4 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…
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…
GLS: Geometry-aware 3D Language Gaussian Splatting
Jiaxiong Qiu, Liu Liu, Xinjie Wang +3
Recently, 3D Gaussian Splatting (3DGS) has achieved impressive performance on indoor surface reconstruction and 3D open-vocabulary segmentation. This paper presents GLS, a unified…