16 papers
SenseExpo: Spatial Exploration and Navigation via Scene Estimation from Expeditious Predictive Operators
Haojia Gao, Haohua Que, Mingkai Liu +9
We present \textbf{SenseExpo}, a lightweight single-robot exploration framework that integrates a compact map prediction network into a frontier-based strategy. SenseExpo addresses…
Learning Fine-Grained Correspondence with Cross-Perspective Perception for Open-Vocabulary 6D Object Pose Estimation
Yu Qin, Shimeng Fan, Fan Yang +5
Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing appro…
Rein3D: Reinforced 3D Indoor Scene Generation with Panoramic Video Diffusion Models
Dehui Wang, Rong Wei, Yue Shi +9
The growing demand for Embodied AI and VR applications has highlighted the need for synthesizing high-quality 3D indoor scenes from sparse inputs. However, existing approaches stru…
Drive-KD: Multi-Teacher Distillation for VLMs in Autonomous Driving
Weitong Lian, Zecong Tang, Haoran Li +12
Autonomous driving is an important and safety-critical task, and recent advances in LLMs/VLMs have opened new possibilities for reasoning and planning in this domain. However, larg…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
Yufei Jia, Heng Zhang, Ziheng Zhang +39
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based loco…