5 papers
World SLAM Model: Joint World Modeling for SLAM and Navigation
Minghui Qin, Yijun Yuan, Weicheng Zheng +7
We introduce World SLAM Model (WSM), a unified framework that brings the SLAM paradigm directly into downstream navigation. Rather than treating SLAM merely as an upstream module t…
Representation World Model: Learning States, Transition and Executable Plans in Representation
Yijun Yuan, Weicheng Zheng, Weibang Wang +7
We propose the Representation World Model (RWM), which learns states, transitions, and executable plans directly in representation space. Unlike existing world models that typicall…
SLAMFormer-: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing
Zhijian Fang, Weicheng Zheng, Yijun Yuan +7
We introduce the Infinite SLAM Transformer (SLAMFormer-), the first geometric transformer capable of supporting both long-range frontend and backend processing without an e…
GS-Occ3D: Scaling Vision-only Occupancy Reconstruction with Gaussian Splatting
Baijun Ye, Minghui Qin, Saining Zhang +7
Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy…
LONG3R: Long Sequence Streaming 3D Reconstruction
Zhuoguang Chen, Minghui Qin, Tianyuan Yuan +2
Recent advancements in multi-view scene reconstruction have been significant, yet existing methods face limitations when processing streams of input images. These methods either re…