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cs.RO2026
WALT: Learning World-Model-Aligned Latent Trajectories for Autonomous Driving
Mingkai Jia, Jiaxin Guo, Zhijian Shu +5
Driving world models learn rich predictive representations of the surrounding environment from visual observations, yet accurate visual prediction does not necessarily translate in…
cs.RO2025★ 1 cited
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia +3
LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned…
cs.RO2024
MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework
Xiangcheng Hu, Jin Wu, Mingkai Jia +6
Evaluating massive-scale point cloud maps in Simultaneous Localization and Mapping (SLAM) remains challenging, primarily due to the absence of unified, robust and efficient evaluat…