Research Assistant(MS Thesis)

Worked under the mentorship of Shuaihang Yuan and was advised by Prof. Yi Fang Loianno for consistent semantic mapping.
Addressed robot object goal navigation and semantic mapping challenges in visually complex environments.
Developed a physically consistent semantic mapping module to mitigate semantic ghosts and occlusion leakage.
Implemented a visibility-aware model and surface-coupled regularization to align semantic boundaries.
Enforced temporal consistency and visibility gating to reduce the Occlusion Leakage Rate (OLR) and enhance spatial reasoning for robust autonomous navigation.