6 papers · 1 filter
RMGS-SLAM: Real-time Multi-sensor Gaussian Splatting SLAM
Dongen Li, Yi Liu, Junqi Liu +8
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing metho…
OVAL: Open-Vocabulary Augmented Memory Model for Lifelong Object Goal Navigation
Jiahua Pei, Yi Liu, Guoping Pan +3
Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. W…
GGD-SLAM: Monocular 3DGS SLAM Powered by Generalizable Motion Model for Dynamic Environments
Yi Liu, Haoxuan Xu, Hongbo Duan +5
Visual SLAM algorithms achieve significant improvements through the exploration of 3D Gaussian Splatting (3DGS) representations, particularly in generating high-fidelity dense maps…
HazardArena: Evaluating Semantic Safety in Vision-Language-Action Models
Zixing Chen, Yifeng Gao, Li Wang +8
Vision-Language-Action (VLA) models inherit rich world knowledge from vision-language backbones and acquire executable skills from action demonstrations. Yet current evaluations pr…
DyPho-SLAM : Real-time Photorealistic SLAM in Dynamic Environments
Yi Liu, Keyu Fan, Bin Lan +1
Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods…
Range-SLAM: Ultra-Wideband-Based Smoke-Resistant Real-Time Localization and Mapping
Yi Liu, Zhuozhu Jian, Shengtao Zheng +4
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh condi…