diffusion models 1geometric reasoning 1parameter efficiency 1point-goal navigation 1visual navigation 1
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cs.RO2026
Learning to Navigate Efficiently with Only 0.58M Trainable Parameters
Edward Beng Wai Tan, Siew-Kei Lam
The paper introduces a compact visual navigation system that combines analytical geometric operations with three tiny learned modules, training only 0.58 M parameters yet achieving…
cs.RO2026
Spectral GS-SLAM: Observability-Aware, Degeneracy-Robust Tracking for Real-Time 3D Gaussian Splatting SLAM
Edward Beng Wai Tan, Siew-Kei Lam, Dongshuo Zhang
Recent 3DGS-SLAM systems enable real-time operation by leveraging conventional feature matching or ICP-based tracking, thereby avoiding the heavy dense photometric optimization use…