6 papers
WildCity: A Real-World City-Scale Testbed for Rendering, Simulation, and Spatial Intelligence
Xiangyu Han, Mengyu Yang, Jiaqi Li +9
Humans can navigate an unfamiliar city and gradually form a coherent spatial mental map spanning tens of square kilometers. Can AI build spatial representations at a comparable sca…
CRAG: Can 3D Generative Models Help 3D Assembly?
Zeyu Jiang, Sihang Li, Siqi Tan +8
Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples str…
Wanderland: Geometrically Grounded Simulation for Open-World Embodied AI
Xinhao Liu, Jiaqi Li, Youming Deng +7
Reproducible closed-loop evaluation remains a major bottleneck in Embodied AI such as visual navigation. A promising path forward is high-fidelity simulation that combines photorea…
Adversarial Exploitation of Data Diversity Improves Visual Localization
Sihang Li, Siqi Tan, Bowen Chang +3
Visual localization, which estimates a camera's pose within a known scene, is a fundamental capability for autonomous systems. While absolute pose regression (APR) methods have sho…
Thinking in 360°: Humanoid Visual Search in the Wild
Heyang Yu, Yinan Han, Xiangyu Zhang +9
Humans rely on the synergistic control of head (cephalomotor) and eye (oculomotor) to efficiently search for visual information in 360°. However, prior approaches to visual search…
Extrapolated Urban View Synthesis Benchmark
Xiangyu Han, Zhen Jia, Boyi Li +8
Photorealistic simulators are essential for the training and evaluation of vision-centric autonomous vehicles (AVs). At their core is Novel View Synthesis (NVS), a crucial capabili…