6 papers
X-Tokenizer: A Multimodal Action Tokenizer for Vision-Language-Action Pretraining
Miracle Kang, Lights Shi, Lucy Liang +10
Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise continuous robot control. Existing action tokenizers discretize actions prim…
StarGen: A Spatiotemporal Autoregression Framework with Video Diffusion Model for Scalable and Controllable Scene Generation
Shangjin Zhai, Zhichao Ye, Jialin Liu +10
Recent advances in large reconstruction and generative models have significantly improved scene reconstruction and novel view generation. However, due to compute limitations, each…
Depth Completion with Multiple Balanced Bases and Confidence for Dense Monocular SLAM
Weijian Xie, Guanyi Chu, Quanhao Qian +7
Dense SLAM based on monocular cameras does indeed have immense application value in the field of AR/VR, especially when it is performed on a mobile device. In this paper, we propos…
XR-VIO: High-precision Visual Inertial Odometry with Fast Initialization for XR Applications
Shangjin Zhai, Nan Wang, Xiaomeng Wang +4
This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffe…
PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction
Danpeng Chen, Hai Li, Weicai Ye +7
Recently, 3D Gaussian Splatting (3DGS) has attracted widespread attention due to its high-quality rendering, and ultra-fast training and rendering speed. However, due to the unstru…
CoSurfGS:Collaborative 3D Surface Gaussian Splatting with Distributed Learning for Large Scene Reconstruction
Yuanyuan Gao, Yalun Dai, Hao Li +7
3D Gaussian Splatting (3DGS) has demonstrated impressive performance in scene reconstruction. However, most existing GS-based surface reconstruction methods focus on 3D objects or…