6 papers
VISA: VLM-Guided Instance Semantic Auditing for 3D Occupancy World Models
Ruiqi Xian, Yuehan Xian, Jing Liang +2
Semantic 3D occupancy provides a voxelized world state for autonomous driving and robot decision making, but object and rare-class errors can affect free-space interpretation, coll…
SpanVLA: Learning from Negative-Recovery Samples with Fast Action Bridging for Vision-Language-Action Model
Zewei Zhou, Ruining Yang, Xuewei Qi +9
Vision-Language-Action (VLA) models bring rich world knowledge and reasoning capabilities to autonomous driving. However, most driving VLAs are trained only on positive expert demo…
GaussianSSC: Triplane-Guided Directional Gaussian Fields for 3D Semantic Completion
Ruiqi Xian, Jing Liang, He Yin +2
We present \emph{GaussianSSC}, a two-stage, grid-native and triplane-guided approach to semantic scene completion (SSC) that injects the benefits of Gaussians without replacing the…
HomeEmergency -- Using Audio to Find and Respond to Emergencies in the Home
James F. Mullen, Dhruva Kumar, Xuewei Qi +4
In the United States alone accidental home deaths exceed 128,000 per year. Our work aims to enable home robots who respond to emergency scenarios in the home, preventing injuries a…
ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Camera
Jing Liang, He Yin, Xuewei Qi +4
We introduce ET-Former, a novel end-to-end algorithm for semantic scene completion using a single monocular camera. Our approach generates a semantic occupancy map from single RGB…
VLPG-Nav: Object Navigation Using Visual Language Pose Graph and Object Localization Probability Maps
Senthil Hariharan Arul, Dhruva Kumar, Vivek Sugirtharaj +6
We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating th…