11 citations · 29 across the 42 of their papers we have counts for
44 papers
CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models
Yifu Xiong, Wenhao Yu, Jiaxuan Lin +5
Vision-Language-Action (VLA) models have become a promising paradigm for generalist robot manipulation, where visual-language representations are used to condition continuous actio…
DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
Wenhao Yu, Yu'ang Xie, Yifan Duan +5
Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizo…
GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation
Yuan Zhang, Shiqi Zhang, Yedong Shen +11
Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot emb…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Needle in a Haystack: Tracking UAVs from Massive Noise in Real-World 5G-A Base Station Data
Chengzhen Meng, Chenming He, Yidong Jiang +5
The potential usage of UAVs in daily life has made monitoring them essential. However, existing systems for monitoring UAVs typically rely on cameras, LiDARs, or radars, whose limi…
Learning Surgical Robotic Manipulation with 3D Spatial Priors
Yu Sheng, Lidian Wang, Xiaomeng Chu +6
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the…
FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
Yao Li, Peiyuan Tang, Wuyang Zhang +7
Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single opera…
SoPE: Spherical Coordinate-Based Positional Embedding for Enhancing Spatial Perception of 3D LVLMs
Guanting Ye, Qiyan Zhao, Wenhao Yu +7
3D Large Vision-Language Models (3D LVLMs) built upon Large Language Models (LLMs) have achieved remarkable progress across various multimodal tasks. However, their inherited posit…
C^2ROPE: Causal Continuous Rotary Positional Encoding for 3D Large Multimodal-Models Reasoning
Guanting Ye, Qiyan Zhao, Wenhao Yu +4
Recent advances in 3D Large Multimodal Models (LMMs) built on Large Language Models (LLMs) have established the alignment of 3D visual features with LLM representations as the domi…
Environment-Aware Adaptive Pruning with Interleaved Inference Orchestration for Vision-Language-Action Models
Yuting Huang, Leilei Ding, Zhipeng Tang +7
While Vision-Language-Action (VLA) models hold promise in embodied intelligence, their large parameter counts lead to substantial inference latency that hinders real-time manipulat…
Vulnerability-Aware Robust Multimodal Adversarial Training
Junrui Zhang, Xinyu Zhao, Jie Peng +3
Multimodal learning has shown significant superiority on various tasks by integrating multiple modalities. However, the interdependencies among modalities increase the susceptibili…
Ghost Points Matter: Far-Range Vehicle Detection with a Single mmWave Radar in Tunnel
Chenming He, Rui Xia, Chengzhen Meng +5
Vehicle detection in tunnels is crucial for traffic monitoring and accident response, yet remains underexplored. In this paper, we develop mmTunnel, a millimeter-wave radar system…
UrgenGo: Urgency-Aware Transparent GPU Kernel Launching for Autonomous Driving
Hanqi Zhu, Wuyang Zhang, Xinran Zhang +5
The rapid advancements in autonomous driving have introduced increasingly complex, real-time GPU-bound tasks critical for reliable vehicle operation. However, the proprietary natur…
\(X\)-evolve: Solution space evolution powered by large language models
Yi Zhai, Zhiqiang Wei, Ruohan Li +7
While combining large language models (LLMs) with evolutionary algorithms (EAs) shows promise for solving complex optimization problems, current approaches typically evolve individ…
ElectricSight: 3D Hazard Monitoring for Power Lines Using Low-Cost Sensors
Xingchen Li, LiDian Wang, Yu Sheng +6
Protecting power transmission lines from potential hazards involves critical tasks, one of which is the accurate measurement of distances between power lines and potential threats,…
SpatialSplat: Efficient Semantic 3D from Sparse Unposed Images
Yu Sheng, Jiajun Deng, Xinran Zhang +4
A major breakthrough in 3D reconstruction is the feedforward paradigm to generate pixel-wise 3D points or Gaussian primitives from sparse, unposed images. To further incorporate se…
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation
Yifan Duan, Heng Li, Yilong Wu +5
Recent advances in mobile robotic platforms like quadruped robots and drones have spurred a demand for deploying visuomotor policies in increasingly dynamic environments. However,…
Self-Supervised Pre-training with Combined Datasets for 3D Perception in Autonomous Driving
Shumin Wang, Zhuoran Yang, Lidian Wang +7
The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-trai…
CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving
Junrui Zhang, Chenjie Wang, Jie Peng +4
Imitation learning based planning tasks on the nuPlan dataset have gained great interest due to their potential to generate human-like driving behaviors. However, open-loop trainin…
MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap
Yilong Wu, Yifan Duan, Yuxi Chen +5
Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose…
GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructions
Xiaomeng Chu, Jiajun Deng, Guoliang You +4
Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities…
OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving
Yedong Shen, Xinran Zhang, Yifan Duan +5
Accurate and realistic 3D scene reconstruction enables the lifelike creation of autonomous driving simulation environments. With advancements in 3D Gaussian Splatting (3DGS), previ…
Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing
Xinran Zhang, Hanqi Zhu, Yifan Duan +5
Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments,…
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation
Yu Sheng, Runfeng Lin, Lidian Wang +5
Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to…