19 papers
EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition
Nuo Chen, Kangqi Ni, Lulin Liu +5
Dense 3D reconstruction is critical for clinical endoscopic navigation and documentation. While Gaussian Splatting SLAM systems show promise in this domain, they fundamentally rely…
OpenLongTail: Generative Scaling of Long-Tail Driving Data
Lulin Liu, Nuo Chen, Yan Wang +15
Scaling robust driving policies is fundamentally bottlenecked by the scarcity of edge cases in curated datasets. While the real world continuously captures these critical events, s…
A Physics-Grounded Benchmark for Multi-Agent Dynamics in World Models
Nuo Chen, Lulin Liu, Zihao Li +12
Generative world models hold immense promise as scalable simulators for autonomous systems, particularly for synthesizing rare but safety-critical multi-agent interactions, such as…
DarkVGGT: Seeing Through Darkness Using Thermal Geometry without Daylight Tax
Minseong Kweon, Wenyuan Zhao, Nuo Chen +6
Recent feed-forward 3D reconstruction methods have demonstrated strong performance and flexibility in efficient end-to-end scene geometry estimation from image streams. However, th…
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Hao Wang, Jiuzhou Lei, Dayou Li +5
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a polic…
Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control
Dawei Zhang, Nuo Chen, Shuo Liu +2
We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and te…