5 papers
TacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation
Zipei Ma, Xiaofei Wei, Junzhe Jiang +2
World-action models guide action generation with predicted future observations, but vision-centric predictions miss the local contact cues that decide contact-rich manipulation. Ho…
Inter-Reflective Gaussian Splatting for Robust and Efficient Inverse Rendering
Chun Gu, Xiaofei Wei, Zixuan Zeng +2
Faithful inverse rendering requires visibility and indirect radiance to explain secondary illumination and inter-reflection, yet rasterization-oriented Gaussian representations do…
NavOL: Navigation Policy with Online Imitation Learning
Xiaofei Wei, Chun Gu, Li Zhang
Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinfo…
TensoFlow: Tensorial Flow-based Sampler for Inverse Rendering
Chun Gu, Xiaofei Wei, Li Zhang +1
Inverse rendering aims to recover scene geometry, material properties, and lighting from multi-view images. Given the complexity of light-surface interactions, importance sampling…
IRGS: Inter-Reflective Gaussian Splatting with 2D Gaussian Ray Tracing
Chun Gu, Xiaofei Wei, Zixuan Zeng +2
In inverse rendering, accurately modeling visibility and indirect radiance for incident light is essential for capturing secondary effects. Due to the absence of a powerful Gaussia…