13 papers
ForeAct3D: Policy-Grounded Future World Modeling for VLA Policies
Zhe Tao, Feiran Wang, Gaowen Liu +3
Robots need to anticipate how their actions will change the world, since manipulation success hinges on the resulting contacts and object motions. However, existing Vision-Language…
Kepler4D: Controllable Future Video Generation via 4D Scene State Evolution
Feiran Wang, Bin Duan, Junyi Wu +2
Video world models aim to preserve scene structure and predict how dynamic objects evolve beyond visual observations. We present Kepler4D, a framework for future video generation t…
Cue the Flow: Steering Flow-Matching Policies for Open-World Delivery Manipulation
Haoxuan Wang, Griffin Galimi, Junhua Huang +4
Open-world goods delivery requires mobile manipulators to follow free-form user instructions and manipulate potentially novel objects. Existing dual-system approaches use high-leve…
RayMap3R: Inference-Time RayMap for Dynamic 3D Reconstruction
Feiran Wang, Zezhou Shang, Gaowen Liu +1
Streaming feed-forward 3D reconstruction enables real-time joint estimation of scene geometry and camera poses from RGB images. However, without explicit dynamic reasoning, streami…
CogniMap3D: Cognitive 3D Mapping and Rapid Retrieval
Feiran Wang, Junyi Wu, Dawen Cai +2
We present CogniMap3D, a bioinspired framework for dynamic 3D scene understanding and reconstruction that emulates human cognitive processes. Our approach maintains a persistent me…
TraceFlow: Dynamic 3D Reconstruction of Specular Scenes Driven by Ray Tracing
Jiachen Tao, Junyi Wu, Haoxuan Wang +3
We present TraceFlow, a novel framework for high-fidelity rendering of dynamic specular scenes by addressing two key challenges: precise reflection direction estimation and physica…
GLaD: Geometric Latent Distillation for Vision-Language-Action Models
Minghao Guo, Meng Cao, Jiachen Tao +5
Most existing Vision-Language-Action (VLA) models rely primarily on RGB information, while ignoring geometric cues crucial for spatial reasoning and manipulation. In this work, we…
Motion Marionette: Rethinking Rigid Motion Transfer via Prior Guidance
Haoxuan Wang, Jiachen Tao, Junyi Wu +3
We present Motion Marionette, a zero-shot framework for rigid motion transfer from monocular source videos to single-view target images. Previous works typically employ geometric,…
Orientation-anchored Hyper-Gaussian for 4D Reconstruction from Casual Videos
Junyi Wu, Jiachen Tao, Haoxuan Wang +3
We present Orientation-anchored Gaussian Splatting (OriGS), a novel framework for high-quality 4D reconstruction from casually captured monocular videos. While recent advances exte…
Harnessing LLMs for Document-Guided Fuzzing of OpenCV Library
Bin Duan, Tarek Mahmud, Meiru Che +4
The combination of computer vision and artificial intelligence is fundamentally transforming a broad spectrum of industries by enabling machines to interpret and act upon visual da…
ZECO: ZeroFusion Guided 3D MRI Conditional Generation
Feiran Wang, Bin Duan, Jiachen Tao +3
Medical image segmentation is crucial for enhancing diagnostic accuracy and treatment planning in Magnetic Resonance Imaging (MRI). However, acquiring precise lesion masks for segm…
X-Field: A Physically Grounded Representation for 3D X-ray Reconstruction
Feiran Wang, Jiachen Tao, Junyi Wu +5
X-ray imaging is indispensable in medical diagnostics, yet its use is tightly regulated due to potential health risks. To mitigate radiation exposure, recent research focuses on ge…
TSTTC: A Large-Scale Dataset for Time-to-Contact Estimation in Driving Scenarios
Yuheng Shi, Zehao Huang, Yan Yan +2
Time-to-Contact (TTC) estimation is a critical task for assessing collision risk and is widely used in various driver assistance and autonomous driving systems. The past few decade…