3 citations · 3 across the 13 of their papers we have counts for
15 papers
MORE: Learning Motion-Oriented Registers for Driving World Models and Planning
Yingdong Gu, Haoyu Wang, Shaocheng Yan +9
By predicting future states, latent world models provide rich self-supervision for end-to-end driving, but often inherit dense features from pretrained visual encoders as their wor…
Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence
Hanyang Cao, Yuetong Fang, Taesoo Kwon +10
Humanoid learning increasingly relies on transforming vast and diverse human motion data into high-quality robot reference trajectories. However, retargeting human motion to humano…
PFM-HR: Pose Flow Matching for Humanoid Robots
Yukang Gao, Yi Gu, Yangchen Zhou +9
Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for p…
Learning Context-Aware Motion Priors for Humanoid Control
Yunyang Mo, Yi Gu, Yangchen Zhou +2
Motion priors provide powerful guidance for learning naturalistic humanoid behaviors. However, existing methods typically learn a general, task-agnostic prior from the entire refer…
HandFlow: Fully Generative 4D Hand Recovery with Flow Matching
Mingxi Xu, Bowen Duan, Yi Gu +3
Accurate monocular 4D hand reconstruction remains challenging. Per-frame discriminative regressors lack temporal context and often produce jittery predictions. Temporal models impr…
High-Fidelity 4D Hand-Object Capture via Multi-View Spatiotemporal Tracking and Physics-Aware Gaussians
Bo Peng, Xu Chen, Yi Gu +6
The growing demand for high-fidelity 4D hand-object interaction (HOI) data in embodied AI and spatial computing is currently bottlenecked by the reliance on pre-scanned object temp…
ULF-Loc: Unbiased Landmark Feature for Robust Visual Localization with 3D Gaussian Splatting
Yingdong Gu, Shaocheng Yan, Zhenjun Zhao +4
Visual localization is a core technology for augmented reality and autonomous navigation. Recent methods combine the efficient rendering of 3D Gaussian Splatting (3DGS) with featur…
Morphology-Consistent Humanoid Interaction through Robot-Centric Video Synthesis
Weisheng Xu, Jian Li, Yi Gu +12
Equipping humanoid robots with versatile interaction skills typically requires either extensive policy training or explicit human-to-robot motion retargeting. However, learning-bas…
Sparse View Distractor-Free Gaussian Splatting
Yi Gu, Zhaorui Wang, Jiahang Cao +4
3D Gaussian Splatting (3DGS) enables efficient training and fast novel view synthesis in static environments. To address challenges posed by transient objects, distractor-free 3DGS…
PDF-HR: Pose Distance Fields for Humanoid Robots
Yi Gu, Yukang Gao, Yangchen Zhou +7
Pose and motion priors play a crucial role in humanoid robotics. Although such priors have been widely studied in human motion recovery (HMR) domain with a range of models, their a…
DEGS: Deformable Event-based 3D Gaussian Splatting from RGB and Event Stream
Junhao He, Jiaxu Wang, Jia Li +7
Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the sol…
FixingGS: Enhancing 3D Gaussian Splatting via Training-Free Score Distillation
Zhaorui Wang, Yi Gu, Deming Zhou +1
Recently, 3D Gaussian Splatting (3DGS) has demonstrated remarkable success in 3D reconstruction and novel view synthesis. However, reconstructing 3D scenes from sparse viewpoints r…
A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
Xingyu Chen, Hanyu Wu, Sikai Wu +7
Human-to-humanoid imitation learning presents a promising pathway to address the severe data scarcity bottleneck in robotics by utilizing abundant, large-scale human motion collect…
Sharpening Your Density Fields: Spiking Neuron Aided Fast Geometry Learning
Yi Gu, Zhaorui Wang, Dongjun Ye +1
Neural Radiance Fields (NeRF) have achieved remarkable progress in neural rendering. Extracting geometry from NeRF typically relies on the Marching Cubes algorithm, which uses a ha…
Robust SG-NeRF: Robust Scene Graph Aided Neural Surface Reconstruction
Yi Gu, Dongjun Ye, Zhaorui Wang +3
Neural surface reconstruction relies heavily on accurate camera poses as input. Despite utilizing advanced pose estimators like COLMAP or ARKit, camera poses can still be noisy. Ex…