7 papers
Explore Where It Matters: Targeted Exploration for Efficient Rover Adaptation
Jacob Levy, Arthur Bouton, Tristan D. Hassler +2
Future planetary rovers will traverse steep, deformable terrain where slip, sinkage, and terrain deformation can threaten mobility. Although simulation can capture some wheel-soil…
SemLoc: Structured Grounding of Free-Form LLM Reasoning for Fault Localization
Zhaorui Yang, Haichao Zhu, Qian Zhang +2
Large language models (LLMs) can describe what a piece of code should compute, but they do so in free-form text. Such text cannot be checked against program executions, and it does…
Needle in the Repo: A Benchmark for Maintainability in AI-Generated Repository Edits
Haichao Zhu, Qian Zhang, Jiyuan Wang +2
AI coding agents can now complete complex programming tasks, but existing evaluations largely emphasize behavioral correctness and often overlook maintainability risks such as weak…
GravCal: Single-Image Calibration of IMU Gravity Priors with Per-Sample Confidence
Haichao Zhu, Qian Zhang
Gravity estimation is fundamental to visual-inertial perception, augmented reality, and robotics, yet gravity priors from IMUs are often unreliable under linear acceleration, vibra…
Learning Proposes, Geometry Disposes: A Modular Framework for Efficient Spatial Reasoning
Haichao Zhu, Zhaorui Yang, Qian Zhang
Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistenc…
Generating Highly Structured Test Inputs Leveraging Constraint-Guided Graph Refinement
Zhaorui Yang, Yuxin Qiu, Haichao Zhu +1
[Context] Modern AI applications increasingly process highly structured data, such as 3D meshes and point clouds, where test input generation must preserve both structural and sema…
Ultron: Enabling Temporal Geometry Compression of 3D Mesh Sequences using Temporal Correspondence and Mesh Deformation
Haichao Zhu
With the advancement of computer vision, dynamic 3D reconstruction techniques have seen significant progress and found applications in various fields. However, these techniques gen…