4 papers
EA-Nav: Learning Safe Visual Navigation Policies with Embodiment Awareness
Jialu Zhang, Yong Du, Xianda Guo +6
Cross-embodiment navigation is a key challenge in embodied intelligence. Due to differences in embodiment, the same visual observation may imply different actions for different age…
Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention
Siyu Wu, Linjing You, Junjie Zhu +10
World Action Models (WAMs) jointly predict future visual observations and actions, but visual futures alone often miss slip, jamming, contact-direction changes, and subtle misalign…
MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry
Jituo Li, Shunwang Sun, Jialu Zhang +5
Monocular visual odometry (MVO) is foundational to autonomous navigation and robotic localization. However, existing learning-based MVO approaches often struggle with either a lack…
Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion
Hassen Nigatu, Gaokun Shi, Jituo Li +2
This paper presents a kinematics-aware deep reinforcement learning framework based on Rainbow Deep Q-Networks (DQN) for cooperative peg-in-hole manipulation by a Delta parallel rob…