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cs.RO2025
LOG-Nav: Efficient Layout-Aware Object-Goal Navigation with Hierarchical Planning
Jiawei Hou, Yuting Xiao, Xiangyang Xue +1
We introduce LOG-Nav, an efficient layout-aware object-goal navigation approach designed for complex multi-room indoor environments. By planning hierarchically leveraging a global…
cs.RO2025
Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments
Jiawei Hou, Xiangyang Xue, Taiping Zeng
Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. W…
cs.RO2024
Topo-Field: Topometric mapping with Brain-inspired Hierarchical Layout-Object-Position Fields
Jiawei Hou, Wenhao Guan, Longfei Liang +3
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their rel…