4 papers · 1 filter
Faster-WAM: Efficient Inference-Time Future Conditioning for Robust World Action Models
Weiheng Zhao, Haoyi Jiang, Xin Shi +5
World Action Models (WAMs) improve robot manipulation by learning how the environment evolves beyond the current observation. However, existing approaches face a fundamental dilemm…
Spa3R: Predictive Spatial Field Modeling for 3D Visual Reasoning
Haoyi Jiang, Liu Liu, Xinjie Wang +5
Vision-language models excel at 2D visual understanding but remain limited in 3D spatial reasoning. Existing approaches either depend on explicit 3D modalities, which limits scalab…
Uni3R: Unified 3D Reconstruction and Semantic Understanding via Generalizable Gaussian Splatting from Unposed Multi-View Images
Xiangyu Sun, Haoyi Jiang, Liu Liu +8
Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic underst…
GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding
Haoyi Jiang, Liu Liu, Tianheng Cheng +5
3D Semantic Occupancy Prediction is fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extens…