25 citations · 32 across the 22 of their papers we have counts for
22 papers
UnIRe: Unsupervised Instance Decomposition for Dynamic Urban Scene Reconstruction
Yunxuan Mao, Rong Xiong, Yue Wang +1
Reconstructing and decomposing dynamic urban scenes is crucial for autonomous driving, urban planning, and scene editing. However, existing methods fail to perform instance-aware d…
Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning
Yifei Yang, Lu Chen, Zherui Song +5
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning…
PanopticSplatting: End-to-End Panoptic Gaussian Splatting
Yuxuan Xie, Xuan Yu, Changjian Jiang +5
Open-vocabulary panoptic reconstruction is a challenging task for simultaneous scene reconstruction and understanding. Recently, methods have been proposed for 3D scene understandi…
Natural Humanoid Robot Locomotion with Generative Motion Prior
Haodong Zhang, Liang Zhang, Zhenghan Chen +3
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or r…
Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter
Kechun Xu, Xunlong Xia, Kaixuan Wang +6
We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches le…
CNSv2: Probabilistic Correspondence Encoded Neural Image Servo
Anzhe Chen, Hongxiang Yu, Shuxin Li +5
Visual servo based on traditional image matching methods often requires accurate keypoint correspondence for high precision control. However, keypoint detection or matching tends t…
Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction
Lu Chen, Lipeng Chen, Xiangchi Chen +6
Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the…
Leverage Cross-Attention for End-to-End Open-Vocabulary Panoptic Reconstruction
Xuan Yu, Yuxuan Xie, Yili Liu +4
Open-vocabulary panoptic reconstruction offers comprehensive scene understanding, enabling advances in embodied robotics and photorealistic simulation. In this paper, we propose Pa…
Scale Disparity of Instances in Interactive Point Cloud Segmentation
Chenrui Han, Xuan Yu, Yuxuan Xie +5
Interactive point cloud segmentation has become a pivotal task for understanding 3D scenes, enabling users to guide segmentation models with simple interactions such as clicks, the…
Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction
Yili Liu, Linzhan Mou, Xuan Yu +4
Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work fo…
Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour
Ci Chen, Jiyu Yu, Haojian Lu +3
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg lengt…
PanopticRecon: Leverage Open-vocabulary Instance Segmentation for Zero-shot Panoptic Reconstruction
Xuan Yu, Yili Liu, Chenrui Han +5
Panoptic reconstruction is a challenging task in 3D scene understanding. However, most existing methods heavily rely on pre-trained semantic segmentation models and known 3D object…
-DBA: Neural Implicit Dense Bundle Adjustment Enables Image-Only Driving Scene Reconstruction
Yunxuan Mao, Bingqi Shen, Yifei Yang +4
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents -DBA, a n…
Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior
Kechun Xu, Zhongxiang Zhou, Jun Wu +3
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent wo…
EDA: Evolving and Distinct Anchors for Multimodal Motion Prediction
Longzhong Lin, Xuewu Lin, Tianwei Lin +3
Motion prediction is a crucial task in autonomous driving, and one of its major challenges lands in the multimodality of future behaviors. Many successful works have utilized mixtu…
Semantics-aware Motion Retargeting with Vision-Language Models
Haodong Zhang, ZhiKe Chen, Haocheng Xu +6
Capturing and preserving motion semantics is essential to motion retargeting between animation characters. However, most of the previous works neglect the semantic information or r…
NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System
Yunxuan Mao, Xuan Yu, Kai Wang +3
Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this…
A Two-stage Based Social Preference Recognition in Multi-Agent Autonomous Driving System
Jintao Xue, Dongkun Zhang, Rong Xiong +2
Multi-Agent Reinforcement Learning (MARL) has become a promising solution for constructing a multi-agent autonomous driving system (MADS) in complex and dense scenarios. But most m…
DORec: Decomposed Object Reconstruction and Segmentation Utilizing 2D Self-Supervised Features
Jun Wu, Sicheng Li, Sihui Ji +4
Recovering 3D geometry and textures of individual objects is crucial for many robotics applications, such as manipulation, pose estimation, and autonomous driving. However, decompo…
CNS: Correspondence Encoded Neural Image Servo Policy
Anzhe Chen, Hongxiang Yu, Yue Wang +1
Image servo is an indispensable technique in robotic applications that helps to achieve high precision positioning. The intermediate representation of image servo policy is importa…
Sparse Waypoint Validity Checking for Self-Entanglement-Free Tethered Path Planning
Tong Yang, Jiangpin Liu, Yue Wang +1
A novel mechanism to derive self-entanglement-free (SEF) path for tethered differential-driven robots is proposed in this work. The problem is tailored to the deployment of tethere…
Leveraging BEV Representation for 360-degree Visual Place Recognition
Xuecheng Xu, Yanmei Jiao, Sha Lu +3
This paper investigates the advantages of using Bird's Eye View (BEV) representation in 360-degree visual place recognition (VPR). We propose a novel network architecture that util…