Author

Hui Cheng

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Jul 2026

X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching

A data-efficient diffusion RL post-training framework - GQRM (Group Q-score Reweighted Matching), which achieves state-of-the-art cross-embodiment visual navigation performance and introduces two complementary designs: a self-bootstrapped exploration strategy with behavior perturbation that preserves the pretrained pol...

Tian-Yu Yang, Yi-Ming Zeng, Wen-Zhe Cai et al. · arXiv.org · 0 citations

Jul 2026

RLMM-Flow: A Flow-based Mobile Manipulation Framework with Latent-Space Reinforcement Learning

Mobile manipulation requires generating whole-body action chunks that jointly satisfy goal reaching, collision avoidance, base kinematic constraints, manipulator joint limits, and trajectory smoothness. Flow-based generative policies provide an efficient paradigm for learning multimodal and temporally consistent motion...

Shuhang Wang, Ziming Li, Hui Cheng · arXiv.org · 0 citations

Preprint Aug 2026

Unordered Landmark Visual Navigation

Unordered Landmark Visual Navigation (ULVN) is proposed, a unified RGB-only framework free from temporal and odometric priors that constructs a robust 2D topological map directly from unstructured images via calibrated geometric verification and maximum spanning forest refinement.

Hao Ren, Junzhe Zhu, Yihan Li et al. · 0 citations