Author

Ruimeng Liu

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Preprint Sep 2026

Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

Legged robots under sparse waypoint guidance must avoid moving obstacles using partial, rapidly changing LiDAR observations. We present LOOP (Latent-recurrent Occupancy rollOut Policy), a local avoidance policy that connects sparse waypoint guidance to a frozen locomotion controller at 50 Hz. From occupancy and ego-vel...

Yu-Hui Mao, Fen Liu, Sheng-Hai Yuan et al. · 0 citations

Jul 2026

G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation

G2-Nav is presented, a novel framework that grounds abstract social reasoning and guards safe real-world deployment in unstructured environments by translating its semantic reasoning into a vision-language costmap with reliability and interpretability.

Yuwen Liao, Yihang Lan, Yizhuo Yang et al. · arXiv.org · 0 citations