5 papers · 1 filter
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…