3 citations · 11 across the 32 of their papers we have counts for
13 papers · 1 filter
DEGS: Deformable Event-based 3D Gaussian Splatting from RGB and Event Stream
Junhao He, Jiaxu Wang, Jia Li +7
Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the sol…
DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
Jingkai Sun, Gang Han, Pihai Sun +5
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: de…
Compose Your Policies! Improving Diffusion-based or Flow-based Robot Policies via Test-time Distribution-level Composition
Jiahang Cao, Yize Huang, Hanzhong Guo +15
Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancemen…
TopoNav: Topological Graphs as a Key Enabler for Advanced Object Navigation
Peiran Liu, Qiang Zhang, Daojie Peng +6
Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynam…
Learning Null Geodesics for Gravitational Lensing Rendering in General Relativity
Mingyuan Sun, Zheng Fang, Jiaxu Wang +3
We present GravLensX, an innovative method for rendering black holes with gravitational lensing effects using neural networks. The methodology involves training neural networks to…
Occupancy World Model for Robots
Zhang Zhang, Qiang Zhang, Wei Cui +12
Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajec…
RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots
Zhang Zhang, Qiang Zhang, Wei Cui +7
3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception.…
ES-Parkour: Advanced Robot Parkour with Bio-inspired Event Camera and Spiking Neural Network
Qiang Zhang, Jiahang Cao, Jingkai Sun +5
In recent years, quadruped robotics has advanced significantly, particularly in perception and motion control via reinforcement learning, enabling complex motions in challenging en…
EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks
Yi Zhang, Qiang Zhang, Xiaozhu Ju +13
While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex l…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
Qiang Zhang, Gang Han, Jingkai Sun +7
In recent years, research on humanoid robots has garnered significant attention, particularly in reinforcement learning based control algorithms, which have achieved major breakthr…
Trinity: A Modular Humanoid Robot AI System
Jingkai Sun, Qiang Zhang, Gang Han +7
In recent years, research on humanoid robots has garnered increasing attention. With breakthroughs in various types of artificial intelligence algorithms, embodied intelligence, ex…
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
Qiang Zhang, Gang Han, Jingkai Sun +6
In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics.…