9 papers
RefineDrive: Reliable Failure-Guided Learning for Vision-Language-Action Driving
Zhe Sun, Ziyi Luo, Yehao Lu +2
Vision-Language-Action (VLA) models for autonomous driving rely heavily on successful expert demonstrations, leaving model-specific failures underexploited. Learning from these fai…
Towards Reliable Underwater Diver-Robot Interaction: Gesture Design, Interaction Logic, and Real-World Evaluation
Yingqi Liu, Kanzhong Yao, Zimeng Peng +4
Underwater human--robot interaction requires gesture commands that are both easy for divers to use and reliable for robots to recognize. We investigate these aspects through a clos…
Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar
Siyuan Du, Kanzhong Yao, Youdong Wang +5
Reliable perception is essential for underwater vehicles operating in complex environments, where light attenuation and scattering often degrade visibility and compromise optical s…
AquaOrbit: Sim-to-Real Reinforcement Learning for Underwater Target Orbiting under Intermittent Visual Feedback
Kanzhong Yao, Jinyi Leng, Hao Zhang +2
Intermittent visual loss disrupts target-relative feedback during underwater orbiting, making it difficult to maintain coordinated motion and reacquire a moving target. We present…
RRTrack: Robust and Recoverable Object 6D Pose Tracking for Dynamic Scenes
Junyue Li, Ye Zheng, Yifan Chen +2
Robust object 6D pose tracking is critical for robotic systems operating in dynamic and occluded scenes. Per-frame estimators are accurate but computationally expensive, while curr…
UAV-OVVIS: Unmanned Aerial Vehicles Also Need Open-Vocabulary Video Instance Segmentation
Mingyu Dou, Shi Qiu, Ming Hu +2
Unmanned Aerial Vehicle (UAV) videos are widely used in traffic monitoring, urban management, and emergency rescue. However, existing UAV video perception is largely limited to box…
AdaptOVCD: Training-Free Open-Vocabulary Remote Sensing Change Detection via Adaptive Information Fusion
Mingyu Dou, Shi Qiu, Ming Hu +4
Remote sensing change detection plays a pivotal role in domains such as environmental monitoring, urban planning, and disaster assessment. However, existing methods typically rely…
PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour
Liang Wang, Kanzhong Yao, Yang Liu +4
Parkour tasks for quadrupeds have emerged as a promising benchmark for agile locomotion. While human athletes can effectively perceive environmental characteristics to select appro…
Mitigating Long-Tail Bias in HOI Detection via Adaptive Diversity Cache
Yuqiu Jiang, Xiaozhen Qiao, Yifan Chen +3
Human-Object Interaction (HOI) detection is a fundamental task in computer vision, empowering machines to comprehend human-object relationships in diverse real-world scenarios. Rec…