36 citations · 52 across the 22 of their papers we have counts for
16 papers · 1 filter
RiverVLN: Phase-Grounded Temporal Vision--Language Navigation for Unmanned Surface Vehicles
Jieling Wu, Yuehao Huang, Jiajun Lv +3
Vision-language navigation (VLN) has largely been developed for indoor and terrestrial robots, where language can often be treated as a static goal and motion is approximated by di…
TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging
Shengzhuo Yang, Ronghao Yu, Chuanjie Lv +5
Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents. R…
SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
Hao Su, Yuehao Huang, Yukai Ma +2
Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing monolithic methods struggle wi…
VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
Xiaolei Lang, Yang Wang, Yukun Zhou +10
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling th…
Parallel Reference-Centric Continuous-Time Relative Localization with Augmented Clamped Non-Uniform B-Splines
Jiadong Lu, Zhehan Li, Tao Han +4
Accurate relative localization is critical for multi-robot cooperation. In robot groups, measurements from different robots arrive asynchronously and with clock time-offsets. Altho…
SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and Reinforcement Learning
Yuhang Lin, Yijia Xie, Jiahong Xie +5
Generating physically realistic humanoid-object interactions (HOI) is a fundamental challenge in robotics. Existing HOI generation approaches, such as diffusion-based models, often…
L2Calib: -Manifold Reinforcement Learning for Robust Extrinsic Calibration with Degenerate Motion Resilience
Baorun Li, Chengrui Zhu, Siyi Du +5
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration…
Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM
Xiaolei Lang, Jiajun Lv, Kai Tang +5
This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time p…
Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion
Xiaolei Lang, Laijian Li, Chenming Wu +5
In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM syst…
Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline
Xiaolei Lang, Chao Chen, Kai Tang +4
In this paper, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camer…
Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM
Jiajun Lv, Xiaolei Lang, Jinhong Xu +3
Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time i…
Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras
Xiaolei Lang, Jiajun Lv, Jianxin Huang +3
In this paper, we propose a probabilistic continuous-time visual-inertial odometry (VIO) for rolling shutter cameras. The continuous-time trajectory formulation naturally facilitat…
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Jiajun Lv, Xingxing Zuo, Kewei Hu +3
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a nove…
CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System
Jiajun Lv, Kewei Hu, Jinhong Xu +3
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fu…
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
Xingxing Zuo, Yulin Yang, Patrick Geneva +4
Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robot…
Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation
Jiajun Lv, Jinhong Xu, Kewei Hu +2
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to cali…