5 citations · 5 across the 23 of their papers we have counts for
27 papers
Ego4WAM: What Matters When Scaling Egocentric Human Data for Robot Learning?
Zhihao Sun, Liu Liu, Xinjiang Wang +6
Egocentric human data provides a scalable source of experience for robot learning, but varies substantially in human-robot alignment, behavioral coverage, and available supervision…
Rethinking Representations for World-Action Modeling
Haoyi Jiang, Liu Liu, Xinjiang Wang +12
World-action models jointly learn robot policies and predict future observations, making the representation space an interface between control and prediction. We study the design o…
Faster-WAM: Efficient Inference-Time Future Conditioning for Robust World Action Models
Weiheng Zhao, Haoyi Jiang, Xin Shi +5
World Action Models (WAMs) improve robot manipulation by learning how the environment evolves beyond the current observation. However, existing approaches face a fundamental dilemm…
IGGT4D: Streaming 4D Instance-Grounded Geometry Transformer
Zhengyu Zou, Hao Li, Kuixuan Jiao +7
Real-world spatial intelligence requires agents to understand scenes from continuous video streams, where objects move, persist, disappear, and reappear over time. While recent spa…
NoDrift3R: Raymap-Guided Coupling for Drift-Robust Unposed Feed-Forward 3D Reconstruction
Xiangyu Sun, Liu Liu, Seungkwon Yang +4
Pose-Free Feed-forward 3D Gaussian Splatting (3DGS) has recently emerged as a powerful paradigm for fast scene reconstruction. However, its performance degrades significantly in lo…
GeoFlow-SLAM++: A Robust Multi-Camera Visual-Inertial SLAM System with Relocalization
Wei Feng, Tingyang Xiao, Liu Liu +2
Monocular and RGB-D visual-inertial SLAM systems remain susceptible to limited field of view, sensor-specific failure modes, and unreliable cross-session relocalization. To address…
HoloAgent-0: A Unified Embodied Agent Framework with 3D Spatial Memory
Xiaolin Zhou, Liu Liu, Tingyang Xiao +9
LLM agents follow a practical execution loop in digital environments: they reason over structured states, invoke tools, inspect feedback, and revise actions. Extending this loop to…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Wenkang Hu, Haoran Wang, Yitong Li +10
RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simul…
ManiSplat: Manipulation Trajectory Synthesis from Monocular Video via Decoupled 3D Gaussian Splatting
Wenhao Hu, Haonan Zhou, Liu Liu +5
Reconstructing dynamic and interactive 3D scenes from real-world observations remains a fundamental challenge in computer vision and robotics. While recent advances in 3D Gaussian…
3D-Fixer: Coarse-to-Fine In-place Completion for 3D Scenes from a Single Image
Ze-Xin Yin, Liu Liu, Xinjie Wang +4
Compositional 3D scene generation from a single view requires the simultaneous recovery of scene layout and 3D assets. Existing approaches mainly fall into two categories: feed-for…
Spa3R: Predictive Spatial Field Modeling for 3D Visual Reasoning
Haoyi Jiang, Liu Liu, Xinjie Wang +5
Vision-language models excel at 2D visual understanding but remain limited in 3D spatial reasoning. Existing approaches either depend on explicit 3D modalities, which limits scalab…
RecurGS: Interactive Scene Modeling via Discrete-State Recurrent Gaussian Fusion
Wenhao Hu, Haonan Zhou, Zesheng Li +4
Recent advances in 3D scene representations have enabled high-fidelity novel view synthesis, yet adapting to discrete scene changes and constructing interactive 3D environments rem…
FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph
Xiaolin Zhou, Tingyang Xiao, Liu Liu +7
Visual-Language Navigation (VLN) is a fundamental challenge in robotic systems, with broad applications for the deployment of embodied agents in real-world environments. Despite re…
DreamLifting: A Plug-in Module Lifting MV Diffusion Models for 3D Asset Generation
Ze-Xin Yin, Jiaxiong Qiu, Liu Liu +5
The labor- and experience-intensive creation of 3D assets with physically based rendering (PBR) materials demands an autonomous 3D asset creation pipeline. However, most existing 3…
IGFuse: Interactive 3D Gaussian Scene Reconstruction via Multi-Scans Fusion
Wenhao Hu, Zesheng Li, Haonan Zhou +5
Reconstructing complete and interactive 3D scenes remains a fundamental challenge in computer vision and robotics, particularly due to persistent object occlusions and limited sens…
Uni3R: Unified 3D Reconstruction and Semantic Understanding via Generalizable Gaussian Splatting from Unposed Multi-View Images
Xiangyu Sun, Haoyi Jiang, Liu Liu +8
Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic underst…
FineGrasp: Towards Robust Grasping for Delicate Objects
Yun Du, Mengao Zhao, Tianwei Lin +3
Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the g…
EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence
Xinjie Wang, Liu Liu, Yu Cao +5
Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low…
DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Data
Ruiqi Wu, Xinjie Wang, Liu Liu +6
We present DIPO, a novel framework for the controllable generation of articulated 3D objects from a pair of images: one depicting the object in a resting state and the other in an…
RoboTransfer: Controllable Geometry-Consistent Video Diffusion for Manipulation Policy Transfer
Liu Liu, Xiaofeng Wang, Guosheng Zhao +7
The goal of general-purpose robotics is to create agents that can seamlessly adapt to and operate in diverse, unstructured human environments. Imitation learning has become a key p…
SEM: Enhancing Spatial Understanding for Robust Robot Manipulation
Xuewu Lin, Tianwei Lin, Lichao Huang +4
A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embod…
GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics
Tingyang Xiao, Xiaolin Zhou, Liu Liu +5
This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-inertial SLAM for legged robotics undergoing aggressive and high-frequency motions.By integrating geom…
Gaussian Object Carver: Object-Compositional Gaussian Splatting with surfaces completion
Liu Liu, Xinjie Wang, Jiaxiong Qiu +3
3D scene reconstruction is a foundational problem in computer vision. Despite recent advancements in Neural Implicit Representations (NIR), existing methods often lack editability…
GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding
Haoyi Jiang, Liu Liu, Tianheng Cheng +5
3D Semantic Occupancy Prediction is fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extens…