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One Scene, Two Depths: Probing Geometric Ambiguity in Monocular Foundation Models
Xiaohao Xu, Feng Xue, Xiang Li +5
A faithful 3D world representation should account for layered geometry, where a single camera ray may contain multiple visible and geometrically valid surfaces. Monocular depth est…
Latent Geometry Beyond Search: Amortizing Planning in World Models
Hoang Nguyen, Xiaohao Xu, Xiaonan Huang
Modern vision-based world models can represent observations as compact yet expressive latent manifolds, but fast goal-oriented planning in these spaces remains challenging. This ra…
Probing Collision Grounding in Vision-Language Models for Safe Human-Robot Collaboration
Jun Wang, Xiaohao Xu, Xiaonan Huang
Safe human--robot collaboration requires more than visual description: a monitor must determine whether the robot body is safely separated, already colliding with the scene or a pe…
When Search Becomes Memory: Accelerating Robot Design Discovery with Self-Evolving Skills
Yunfei Wang, Xiaohao Xu, Yang Li +1
Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet most loops remain memoryless: simulator results shape the next populati…