Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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…