6 papers
VLNVerse: A Benchmark for Vision-Language Navigation with Versatile, Embodied, Realistic Simulation and Evaluation
Sihao Lin, Zerui Li, Xunyi Zhao +10
Despite remarkable progress in Vision-Language Navigation (VLN), existing benchmarks remain confined to fixed, small-scale datasets with naive physical simulation. These shortcomin…
Arcadia: Toward a Full-Lifecycle Framework for Embodied Lifelong Learning
Minghe Gao, Juncheng Li, Yuze Lin +15
We contend that embodied learning is fundamentally a lifecycle problem rather than a single-stage optimization. Systems that optimize only one link (data collection, simulation, le…
Syn-GRPO: Self-Evolving Data Synthesis for MLLM Perception Reasoning
Qihan Huang, Haofei Zhang, Rong Wei +4
RL (reinforcement learning) methods (e.g., GRPO) for MLLM (Multimodal LLM) perception ability has attracted wide research interest owing to its remarkable generalization ability. N…
Towards Physically Executable 3D Gaussian for Embodied Navigation
Bingchen Miao, Rong Wei, Zhiqi Ge +8
3D Gaussian Splatting (3DGS), a 3D representation method with photorealistic real-time rendering capabilities, is regarded as an effective tool for narrowing the sim-to-real gap. H…
Interpretable Few-Shot Image Classification via Prototypical Concept-Guided Mixture of LoRA Experts
Zhong Ji, Rongshuai Wei, Jingren Liu +2
Self-Explainable Models (SEMs) rely on Prototypical Concept Learning (PCL) to enable their visual recognition processes more interpretable, but they often struggle in data-scarce s…
R3GS: Gaussian Splatting for Robust Reconstruction and Relocalization in Unconstrained Image Collections
Xu yan, Zhaohui Wang, Rong Wei +3
We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor comb…