General-purpose embodied robots should support both navigation toward language-specified destinations and dynamic person tracking under arbitrary initial target azimuths. However, existing methods typically rely on forward-facing observations and address these tasks with separate policies, limiting omnidirectional perc...
Peng-Fei Qi, Hao-Ran Lin, Si-Zhuang Chen et al.· 0 citations
Vision-Language-Action (VLA) policies have shown promising performance in language-conditioned robotic manipulation. However, most existing VLA systems rely on conventional perspective cameras with limited fields of view, often missing global scene context and leading to unreliable manipulation under visual occlusions,...
Peng Xu, Hao-Ran Lin, Wan-Jun Jia et al.· 0 citations
TONAV is presented, a unified framework integrating task-oriented navigation with action-velocity chunk learning that achieves higher success rates in both task-oriented navigation and complete mobile manipulation, mitigating the navigation-manipulation gap and improving continuous-contact interaction.
Hao-Ran Lin, Mingyu Yang, Peng-Fei Qi et al.· 0 citations
Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object interaction. However, existing methods often terminate navigation near the target, leaving a gap between reachability and manipulation readines...
Haoran Lin, Ming Yang, Pengfei Qi et al.· 0 citations
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