10 papers
GroupForward: Building Referable 3D Scenes via Instance-Grouped Feed-Forward Gaussian Splatting
Qijian Tian, Zimeng Wu, Xuhong Wang +2
Simultaneously reconstructing and understanding 3D environments is essential for embodied agents. Toward this goal, feed-forward semantic 3D Gaussian Splatting (3DGS) efficiently c…
Safactory: A Scalable Agentic Infrastructure for Training Trustworthy Autonomous Intelligence
Xinquan Chen, Zhenyun Yin, Shan He +38
As large models evolve from conversational assistants into autonomous agents, challenges increasingly arise from long-horizon decision making, tool use, and real environment intera…
World2Minecraft: Occupancy-Driven Simulated Scenes Construction
Lechao Zhang, Haoran Xu, Jingyu Gong +3
Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limi…
DailyArt: Discovering Articulation from Single Static Images via Latent Dynamics
Hang Zhang, Qijian Tian, Jingyu Gong +4
Articulated objects are essential for embodied AI and world models, yet inferring their kinematics from a single closed-state image remains challenging because crucial motion cues…
Dynamic Adversarial Reinforcement Learning for Robust Multimodal Large Language Models
Yicheng Bao, Xuhong Wang, Qiaosheng Zhang +3
Despite their impressive capabilities, Multimodal Large Language Models (MLLMs) exhibit perceptual fragility when confronted with visually complex scenes. This weakness stems from…
TPRU: Advancing Temporal and Procedural Understanding in Large Multimodal Models
Zhenkun Gao, Xuhong Wang, Xin Tan +1
Multimodal Large Language Models (MLLMs), particularly smaller, deployable variants, exhibit a critical deficiency in understanding temporal and procedural visual data, a bottlenec…
Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Exploration
Sen Wang, Bangwei Liu, Zhenkun Gao +4
An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only…
FLEG: Feed-Forward Language Embedded Gaussian Splatting from Any Views via Compact Semantic Representation
Qijian Tian, Xin Tan, Jiayu Ying +3
We present FLEG, a feed-forward network that reconstructs language-embedded 3D Gaussians from arbitrary views. Previous feed-forward language-embedded Gaussian reconstruction metho…
NaviMaster: Learning a Unified Policy for GUI and Embodied Navigation Tasks
Zhihao Luo, Wentao Yan, Jingyu Gong +5
Recent advances in Graphical User Interface (GUI) and embodied navigation have driven progress, yet these domains have largely evolved in isolation, with disparate datasets and tra…
DORAEMON: Decentralized Ontology-aware Reliable Agent with Enhanced Memory Oriented Navigation
Tianjun Gu, Linfeng Li, Xuhong Wang +6
Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene…