15 papers
Ego2Contact: Predicting Touch from Egocentric Human Video for Contact-Rich Robot Manipulation
Qianqian Yang, Dayou Li, Bangya Liu +11
Contact locations and interaction forces are critical for contact-rich robot manipulation but are often ambiguous from vision alone. Measuring them on robots requires specialized t…
CyberArena: Benchmarking AI Agents in Live Symmetric Attack-and-Defense Combat
Bangya Liu, Jianhong Tu, Yueyang Pan +18
AI agents are demonstrating increasingly strong offensive and defensive cybersecurity capabilities in the real world. Current benchmarks mostly evaluate agents in isolation against…
AnaDiffusion: Anatomically Compositional Latent Diffusion for Controllable 3D Brain MRI Generation
Huiwen Han, Lulin Liu, Bangya Liu +8
3D brain MRI generation has made significant advances in medical imaging, simulation, and controllable anatomical analysis. However, existing generative models typically synthesize…
OpenLongTail: Generative Scaling of Long-Tail Driving Data
Lulin Liu, Nuo Chen, Yan Wang +15
Scaling robust driving policies is fundamentally bottlenecked by the scarcity of edge cases in curated datasets. While the real world continuously captures these critical events, s…
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Hao Wang, Jiuzhou Lei, Dayou Li +5
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a polic…
SpatialStack: Layered Geometry-Language Fusion for 3D VLM Spatial Reasoning
Jian Zhang, Shijie Zhou, Bangya Liu +2
Large vision-language models (VLMs) still struggle with reliable 3D spatial reasoning, a core capability for embodied and physical AI systems. This limitation arises from their ina…
VEFX-Bench: A Holistic Benchmark for Generic Video Editing and Visual Effects
Xiangbo Gao, Sicong Jiang, Bangya Liu +12
As AI-assisted video creation becomes increasingly practical, instruction-guided video editing has become essential for refining generated or captured footage to meet professional…
Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring
Xinmiao Xiong, Bangya Liu, Hao Wang +7
Geometric Foundation Models (GFMs) have recently advanced monocular SLAM by providing robust, calibration-free 3D priors. However, deploying these models on dense video streams int…
Egocentric World Model for Photorealistic Hand-Object Interaction Synthesis
Dayou Li, Lulin Liu, Bangya Liu +6
To serve as a scalable data source for embodied AI, world models should act as true simulators that infer interaction dynamics strictly from user actions, rather than mere conditio…
Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis
Dayou Li, Jiuzhou Lei, Hao Wang +6
While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learnin…
MV-S2V: Multi-View Subject-Consistent Video Generation
Ziyang Song, Xinyu Gong, Bangya Liu +1
Existing Subject-to-Video Generation (S2V) methods have achieved high-fidelity and subject-consistent video generation, yet remain constrained to single-view subject references. Th…
CETCAM: Camera-Controllable Video Generation via Consistent and Extensible Tokenization
Zelin Zhao, Xinyu Gong, Bangya Liu +5
Achieving precise camera control in video generation remains challenging, as existing methods often rely on camera pose annotations that are difficult to scale to large and dynamic…
Privacy-Aware Sharing of Raw Spatial Sensor Data for Cooperative Perception
Bangya Liu, Chengpo Yan, Chenghao Jiang +2
Cooperative perception between vehicles is poised to offer robust and reliable scene understanding. Recently, we are witnessing experimental systems research building testbeds that…
ByteLoom: Weaving Geometry-Consistent Human-Object Interactions through Progressive Curriculum Learning
Bangya Liu, Xinyu Gong, Zelin Zhao +6
Human-object interaction (HOI) video generation has garnered increasing attention due to its promising applications in digital humans, e-commerce, advertising, and robotics imitati…
SwinGS: Sliding Window Gaussian Splatting for Volumetric Video Streaming with Arbitrary Length
Bangya Liu, Suman Banerjee
Recent advances in 3D Gaussian Splatting (3DGS) have garnered significant attention in computer vision and computer graphics due to its high rendering speed and remarkable quality.…