5 papers · 2 filters
GLUE: Global-Local Unified Encoding for Imitation Learning via Key-Patch Tracking
Ye Chen, Zichen Zhou, Jianyu Dou +3
In recent years, visual representation learning has gained widespread attention in robotic imitation learning. However, in complex Out-of-Distribution(OOD) settings characterized b…
OmniMap: A General Mapping Framework Integrating Optics, Geometry, and Semantics
Yinan Deng, Yufeng Yue, Jianyu Dou +5
Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric…
OpenMulti: Open-Vocabulary Instance-Level Multi-Agent Distributed Implicit Mapping
Jianyu Dou, Yinan Deng, Jiahui Wang +3
Multi-agent distributed collaborative mapping provides comprehensive and efficient representations for robots. However, existing approaches lack instance-level awareness and semant…
MCOO-SLAM: A Multi-Camera Omnidirectional Object SLAM System
Miaoxin Pan, Jinnan Li, Yaowen Zhang +2
Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most e…
OpenVox: Real-time Instance-level Open-vocabulary Probabilistic Voxel Representation
Yinan Deng, Bicheng Yao, Yihang Tang +2
In recent years, vision-language models (VLMs) have advanced open-vocabulary mapping, enabling mobile robots to simultaneously achieve environmental reconstruction and high-level s…