Author

Yun-Hui Liu

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Preprint Oct 2026

EchoNav: Evidential BEV Completion from Historical Observations for Visual Navigation

Visual navigation in cluttered environments requires robots to recover previously observed structure and infer obstacles and free space that remain occluded. We present a framework that combines temporal aggregation and occupancy completion in an evidential bird's-eye-view (BEV) representation predicted from short RGB...

Di-Wen Liu, Yi-Yang Shao, Bo-Rui Wang et al. · 0 citations

Oct 2026

Rethinking the Aggregation Head: Competitive Slot Distillation for Robust Visual Place Recognition.

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

#artificial intelligence Preprint Oct 2026

Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic Manipulation

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