13 papers · 1 filter
GeoPano: Towards Geometrically Accurate 3D Reconstruction from a Single Panorama
Jing OU, Zidong Cao, Liaoyuan Fan +7
Panoramic 3D reconstruction enables the holistic recovery of complete 360 scene geometry, offering significant benefits for robotics and AR/VR applications. However, direc…
SimFuse3D: Source-Guided Target Simulation and Confidence-Guided Multi-Stage Localization Reweighting for Cross-Platform 3D Object Detection
Yongchun Lin, Xinliang Zhang, Yun Zou +7
Changes in sensor height and viewpoint alter object-level point distributions, making cross-platform LiDAR unsupervised domain adaptation (UDA) difficult. Self-training uses labele…
SSMB: Self-Supervised Local Feature Detection under Motion Blur
Zhenjun Zhao, Fabio Bellavia, Wenting Wang +6
Keypoint detection under motion blur remains a significant challenge, as blur distorts local image structure and degrades the repeatability of feature localization. Existing approa…
Robust-WAM: Bridging Generative Pretraining and Semantic Foresight in World-Action Models
Haodong Yan, Junfeng Li, Junjie He +12
Mainstream World-Action Models (WAMs) adapt pretrained video generation models (VGMs) for robot control, transferring their learned dynamics prior for action prediction. These VGMs…
MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight
Zehua Fan, Junjie He, Wenxuan Song +14
World action models (WAMs) built on video generation backbones are a rising recipe for robot learning, yet remain confined to tabletop manipulation. Mobile manipulation demands sim…
CapVector: Learning Transferable Capability Vectors in Parametric Space for Vision-Language-Action Models
Wenxuan Song, Han Zhao, Fuhao Li +7
This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard s…
DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models
Zhide Zhong, Junfeng Li, Junjie He +10
Vision-Language-Action (VLA) models map visual observations and language instructions directly to robotic actions. While effective for simple tasks, standard VLA models often strug…
S-VAM: Shortcut Video-Action Model by Self-Distilling Geometric and Semantic Foresight
Haodong Yan, Zhide Zhong, Jiaguan Zhu +10
Video action models (VAMs) have emerged as a promising paradigm for robot learning, owing to their powerful visual foresight for complex manipulation tasks. However, current VAMs,…
Open-world Hand-Object Interaction Video Generation Based on Structure and Contact-aware Representation
Haodong Yan, Hang Yu, Zhide Zhong +8
Generating realistic hand-object interactions (HOI) videos is a significant challenge due to the difficulty of modeling physical constraints (e.g., contact and occlusion between ha…
IRPO: Boosting Image Restoration via Post-training GRPO
Haoxuan Xu, Yi Liu, Tianfu Li +7
Post-training has become effective for high-level generation, but its role in low-level vision remains underexplored. Existing image restoration methods often rely on fixed pixel-w…
GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation
Bangyan Liao, Zhenjun Zhao, Lu Chen +3
Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose estimation and plane recovery. Despite recent advancements, it remains a challenging problem…
The RoboDrive Challenge: Drive Anytime Anywhere in Any Condition
Lingdong Kong, Shaoyuan Xie, Hanjiang Hu +88
In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sen…
Efficient and Robust Point Cloud Registration via Heuristics-guided Parameter Search
Tianyu Huang, Haoang Li, Liangzu Peng +2
Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence…