8 papers
Building a Scalable, Reproducible, Evaluatable, and Closed-Loop Simulation Environment Foundation for Embodied Intelligence
Junwu Xiong, Yongjian Guo, Mingxi Luo +17
This paper presents a cloud-native simulation infrastructure framework for embodied intelligence that supports large-scale training, standardized evaluation, and simulation-based d…
D-VLA: A High-Concurrency Distributed Asynchronous Reinforcement Learning Framework for Vision-Language-Action Models
Yucheng Guo, Yongjian Guo, Zhong Guan +9
The rapid evolution of Embodied AI has enabled Vision-Language-Action (VLA) models to excel in multimodal perception and task execution. However, applying Reinforcement Learning (R…
A Dual Representation of Influence Functions for Linearizable Models
Zhenhuan Sun, Shahrokh Valaee
In this paper, we present a dual representation of influence functions, whose computational complexity scales with dataset size rather than model size. Both analytically and experi…
A2I-Calib: An Anti-noise Active Multi-IMU Spatial-temporal Calibration Framework for Legged Robots
Chaoran Xiong, Fangyu Jiang, Kehui Ma +3
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. Howev…
THE-SEAN: A Heart Rate Variation-Inspired Temporally High-Order Event-Based Visual Odometry with Self-Supervised Spiking Event Accumulation Networks
Chaoran Xiong, Litao Wei, Kehui Ma +5
Event-based visual odometry has recently gained attention for its high accuracy and real-time performance in fast-motion systems. Unlike traditional synchronous estimators that rel…
IMOST: Incremental Memory Mechanism with Online Self-Supervision for Continual Traversability Learning
Kehui Ma, Zhen Sun, Chaoran Xiong +3
Traversability estimation is the foundation of path planning for a general navigation system. However, complex and dynamic environments pose challenges for the latest methods using…
SMART: Scene-motion-aware human action recognition framework for mental disorder group
Zengyuan Lai, Jiarui Yang, Songpengcheng Xia +4
Patients with mental disorders often exhibit risky abnormal actions, such as climbing walls or hitting windows, necessitating intelligent video behavior monitoring for smart health…
Learning-based Traversability Costmap for Autonomous Off-road Navigation
Qiumin Zhu, Zhen Sun, Songpengcheng Xia +5
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and…