5 papers
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
Tairan He, Wenli Xiao, Toru Lin +9
Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For exa…
NaVILA: Legged Robot Vision-Language-Action Model for Navigation
An-Chieh Cheng, Yandong Ji, Zhaojing Yang +7
This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robo…
Parallel Sequence Modeling via Generalized Spatial Propagation Network
Hongjun Wang, Wonmin Byeon, Jiarui Xu +6
We present the Generalized Spatial Propagation Network (GSPN), a new attention mechanism optimized for vision tasks that inherently captures 2D spatial structures. Existing attenti…
SpatialRGPT: Grounded Spatial Reasoning in Vision Language Models
An-Chieh Cheng, Hongxu Yin, Yang Fu +5
Vision Language Models (VLMs) have demonstrated remarkable performance in 2D vision and language tasks. However, their ability to reason about spatial arrangements remains limited.…
COLMAP-Free 3D Gaussian Splatting
Yang Fu, Sifei Liu, Amey Kulkarni +3
While neural rendering has led to impressive advances in scene reconstruction and novel view synthesis, it relies heavily on accurately pre-computed camera poses. To relax this con…