements. In this paper…