16 papers
EmbPASS: Towards Cross-Embodiment Open Panoramic Segmentation
Pujun Guo, Yuanfan Zheng, Fei Teng +5
Panoramic images provide a complete 360-degree field of view, enabling comprehensive scene understanding for embodied perception. However, heterogeneous embodied platforms exhibit…
PanOVOcc: Panoramic Embodied Open-Vocabulary Occupancy Mapping with Long-term Spatial Voxel Memory
Di Kuang, Mengfei Duan, Yuhang Wang +2
Persistent semantic occupancy mapping is essential for embodied scene understanding. However, perspective-based systems provide limited spatial coverage, while existing panoramic m…
Spheriverse: 3D Scene Understanding from Spherical Observations in the Wild
Fei Teng, Sheng Wu, Mengfei Duan +7
Spherical observations provide global visual context for 3D scene understanding. However, visual information is encoded in an angular domain, whereas the physical world is represen…
PS-MOT: Cultivating Instance Awareness from Point Seeds for Multi-Object Tracking
Kai Luo, Fei Teng, Mengfei Duan +6
We introduce Point-supervised Multi-Object Tracking (PS-MOT) as a cost-effective alternative to traditional bounding box supervision, shifting the focus from spatial fitting to top…
ProOOD: Prototype-Guided Out-of-Distribution 3D Occupancy Prediction
Yuheng Zhang, Mengfei Duan, Kunyu Peng +5
3D semantic occupancy prediction is central to autonomous driving, yet current methods are vulnerable to long-tailed class bias and out-of-distribution (OOD) inputs, often overconf…
Panoramic Multimodal Semantic Occupancy Prediction for Quadruped Robots
Guoqiang Zhao, Zhe Yang, Sheng Wu +5
Panoramic imagery provides holistic 360° visual coverage for environmental perception in quadruped robots. However, existing occupancy prediction methods are primarily designed for…
O3N: Omnidirectional Open-Vocabulary Occupancy Prediction for Embodied Intelligent Robotics
Mengfei Duan, Hao Shi, Fei Teng +4
The rapid evolution of consumer electronics toward embodied intelligence has accelerated the emergence of Consumer Embodied Intelligent Robotics (CEIRs), where intelligent devices…
OccTrack360: 4D Panoptic Occupancy Tracking from Surround-View Fisheye Cameras
Yongzhi Lin, Kai Luo, Yuanfan Zheng +4
Understanding dynamic 3D environments in a spatially continuous and temporally consistent manner is fundamental for robotics and autonomous driving. While recent advances in occupa…
Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noise
Wenxin Li, Kunyu Peng, Di Wen +6
3D semantic occupancy prediction is a cornerstone of robotic perception, yet real-world voxel annotations are inherently corrupted by structural artifacts and dynamic trailing effe…
TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Region Grounding
Wanjun Jia, Kang Li, Fan Yang +7
The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and…
OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera
Hao Shi, Ze Wang, Shangwei Guo +6
Robust 3D semantic occupancy is crucial for legged/humanoid robots, yet most semantic scene completion (SSC) systems target wheeled platforms with forward-facing sensors. We presen…
Segment-to-Act: Label-Noise-Robust Action-Prompted Video Segmentation Towards Embodied Intelligence
Wenxin Li, Kunyu Peng, Di Wen +4
Embodied intelligence relies on accurately segmenting objects actively involved in interactions. Action-based video object segmentation addresses this by linking segmentation with…
Out-of-Distribution Semantic Occupancy Prediction
Yuheng Zhang, Mengfei Duan, Kunyu Peng +6
3D semantic occupancy prediction is crucial for autonomous driving, providing a dense, semantically rich environmental representation. However, existing methods focus on in-distrib…
Panoramic Out-of-Distribution Segmentation
Mengfei Duan, Yuheng Zhang, Yihong Cao +5
Panoramic imaging enables capturing 360° images with an ultra-wide Field-of-View (FoV) for dense omnidirectional perception, which is critical to applications such as autonomous dr…
Omnidirectional Multi-Object Tracking
Kai Luo, Hao Shi, Sheng Wu +6
Panoramic imagery, with its 360° field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surroundi…
One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenes
Wanjun Jia, Fan Yang, Mengfei Duan +6
Deformable object manipulation in robotics presents significant challenges due to uncertainties in component properties, diverse configurations, visual interference, and ambiguous…