7 papers · 1 filter
TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging
Shengzhuo Yang, Ronghao Yu, Chuanjie Lv +5
Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents. R…
SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
Hao Su, Yuehao Huang, Yukai Ma +2
Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing monolithic methods struggle wi…
VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
Xiaolei Lang, Yang Wang, Yukun Zhou +10
Recent advances in robot foundation models trained on large-scale human teleoperation data have enabled robots to perform increasingly complex real-world tasks. However, scaling th…
Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion
Xiaolei Lang, Laijian Li, Chenming Wu +5
In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM syst…
SimGenHOI: Physically Realistic Whole-Body Humanoid-Object Interaction via Generative Modeling and Reinforcement Learning
Yuhang Lin, Yijia Xie, Jiahong Xie +5
Generating physically realistic humanoid-object interactions (HOI) is a fundamental challenge in robotics. Existing HOI generation approaches, such as diffusion-based models, often…
L2Calib: -Manifold Reinforcement Learning for Robust Extrinsic Calibration with Degenerate Motion Resilience
Baorun Li, Chengrui Zhu, Siyi Du +5
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration…