Author

Pengfei Qi

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Preprint Oct 2026

UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking

General-purpose embodied robots should support both navigation toward language-specified destinations and dynamic person tracking under arbitrary initial target azimuths. However, existing methods typically rely on forward-facing observations and address these tasks with separate policies, limiting omnidirectional perc...

Peng-Fei Qi, Hao-Ran Lin, Si-Zhuang Chen et al. · 0 citations

Preprint Aug 2026

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

TONAV is presented, a unified framework integrating task-oriented navigation with action-velocity chunk learning that achieves higher success rates in both task-oriented navigation and complete mobile manipulation, mitigating the navigation-manipulation gap and improving continuous-contact interaction.

Hao-Ran Lin, Mingyu Yang, Peng-Fei 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