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Multi-cam Multi-map Visual Inertial Localization: System, Validation and Dataset

Autor: Han, Fuzhang, Wei, Yufei, Jiao, Yanmei, Zhang, Zhuqing, Pan, Yiyuan, Huang, Wenjun, Tang, Li, Yin, Huan, Ding, Xiaqing, Xiong, Rong, Wang, Yue

Map-based localization is crucial for the autonomous movement of robots as it provides real-time positional feedback. However, existing VINS and SLAM systems cannot be directly integrated into the robot's control loop. Although VINS offers high-frequ

Externí odkaz: http://arxiv.org/abs/2412.04287

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Planning from Imagination: Episodic Simulation and Episodic Memory for Vision-and-Language Navigation

Autor: Pan, Yiyuan, Xu, Yunzhe, Liu, Zhe, Wang, Hesheng

Humans navigate unfamiliar environments using the capabilities of episodic simulation and episodic memory. Developing imagination-based memory, analogous to episodic simulation and episodic memory, can enhance embodied agents' comprehension of the co

Externí odkaz: http://arxiv.org/abs/2412.01857

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Co-Scheduling of Energy and Production in Discrete Manufacturing Considering Decision-Dependent Uncertainties

Autor: Pan, Yiyuan, Wang, Zhaojian

Modern discrete manufacturing requires real-time energy and production co-scheduling to reduce business costs. In discrete manufacturing, production lines and equipment are complex and numerous, which introduces significant uncertainty during the pro

Externí odkaz: http://arxiv.org/abs/2411.06905

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FLAME: Learning to Navigate with Multimodal LLM in Urban Environments

Autor: Xu, Yunzhe, Pan, Yiyuan, Liu, Zhe, Wang, Hesheng

Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conversation scenarios, they struggle with specialized navigation tasks, yie

Externí odkaz: http://arxiv.org/abs/2408.11051

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CORAL: Colored structural representation for bi-modal place recognition

Autor: Pan, Yiyuan, Xu, Xuecheng, Li, Weijie, Cui, Yunxiang, Wang, Yue, Xiong, Rong

Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which can extra

Externí odkaz: http://arxiv.org/abs/2011.10934

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