2 papers
cs.CV2026
X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras
Heng Zhou, Shuhong Liu, Yonghao He +6
We present X-lens, a compact feed-forward model for metric depth estimation from a variable number of calibrated fisheye and pinhole views. To support real-time downstream percepti…
cs.RO2025
VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation
Zehao Ni, Yonghao He, Lingfeng Qian +7
In the context of imitation learning, visuomotor-based diffusion policy learning is one of the main directions in robotic manipulation. Most of these approaches rely on point cloud…