Author

Shu-Hao Ye

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Preprint Oct 2026

Learning Modular Policy for Multi-Floor Object Navigation:A Factorized Framework for Diagnostic Study

Object-goal navigation (ObjectNav) in multi-floor scenarios presents a challenge due to sparse rewards caused by long-horizon decision-making. In this paper, we propose a diagnostic study based on a modular framework with an effective learnable policy to analyze failure factors in multi-floor scenarios. To achieve an e...

Shi-Chao Zhai, Shu-Hao Ye, Rong Xiong et al. · 0 citations

Preprint Sep 2026

StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry

Mobile robots and vehicles carry synchronized multi-camera rigs, yet many streaming 3D foundation models are designed for monocular input, leaving efficient use of rig geometry a challenge. We present StreamRig, a freeze-and-stream framework that builds causal streaming odometry for calibrated rigs on a frozen multi-vi...

Yu-Fei Wei, Shu-Hao Ye, Qi Wang et al. · 0 citations

Preprint Sep 2026

Revisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment

This work reformulates VLN-CE as a Hierarchical Markov Decision Process (MDP), explicitly decoupling high-level planning from low-level control, and proposes an action-aware value head to effectively evaluate state values under the dynamic frontier action space, powering a graph-based PPO.

Shu-Hao Ye, Si-Tong Mao, Yu-Xiang Cui et al. · 0 citations