This work proposes TIO-FORMER, a camera-free, optical-flow-free, and mapless range-inertial odometry framework driven by an IMU and an ultra-lightweight payload of six orthogonal 8 x 8 ToF arrays, demonstrating that sparse range sensing provides practical geometric anchoring for resource-constrained micro-aerial robots...
Yang Liu, Yi-Fan He, Wen-Hao Zhao et al.· 0 citations
DiffWAM is presented, a geometry-conditioned navigation world-action model that directly transforms multi-level predictive features into continuous camera trajectories, providing a direct alternative to generate-then-reconstruct navigation pipelines.
Morui Zhu, Yu-Ze Wu, Xi-Jie Huang et al.· 1 citation
NavGen is introduced, a text-to-video data generation pipeline that produces diverse vision-language navigation episodes across indoor and outdoor scenes and a style-diversification method that scales up long-tail data that is difficult and costly to collect.
Xi-Jie Huang, Yong-Yang Wan, Cheng-Bin Dong et al.· 2 citations
CGFM-Nav is introduced, a foundation-model-based framework for lifelong multimodal navigation that integrates task-relevant subgraph selection, VLM reasoning, and verification feedback into a closed decision loop, and preliminary experiments show that CGFM-Nav improves the overall success rate, demonstrating the effect...
Yu-Xiang Xiao, Xibei Chen, Xin Zhou et al.· 0 citations
A framework that combines decentralized asynchronous reasoning, lightweight information sharing, capability aware collaboration, and a unified action interface is proposed, enabling general purpose VLMs to generate robot specific actions executed by learning free experts without task or robot specific training.
Yuan Zhou, Ruitong Lin, Shen Wang et al.· arXiv.org· 1 citation
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