1 citations · 1 across the 10 of their papers we have counts for
13 papers
DexNinja: Learning Robust Dexterous Cutting Policy with a Real-to-Sim-to-Real Data Engine
Haozhe Lou, Runyi Yang, Wanqi Zhong +10
Cutting a piece of food looks effortless in human hands. For a robot, however, every cut is a high-contact interaction with a deformable, elasto-plastic object whose behavior chang…
ϕ-RIE: From Photorealistic Reconstruction to Interactive Environments
Runyi Yang, Deheng Zhang, Xiaoye Wang +6
3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation…
Do LiDAR Language Models Really Understand Spatio-temporal Relationships?
Runyi Yang, Murat Akkoyun, Di Wen +8
Recent 4D LiDAR language models aim to reason about objects and their evolving spatial relationships. Yet, in our evaluation, always selecting the same option nearly matches the mu…
CoRef-GS: Cooperative Referring Gaussian Splatting for Multi-Agent Scene Understanding
Zhikun Zhou, Kunyu Peng, Runyi Yang +7
Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map…
LangStreet: Persistent Language Fields for Anchor-Decoded Street Gaussians
Runyi Yang, Deheng Zhang, Xiaoye Wang +6
Language Gaussian fields implicitly assume that the primitive carrying semantics remains identifiable across views. This assumption breaks in scalable anchor-decoded representation…
Event-Based Motion Estimation via Oriented Distance Fields
Lei Sun, Yuqin Ma, Weilun Li +5
Event-based motion estimation is central to tasks that demand high temporal resolution and robustness to fast motion. Existing methods typically rely on iterative optimization or r…
Chorus: Multi-Teacher Pretraining for Holistic 3D Gaussian Scene Encoding
Yue Li, Qi Ma, Runyi Yang +8
While 3DGS has emerged as a high-fidelity scene representation, encoding rich, general-purpose features directly from its primitives remains under-explored. We address this gap by…
Multimodal Spatial Reasoning in the Large Model Era: A Survey and Benchmarks
Xu Zheng, Zihao Dongfang, Lutao Jiang +17
Humans possess spatial reasoning abilities that enable them to understand spaces through multimodal observations, such as vision and sound. Large multimodal reasoning models extend…
EgoNight: Towards Egocentric Vision Understanding at Night with a Challenging Benchmark
Deheng Zhang, Yuqian Fu, Runyi Yang +9
Most existing benchmarks for understanding egocentric vision focus primarily on daytime scenarios, overlooking the low-light conditions that are inevitable in real-world applicatio…
SceneSplat++: A Large Dataset and Comprehensive Benchmark for Language Gaussian Splatting
Mengjiao Ma, Qi Ma, Yue Li +10
3D Gaussian Splatting (3DGS) serves as a highly performant and efficient encoding of scene geometry, appearance, and semantics. Moreover, grounding language in 3D scenes has proven…
SceneSplat: Gaussian Splatting-based Scene Understanding with Vision-Language Pretraining
Yue Li, Qi Ma, Runyi Yang +10
Recognizing arbitrary or previously unseen categories is essential for comprehensive real-world 3D scene understanding. Currently, all existing methods rely on 2D or textual modali…
CityLoc: 6DoF Pose Distributional Localization for Text Descriptions in Large-Scale Scenes with Gaussian Representation
Qi Ma, Runyi Yang, Bin Ren +4
Localizing textual descriptions within large-scale 3D scenes presents inherent ambiguities, such as identifying all traffic lights in a city. Addressing this, we introduce a method…
GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping
Yuhang Zheng, Xiangyu Chen, Yupeng Zheng +12
Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots i…