3d representation 1cross-modal learning 1depth perception 1gaussian primitives 1multimodal fusion 1representation learning 1robotic manipulation 1semantic grounding 1unsupervised semantic segmentation 1vision-language-action 1
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cs.RO2026
VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation
Mohan Liu, Zhihao Gu, Xuanyu Chen +5
VistaVLA is a two-stage framework that builds a geometry- and semantic-aware 3D cognitive map using Gaussian primitives and compresses it into compact tokens for vision‑language‑ac…
cs.RO2026
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
Xuanyu Chen, Mohan Liu, Dengchen Mei +6
Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped…