5 papers
HAVANA: A Hierarchical Video-Action Model for Vision-Language Navigation
Dongzhihan Wang, Yi Du, Chen Wang +2
Vision-Language Navigation (VLN) requires long-horizon instruction-consistent planning and short-horizon local planning in current geometry. Video-action models (VAMs) offer a prom…
G-DRAGON: Geospatial Reasoning and Dynamic Planning for Retrieval-Augmented Outdoor Navigation
Dongzhihan Wang, Yi Du, Jianan Sun +5
Autonomous ground robots operating in large-scale outdoor environments require both robust long-range navigation and fine-grained ''last-mile'' exploration. Current advances in vis…
Manifold-Aware Point Cloud Completion via Geodesic-Attentive Hierarchical Feature Learning
Jianan Sun, Dongzhihan Wang, Mingyu Fan
Point cloud completion seeks to recover geometrically consistent shapes from partial or sparse 3D observations. Although recent methods have achieved reasonable global shape recons…
Memory-Guided Point Cloud Completion for Dental Reconstruction
Jianan Sun, Yukang Huang, Dongzhihan Wang +1
Partial dental point clouds often suffer from large missing regions caused by occlusion and limited scanning views, which bias encoder-only global features and force decoders to ha…
BRIGHT-VO: Brightness-Guided Hybrid Transformer for Visual Odometry with Multi-modality Refinement Module
Dongzhihan Wang, Yang Yang, Liang Xu
Visual odometry (VO) plays a crucial role in autonomous driving, robotic navigation, and other related tasks by estimating the position and orientation of a camera based on visual…