Bing Wu

Bing Wu, Zuyao Chen, Changwen Chen

Semantic navigation is a fundamental task for embodied agents operating in unseen environments, requiring both semantic understanding and long-term decision-making. Recent foundation models have empowered agents with rich semantic priors for this task. However, without structured global representations, decision-making often falls back on local observations and greedy strategies, resulting in inefficient exploration and myopic behaviors, especially in long-distance navigation. To address these challenges, we propose a zero-shot semantic navigation framework. Our method incrementally maintains an online Hierarchical 3D Scene Graph (HSG) to form a multi-granular semantic topology over objects, zones, and regions, serving as a compact state abstraction for global planning. Building on this memory, we introduce a hierarchical belief-based planning framework that fuses semantic priors with exploration evidence on the HSG, and performs finite-horizon rollouts on an HSG-based simulator to explicitly estimate the long-term expected returns of candidate macro-actions. This enables globally consistent decisions and reduces redundant backtracking. Extensive experiments in high-fidelity simulation environments across multiple tasks and datasets demonstrate that our method outperforms existing state-of-the-art methods, particularly in long-distance scenarios, where our approach improves SR and SPL by an average of 9.4\% and 5.0\%, respectively.

Bing Wu, Xueliang Wei, Shiyi Song et al.

Processing-in-Memory (PIM) is a proven paradigm for overcoming the ``memory wall". However, while data indexing is severely bottlenecked by this same wall, it remains unclear how indexing can effectively benefit from PIM's unique capabilities. We present PATH, an in-situ indexing architecture that bridges this gap by leveraging the massive parallelism and inherent data-movement of PIMs. Specifically, we first reformulate the fundamental indexing operations, namely Insert, Search, Update, and Delete, into highly parallel in-situ content-addressable memory operations executed directly within memory arrays. Taking hash indexes as a typical case, we elaborate how PATH breaks the inherent trade-off among memory accesses, load factor, and process latency in conventional hashing schemes. By adopting ultra-large logical buckets and in-memory moving, PATH virtually eliminates the cost of hash collision resolution and significantly reduces resizing overhead. Compared with state-of-the-art schemes, PATH achieves $4.7-7.8\times$ higher throughput, $>14.5\times$ lower tail latency, and $>61.4\%$ fewer memory accesses under insertions, laying a scalable foundation for next-generation data-centric computing.