Author

Xuan Yu

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Nov 2026

Spatial-Aware Consistent Panoptic Gaussian SLAM for Open-Set Scene Understanding

Panoptic and geometric scene understanding are essential for robots operating in complex environments. While recent advances in 3D Gaussian Splatting (3DGS) provide a strong geometric foundation for SLAM, integrating open-set 2D panoptic predictions into a consistent long-term 3D map remains challenging. Two common inc...

Jiang-Pin Liu, Jonas Herzog, Yan-Mei Jiao et al. · IEEE Robotics and Automation... · 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