Instance Image-Goal Navigation (IIN) asks an agent to locate the specific object instance shown in a goal image. Existing 3D Gaussian Splatting (3DGS) based methods rely on pose-centric search—sampling many viewpoints, rendering them, and comparing against the goal—which is inefficient in continuous 6-DoF space. We ins...
Yijie Deng, Shuaihang Yuan, Geeta Chandra Raju Bethala et al.· IEEE Robotics and Automation...· 4 citations· ⚡1
Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicted clearance, time to collision, and required deceleration. A model-predictive controller that enforces safety through explicit con- straints computes, as a by-product of every control step, a second informati...
Jamilé Chahine, Wenqi Cai, John Abanes et al.· 0 citations
Safe human-to-humanoid motion imitation is crucial for shared environments, where direct motion retargeting may induce self-collision or human–humanoid collision due to embodiment mismatch, kinematic limits, perception uncertainty, and human proximity. This paper presents an online vision-aided safe human-to-humanoid m...
Wenqi Cai, John Abanes, N. Evangeliou et al.· Big Data and Cognitive Compu...· 0 citations
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