Socially competent humanoid robots must communicate affect and intent through gesture as well as speech, yet open-ended interaction must become motion that is both expressive and executable on a specific body. This demands semantic flexibility for contextual social intent while preserving deterministic, embodiment-awar...
Dao-Jie Peng, Bing-Tao Wang, Fu-Long Ma et al.· 0 citations
This work proposes an object--path graph that unifies open-vocabulary semantic reasoning with topological navigation, and introduces a navigation strategy that combines global path planning with local inter-node execution through lightweight node localization and semantic visual servoing, enabling navigation directly o...
Lin-Wei Zheng, Dao-Jie Peng, Bing-Tao Wang et al.· 0 citations
Deploying billion-parameter Vision-Language-Action (VLA) policies on mobile robots creates a systems conflict: semantic reasoning benefits from cloud GPUs, whereas closed-loop control must respond locally despite network delay and jitter. Existing hierarchical and asynchronous policies improve throughput, but their slo...
Dao-Jie Peng, Fu-Long Ma, Bing-Tao Wang et al.· 1 citation
Service robots operating for months in the same homes, offices, and facilities should become more reliable with experience instead of searching familiar space from scratch for every request. Yet ObjectNav is predominantly formulated as one-shot exploration, leaving a central deployment challenge unresolved: recognizing...
LeapBot-WA establishes a novel Predictive-Latent paradigm for WAMs by operationalizing the Joint-Embedding Predictive Architecture (JEPA) as a World-Anchor and introduces the Isotropic Semantic Autoencoder (ISAE), which reshapes the anchor's latent space into a diffusion-friendly manifold to prevent off-manifold drift.
Pei Liu, Nan Zheng, Lang Zhang et al.· arXiv.org· 0 citations
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