7 citations · 28 across the 43 of their papers we have counts for
43 papers
Sparse View Distractor-Free Gaussian Splatting
Yi Gu, Zhaorui Wang, Jiahang Cao +4
3D Gaussian Splatting (3DGS) enables efficient training and fast novel view synthesis in static environments. To address challenges posed by transient objects, distractor-free 3DGS…
MVISTA-4D: View-Consistent 4D World Model with Test-Time Action Inference for Robotic Manipulation
Jiaxu Wang, Yicheng Jiang, Tianlun He +8
World-model-based imagine-then-act becomes a promising paradigm for robotic manipulation, yet existing approaches typically support either purely image-based forecasting or reasoni…
DEGS: Deformable Event-based 3D Gaussian Splatting from RGB and Event Stream
Junhao He, Jiaxu Wang, Jia Li +7
Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the sol…
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
Jingkai Sun, Gang Han, Pihai Sun +5
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: de…
Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
Jiahang Cao, Yize Huang, Hanzhong Guo +15
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancemen…
Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots
Wei Cui, Haoyu Wang, Wenkang Qin +19
Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various percept…
Occupancy World Model for Robots
Zhang Zhang, Qiang Zhang, Wei Cui +12
Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajec…
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network
Qiang Zhang, Jiahang Cao, Jingkai Sun +5
In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging en…
Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition
Jiahang Cao, Qiang Zhang, Hanzhong Guo +3
Diffusion Policy (DP) has attracted significant attention as an effective method for policy representation due to its capacity to model multi-distribution dynamics. However, curren…
EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks
Yi Zhang, Qiang Zhang, Xiaozhu Ju +13
While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex l…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
Qiang Zhang, Gang Han, Jingkai Sun +7
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthr…
Trinity: A Modular Humanoid Robot AI System
Jingkai Sun, Qiang Zhang, Gang Han +7
In recent years, research on humanoid robots has garnered increasing attention. With breakthroughs in various types of artificial intelligence algorithms, embodied intelligence, ex…
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
Qiang Zhang, Gang Han, Jingkai Sun +6
In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics.…
Exploring Typographic Visual Prompts Injection Threats in Cross-Modality Generation Models
Hao Cheng, Erjia Xiao, Yichi Wang +8
Current Cross-Modality Generation Models (GMs) demonstrate remarkable capabilities in various generative tasks. Given the ubiquity and information richness of vision modality input…
Event Masked Autoencoder: Point-wise Action Recognition with Event-Based Cameras
Jingkai Sun, Qiang Zhang, Jiaxu Wang +2
Dynamic vision sensors (DVS) are bio-inspired devices that capture visual information in the form of asynchronous events, which encode changes in pixel intensity with high temporal…
A Dual-Agent Adversarial Framework for Robust Generalization in Deep Reinforcement Learning
Zhengpeng Xie, Yulong Zhang
Recently, empowered with the powerful capabilities of neural networks, reinforcement learning (RL) has successfully tackled numerous challenging tasks. However, while these models…
Representation Convergence: Mutual Distillation is Secretly a Form of Regularization
Zhengpeng Xie, Jiahang Cao, Changwei Wang +5
In this paper, we argue that mutual distillation between reinforcement learning policies serves as an implicit regularization, preventing them from overfitting to irrelevant featur…
Adaptive Calibration: A Unified Conversion Framework of Spiking Neural Network
Ziqing Wang, Yuetong Fang, Jiahang Cao +2
Spiking Neural Networks (SNNs) are seen as an energy-efficient alternative to traditional Artificial Neural Networks (ANNs), but the performance gap remains a challenge. While this…
Not Just Text: Uncovering Vision Modality Typographic Threats in Image Generation Models
Hao Cheng, Erjia Xiao, Jiayan Yang +6
Current image generation models can effortlessly produce high-quality, highly realistic images, but this also increases the risk of misuse. In various Text-to-Image or Image-to-Ima…
Robust SG-NeRF: Robust Scene Graph Aided Neural Surface Reconstruction
Yi Gu, Dongjun Ye, Zhaorui Wang +3
Neural surface reconstruction relies heavily on accurate camera poses as input. Despite utilizing advanced pose estimators like COLMAP or ARKit, camera poses can still be noisy. Ex…
E2H: A Two-Stage Non-Invasive Neural Signal Driven Humanoid Robotic Whole-Body Control Framework
Yiqun Duan, Qiang Zhang, Jinzhao Zhou +9
Recent advancements in humanoid robotics, including the integration of hierarchical reinforcement learning-based control and the utilization of LLM planning, have significantly enh…
Spiking Neural Network as Adaptive Event Stream Slicer
Jiahang Cao, Mingyuan Sun, Ziqing Wang +4
Event-based cameras are attracting significant interest as they provide rich edge information, high dynamic range, and high temporal resolution. Many state-of-the-art event-based a…
Manipulation Facing Threats: Evaluating Physical Vulnerabilities in End-to-End Vision Language Action Models
Hao Cheng, Erjia Xiao, Yichi Wang +12
Recently, driven by advancements in Multimodal Large Language Models (MLLMs), Vision Language Action Models (VLAMs) are being proposed to achieve better performance in open-vocabul…