5 papers
LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping
Lijie Wang, Xiaoyi Zhong, Ziyi Xu +7
Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Tra…
Ergodic Imitation for Adaptive Exploration around Demonstrations
Ziyi Xu, Cem Bilaloglu, Yiming Li +1
In robotics, a common challenge in imitation learning is the mismatch between training and deployment conditions, caused, for example, by environmental changes or imperfect observa…
LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping
Lijie Wang, Lianjie Guo, Ziyi Xu +3
Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial vis…
Query-Centric Diffusion Policy for Generalizable Robotic Assembly
Ziyi Xu, Haohong Lin, Shiqi Liu +1
The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in con…
Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation
Lianjie Guo, Zaitian Gongye, Ziyi Xu +4
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most c…