32 papers
GuideFetch: A Task Coordination Framework for Concurrent Navigation and Object Retrieval in Assistive Robot Dogs
Qian Yin, Ruiping Liu, Kunyu Peng +7
Consider a robot guide dog escorting a blind user to an available seat while a second assistive robot dog concurrently retrieves a cup of coffee and delivers it to the same seat. T…
HGeo-TopoMap: Boosting Topological Mapping with Hierarchical Geometric Priors
Siyu Li, Kunyu Peng, Di Wen +3
Topological maps are key outputs of autonomous driving perception systems, delivering essential road information for path planning. They identify instances such as centerlines and…
Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noise
Wenxin Li, Kunyu Peng, Di Wen +6
3D semantic occupancy prediction is a cornerstone of robotic perception, yet real-world voxel annotations are inherently corrupted by structural artifacts and dynamic trailing effe…
EgoExoMem: Cross-View Memory Reasoning over Synchronized Egocentric and Exocentric Videos
Ruiping Liu, Junwei Zheng, Yufan Chen +7
Egocentric memory is widely used in embodied intelligence, but it may be insufficient for comprehensive spatial-temporal reasoning. Inspired by human recall from both field and obs…
What if? Emulative Simulation with World Models for Situated Reasoning
Ruiping Liu, Yufan Chen, Yuheng Zhang +8
Situated reasoning often relies on active exploration, yet in many real-world scenarios such exploration is infeasible due to physical constraints of robots or safety concerns of v…
InterEdit: Navigating Text-Guided 3D Dyadic Human Motion Editing
Yebin Yang, Di Wen, Lei Qi +10
Text-guided 3D motion editing has seen success in single-person scenarios, but its extension to multi-person settings is less explored due to limited paired data and the complexity…