11 papers
RobotPan: A 360 Surround-View Robotic Vision System for Embodied Perception
Jiahao Ma, Qiang Zhang, Peiran Liu +11
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, an…
Rethinking Image-to-3D Generation with Sparse Queries: Efficiency, Capacity, and Input-View Bias
Zhiyuan Xu, Jiuming Liu, Yuxin Chen +3
We present SparseGen, a novel framework for efficient image-to-3D generation, which exhibits low input-view bias while being significantly faster. Unlike traditional approaches tha…
RoboGene: Diversity-Driven Agentic Task Generation Framework for VLA Pre-training
Yixue Zhang, Kun Wu, Zhi Gao +12
The pursuit of general-purpose robotic manipulation is hindered by the scarcity of diverse, real-world interaction data. Unlike large-scale web vision-language data, robotic data c…
RoboAug: One Annotation to Hundreds of Scenes via Region-Contrastive Data Augmentation for Robotic Manipulation
Xinhua Wang, Kun Wu, Zhen Zhao +10
Enhancing the generalization of robotic learning in diverse unseen environments remains a fundamental challenge. Existing approaches often rely on large-scale pretraining, which is…
CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning
Yike Zhang, Yaonan Wang, Xinxin Sun +6
Vision-Language-Action (VLA) models have shown a strong capability in enabling robots to execute general instructions, yet they struggle with contact-rich manipulation tasks, where…
TSPE-GS: Probabilistic Depth Extraction for Semi-Transparent Surface Reconstruction via 3D Gaussian Splatting
Zhiyuan Xu, Nan Min, Yuhang Guo +1
3D Gaussian Splatting offers a strong speed-quality trade-off but struggles to reconstruct semi-transparent surfaces because most methods assume a single depth per pixel, which fai…
PDSE: A Multiple Lesion Detector for CT Images using PANet and Deformable Squeeze-and-Excitation Block
Di Fan, Heng Yu, Zhiyuan Xu
Detecting lesions in Computed Tomography (CT) scans is a challenging task in medical image processing due to the diverse types, sizes, and locations of lesions. Recently, various o…
Challenger: Affordable Adversarial Driving Video Generation
Zhiyuan Xu, Bohan Li, Huan-ang Gao +7
Generating photorealistic driving videos has seen significant progress recently, but current methods largely focus on ordinary, non-adversarial scenarios. Meanwhile, efforts to gen…
Diffusion-based Visual Anagram as Multi-task Learning
Zhiyuan Xu, Yinhe Chen, Huan-ang Gao +3
Visual anagrams are images that change appearance upon transformation, like flipping or rotation. With the advent of diffusion models, generating such optical illusions can be achi…
Positive2Negative: Breaking the Information-Lossy Barrier in Self-Supervised Single Image Denoising
Tong Li, Lizhi Wang, Zhiyuan Xu +3
Image denoising enhances image quality, serving as a foundational technique across various computational photography applications. The obstacle to clean image acquisition in real s…
FlowDepth: Decoupling Optical Flow for Self-Supervised Monocular Depth Estimation
Yiyang Sun, Zhiyuan Xu, Xiaonian Wang +1
Self-supervised multi-frame methods have currently achieved promising results in depth estimation. However, these methods often suffer from mismatch problems due to the moving obje…