1 citations · 6 across the 20 of their papers we have counts for
20 papers
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…
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…
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…
\(X\)-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,…
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…
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
Yifan Duan, Xinran Zhang, Yao Li +4
SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level…
LFP: Efficient and Accurate End-to-End Lane-Level Planning via Camera-LiDAR Fusion
Guoliang You, Xiaomeng Chu, Yifan Duan +4
Multi-modal systems enhance performance in autonomous driving but face inefficiencies due to indiscriminate processing within each modality. Additionally, the independent feature l…
LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
Wenhao Yu, Jie Peng, Huanyu Yang +4
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of…
Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures
Guoliang You, Xiaomeng Chu, Yifan Duan +6
When planning for autonomous driving, it is crucial to consider essential traffic elements such as lanes, intersections, traffic regulations, and dynamic agents. However, they are…
Rotation Initialization and Stepwise Refinement for Universal LiDAR Calibration
Yifan Duan, Xinran Zhang, Guoliang You +8
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the…
Rendering-Enhanced Automatic Image-to-Point Cloud Registration for Roadside Scenes
Yu Sheng, Lu Zhang, Xingchen Li +4
Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. H…
CRPlace: Camera-Radar Fusion with BEV Representation for Place Recognition
Shaowei Fu, Yifan Duan, Yao Li +4
The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain u…
mmPlace: Robust Place Recognition with Intermediate Frequency Signal of Low-cost Single-chip Millimeter Wave Radar
Chengzhen Meng, Yifan Duan, Chenming He +3
Place recognition is crucial for tasks like loop-closure detection and re-localization. Single-chip millimeter wave radar (single-chip radar in short) emerges as a low-cost sensor…
CalibFormer: A Transformer-based Automatic LiDAR-Camera Calibration Network
Yuxuan Xiao, Yao Li, Chengzhen Meng +3
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the ac…
: Transferring Visual Representations for Reinforcement Learning via Prompting
Guoliang You, Xiaomeng Chu, Yifan Duan +4
It is important for deep reinforcement learning (DRL) algorithms to transfer their learned policies to new environments that have different visual inputs. In this paper, we introdu…
TrajMatch: Towards Automatic Spatio-temporal Calibration for Roadside LiDARs through Trajectory Matching
Haojie Ren, Sha Zhang, Sugang Li +5
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle…
PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM
Yifan Duan, Jie Peng, Yu Zhang +2
Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support acc…