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Author

Kehan Chen

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Preprint Aug 2026

TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation

Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object interaction. However, existing methods often terminate navigation near the target, leaving a gap between reachability and manipulation readines...

Hao-Ran Lin, Mingyu Yang, Pengfei Qi et al. · 0 citations
Preprint Aug 2026

TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation

Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object interaction. However, existing methods often terminate navigation near the target, leaving a gap between reachability and manipulation readines...

Haoran Lin, Ming Yang, Pengfei Qi et al. · 0 citations
Jul 2026

DA-Nav: Direction-Aware City-Scale Vision-Language Navigation

DA-Nav is proposed, a Direction-Aware vision-language Navigation framework that reformulates navigation as a discrete spatial grounding problem on the egocentric 2D image plane, outperforming existing State-of-The-Art (SoTA) methods while maintaining a substantially stronger recovery capability.

Ye Yuan, Kehan Chen, Xinqiang Yu et al. · 0 citations

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