6 papers
MonoEgo: Monocular Metric Egocentric Demonstration Capture with Passive Wrist Constellations and Sparse Workstation Anchors
Jie Xu, Kangjin Yu, Ziyi Jin +2
Image-aligned metric demonstrations often require dedicated tracking hardware and synchronization across devices. We present MonoEgo, a capture system that replaces active wrist in…
Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry
Jie Xu, Ziyi Jin, Kangjin Yu +5
LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO…
MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving
Junli Wang, Yinan Zheng, Xueyi Liu +9
Generative models have shown great potential in trajectory planning. Recent studies demonstrate that anchor-guided generative models are effective in modeling the uncertainty of dr…
WorldRFT: Latent World Model Planning with Reinforcement Fine-Tuning for Autonomous Driving
Pengxuan Yang, Ben Lu, Zhongpu Xia +7
Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. Howe…
TransDiffuser: Diverse Trajectory Generation with Decorrelated Multi-modal Representation for End-to-end Autonomous Driving
Xuefeng Jiang, Yuan Ma, Pengxiang Li +7
In recent years, diffusion models have demonstrated remarkable potential across diverse domains, from vision generation to language modeling. Transferring its generative capabiliti…
TokenFLEX: Unified VLM Training for Flexible Visual Tokens Inference
Junshan Hu, Jialiang Mao, Zhikang Liu +3
Conventional Vision-Language Models(VLMs) typically utilize a fixed number of vision tokens, regardless of task complexity. This one-size-fits-all strategy introduces notable ineff…