Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.

Network On Network for Tabular Data Classification in Real-world Applications

Tabular data is the most common data format adopted by our customers ranging from retail, finance to E-commerce, and tabular data classification plays an essential role to their businesses. In this paper, we present Network On Network (NON), a practical tabular data classification model based on deep neural network to provide accurate predictions. Various deep methods have been proposed and promising progress has been made. However, most of them use operations like neural network and factorization machines to fuse the embeddings of different features directly, and linearly combine the outputs of those operations to get the final prediction. As a result, the intra-field information and the non-linear interactions between those operations (e.g. neural network and factorization machines) are ignored. Intra-field information is the information that features inside each field belong to the same field. NON is proposed to take full advantage of intra-field information and non-linear interactions. It consists of three components: field-wise network at the bottom to capture the intra-field information, across field network in the middle to choose suitable operations data-drivenly, and operation fusion network on the top to fuse outputs of the chosen operations deeply. Extensive experiments on six real-world datasets demonstrate NON can outperform the state-of-the-art models significantly. Furthermore, both qualitative and quantitative study of the features in the embedding space show NON can capture intra-field information effectively.