7 papers
FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph
Xiaolin Zhou, Tingyang Xiao, Liu Liu +7
Visual-Language Navigation (VLN) is a fundamental challenge in robotic systems, with broad applications for the deployment of embodied agents in real-world environments. Despite re…
EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence
Xinjie Wang, Liu Liu, Yu Cao +5
Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low…
DIPO: Dual-State Images Controlled Articulated Object Generation Powered by Diverse Data
Ruiqi Wu, Xinjie Wang, Liu Liu +6
We present DIPO, a novel framework for the controllable generation of articulated 3D objects from a pair of images: one depicting the object in a resting state and the other in an…
GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics
Tingyang Xiao, Xiaolin Zhou, Liu Liu +5
This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-inertial SLAM for legged robotics undergoing aggressive and high-frequency motions.By integrating geom…
Gaussian Object Carver: Object-Compositional Gaussian Splatting with surfaces completion
Liu Liu, Xinjie Wang, Jiaxiong Qiu +3
3D scene reconstruction is a foundational problem in computer vision. Despite recent advancements in Neural Implicit Representations (NIR), existing methods often lack editability…
GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding
Haoyi Jiang, Liu Liu, Tianheng Cheng +5
3D Semantic Occupancy Prediction is fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extens…