16 citations · 41 across the 9 of their papers we have counts for
11 papers
Trajectory Planning without Trajectory Data: A Manifold-Guided Approach
Silong Yong, Anji Liu, Cunxi Dai +5
A common way for trajectory planning is to leverage generative models trained on large collections of expert trajectories. At inference time, the model generates executable traject…
\k{appa}-LoRA: Condition Numbers Reveal Which LoRA Matrices Worth Updating
Jianghui Wang, Silong Yong, Francesco Orabona +3
Low-Rank Adaptation (LoRA) has become a widely adopted technique for efficient neural network fine-tuning, decomposing model updates into low-rank matrices. However, LoRA remains c…
Generalizable Dense Reward for Long-Horizon Robotic Tasks
Silong Yong, Stephen Sheng, Carl Qi +6
Existing robotic foundation policies are trained primarily via large-scale imitation learning. While such models demonstrate strong capabilities, they often struggle with long-hori…
pySpatial: Generating 3D Visual Programs for Zero-Shot Spatial Reasoning
Zhanpeng Luo, Ce Zhang, Silong Yong +6
Multi-modal Large Language Models (MLLMs) have demonstrated strong capabilities in general-purpose perception and reasoning, but they still struggle with tasks that require spatial…
ONLY: One-Layer Intervention Sufficiently Mitigates Hallucinations in Large Vision-Language Models
Zifu Wan, Ce Zhang, Silong Yong +6
Recent Large Vision-Language Models (LVLMs) have introduced a new paradigm for understanding and reasoning about image input through textual responses. Although they have achieved…
OMG: Opacity Matters in Material Modeling with Gaussian Splatting
Silong Yong, Venkata Nagarjun Pudureddiyur Manivannan, Bernhard Kerbl +4
Decomposing geometry, materials and lighting from a set of images, namely inverse rendering, has been a long-standing problem in computer vision and graphics. Recent advances in ne…
Aug3D: Augmenting large scale outdoor datasets for Generalizable Novel View Synthesis
Aditya Rauniyar, Omar Alama, Silong Yong +2
Recent photorealistic Novel View Synthesis (NVS) advances have increasingly gained attention. However, these approaches remain constrained to small indoor scenes. While optimizatio…
GL-NeRF: Gauss-Laguerre Quadrature Enables Training-Free NeRF Acceleration
Silong Yong, Yaqi Xie, Simon Stepputtis +1
Volume rendering in neural radiance fields is inherently time-consuming due to the large number of MLP calls on the points sampled per ray. Previous works would address this issue…
Sigma: Siamese Mamba Network for Multi-Modal Semantic Segmentation
Zifu Wan, Pingping Zhang, Yuhao Wang +4
Multi-modal semantic segmentation significantly enhances AI agents' perception and scene understanding, especially under adverse conditions like low-light or overexposed environmen…
An Embodied Generalist Agent in 3D World
Jiangyong Huang, Silong Yong, Xiaojian Ma +7
Leveraging massive knowledge from large language models (LLMs), recent machine learning models show notable successes in general-purpose task solving in diverse domains such as com…
SQA3D: Situated Question Answering in 3D Scenes
Xiaojian Ma, Silong Yong, Zilong Zheng +4
We propose a new task to benchmark scene understanding of embodied agents: Situated Question Answering in 3D Scenes (SQA3D). Given a scene context (e.g., 3D scan), SQA3D requires t…