7 papers
Plan First, Act Later: Streaming Reasoning for Executable Memory in Robot Control
Qinghang Liu, Conglin Wang, Zongsheng Li +6
Long-horizon robot manipulation requires a robot to remember task-relevant information beyond its short observation window. Existing memory-augmented policies typically retrieve re…
UniFS: Unified Fast-to-Slow Hierarchical Architecture for Vision-Language-Action Models
Lin Sun, Zhiwei Guan, Conglin Wang +7
Mainstream Fast-Slow dual system vision-language-action models decouple a high-frequency action expert from a low-frequency vision-language model for efficiency, yet they face a fu…
SHIFT Planner: Speedy Hybrid Iterative Field and Segmented Trajectory Optimization with IKD-tree for Uniform Lightweight Coverage
Zexuan Fan, Sunchun Zhou, Hengye Yang +4
This paper introduces a comprehensive planning and navigation framework that address these limitations by integrating semantic mapping, adaptive coverage planning, dynamic obstacle…
MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimation
Jiaqi Yang, Yucong Chen, Xiangting Meng +6
Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadva…
Scale jump-aware pose graph relaxation for monocular SLAM with re-initializations
Runze Yuan, Ran Cheng, Lige Liu +2
Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise rel…
S3E-GNN: Sparse Spatial Scene Embedding with Graph Neural Networks for Camera Relocalization
Ran Cheng, Xinyu Jiang, Yuan Chen +2
Camera relocalization is the key component of simultaneous localization and mapping (SLAM) systems. This paper proposes a learning-based approach, named Sparse Spatial Scene Embedd…
Spotlights: Probing Shapes from Spherical Viewpoints
Jiaxin Wei, Lige Liu, Ran Cheng +6
Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still…