12 citations · 15 across the 12 of their papers we have counts for
16 papers
MR-MPCC: Model Predictive Contouring Control for Robotic Manipulator Tracking under Moving Reference Frames
Chonghao Cheng, Tiancheng Li, Jonathan Woolfrey +2
Maintaining small path-tracking errors under moving reference frames is essential for robotic manipulation tasks with tight execution tolerances, such as machining and surgical aut…
When Left Is Right? Camera-Motion Understanding beyond Screen
Chong Cheng, Ran Zhang, Xinyuan Li +3
Can a vision-language model tell left from right? Modern VLMs solve visual puzzles and follow hour-long videos, yet when asked whether the camera moved left or right, most do no be…
World Models for Embodied Intelligence: From Plausible to Controllable to Actionable
Nanjie Yao, Hao Wang, Chong Cheng +10
World models connect perception and decision-making in embodied intelligence by maintaining hidden state, anticipating consequences, comparing interventions, and adapting when exec…
Representation Handoffs for OpenArm-Based Laboratory Mobile Manipulation
Yang Shen, Chonghao Cheng, Ziyi Zhao +6
Open-source robotics and foundation models have lowered the barrier to embodied AI, yet language-guided laboratory automation still requires reliable alignment from instructions an…
Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping
Peilin Tao, Chong Cheng, Yuansen Du +8
Long-horizon online visual mapping requires continuous camera-motion and scene-geometry estimation under bounded computation. Recent feed-forward 3D reconstruction models provide s…
HorizonStream: Long-Horizon Attention for Streaming 3D Reconstruction
Chong Cheng, Peilin Tao, Nanjie Yao +9
Online 3D reconstruction requires estimating camera pose and scene geometry under strict causal and bounded-memory constraints. Existing methods often suffer from drift, jitter, or…
LongStream: Long-Sequence Streaming Autoregressive Visual Geometry
Chong Cheng, Xianda Chen, Tao Xie +5
Long-sequence streaming 3D reconstruction remains a significant open challenge. Existing autoregressive models often fail when processing long sequences because they anchor poses t…
VGGT4D: Mining Motion Cues in Visual Geometry Transformers for 4D Scene Reconstruction
Yu Hu, Chong Cheng, Sicheng Yu +2
Reconstructing dynamic 4D scenes is challenging, as it requires robust disentanglement of dynamic objects from the static background. While 3D foundation models like VGGT provide a…
Unposed 3DGS Reconstruction with Probabilistic Procrustes Mapping
Chong Cheng, Zijian Wang, Sicheng Yu +3
3D Gaussian Splatting (3DGS) has emerged as a core technique for 3D representation. Its effectiveness largely depends on precise camera poses and accurate point cloud initializatio…
Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmaps
Chong Cheng, Sicheng Yu, Zijian Wang +2
3D Gaussian Splatting (3DGS) has become a popular solution in SLAM due to its high-fidelity and real-time novel view synthesis performance. However, some previous 3DGS SLAM methods…
RegGS: Unposed Sparse Views Gaussian Splatting with 3DGS Registration
Chong Cheng, Yu Hu, Sicheng Yu +3
3D Gaussian Splatting (3DGS) has demonstrated its potential in reconstructing scenes from unposed images. However, optimization-based 3DGS methods struggle with sparse views due to…
Graph-Guided Scene Reconstruction from Images with 3D Gaussian Splatting
Chong Cheng, Gaochao Song, Yiyang Yao +3
This paper investigates an open research challenge of reconstructing high-quality, large 3D open scenes from images. It is observed existing methods have various limitations, such…
RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes
Sicheng Yu, Chong Cheng, Yifan Zhou +2
3D Gaussian Splatting (3DGS) has become a popular solution in SLAM, as it can produce high-fidelity novel views. However, previous GS-based methods primarily target indoor scenes a…
GVKF: Gaussian Voxel Kernel Functions for Highly Efficient Surface Reconstruction in Open Scenes
Gaochao Song, Chong Cheng, Hao Wang
In this paper we present a novel method for efficient and effective 3D surface reconstruction in open scenes. Existing Neural Radiance Fields (NeRF) based works typically require e…
Navigation with VLM framework: Towards Going to Any Language
Zecheng Yin, Chonghao Cheng, and Yao Guo +1
Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have…
Prompt, Plan, Perform: LLM-based Humanoid Control via Quantized Imitation Learning
Jingkai Sun, Qiang Zhang, Yiqun Duan +3
In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulatio…