Robust proprioceptive state estimation is crucial for legged robots, particularly in challenging environments where exteroceptive sensors are unreliable. While traditional leg odometry typically relies on a single body-mounted inertial measurement unit (IMU) fused with leg kinematics via an extended Kalman filter (EKF)...
Yi-Cheng Zhou, Long-Wen Chen, Qing-Hua Yu et al.· 0 citations
Visual Place Recognition (VPR) localizes a query image by retrieving the best-matching place from a large-scale geo-tagged database. Its key challenge lies in aggregating the stable structural cues from distractor-saturated scenes into a global descriptor. Existing aggregation methods follow a single-pass paradigm that...
Guan-Yu Zong, Xu Li, Dong Kong et al.· IEEE Transactions on Pattern...· 0 citations
Behavior-Skill is presented, a benchmark that reformulates the learning and evaluation of long-horizon tasks around executable constituent skills and introduces trajectory-level and skill-level metrics to characterize policy capability beyond aggregate task success.
Chun-Yun Ma, Lun Luo, Xing-Jian Luo et al.· 0 citations
A robot following a multi-step instruction needs to act on the right objects in the right order, even as the scene changes. It must also maintain awareness of task progress and determine when to advance. To address these challenges, we introduce Orchestra, an agent harness that separates task planning and execution man...
You-Peng Wen, Gang Wang, Tian-Yu Huang et al.· 0 citations
Open-world instance classification in LiDAR point clouds aims to discover and categorize instances of unknown classes unseen during training, without access to their ground-truth labels. The task is extremely challenging since only known-class labels are available for training. Existing LiDAR classification methods oft...
Wenbang Deng, Zi-Yue Wang, Wen-Qing Kuang et al.· IEEE Transactions on Automat...· 0 citations
LiDAR-based collaborative perception can mitigate occlusions by exchanging complementary viewpoints via Vehicle-to-Everything (V2X) communication. However, existing methods often depend heavily 3D annotations and adopt a pretraining pipeline that reconstruction serves as initialization. This letter presents a unified m...
Benwu Wang, Xu Li, Xieyuanli Chen et al.· IEEE Robotics and Automation...· 0 citations
Trajectory prediction of surrounding agents is a prerequisite for safe planning and decision making in autonomous driving. Without high-definition (HD) maps, sensor-derived bird's-eye-view (BEV) features provide no explicit lane topology or drivable-area priors, making it inherently difficult to ground each agent in it...
Fei-Fei Liu, Zejun Wei, Haozhe Wang et al.· 0 citations
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