6 papers
OCA: ODE-Driven Cross-Attention for Image-to-Point-Cloud Registration
Pei An, Jiaqi Yang, Yulong Wang +2
Cross-attention is a crucial component in learning-based image-to-point-cloud (I2P) registration. Although existing cross-attention mechanisms have achieved promising progress, att…
World-Action Models for Robot Learning and Control: A Survey
Zuxing Lu, Hongjia Zhai, Guanzhi Wang +13
Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to act…
Ex-Sim(3)-Reg: 2D-3D Correspondence Pruning via Extended Sim(3) Registration
Pei An, Muyao Peng, Junfeng Ding +2
Learning-based image-to-point-cloud (I2P) registration has garnered increasing attention in recent years. Nevertheless, existing methods still struggle with severe outliers under c…
StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video
Huajian Zeng, Chaohua Yao, Yuantai Zhang +3
Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track th…
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
Yuantai Zhang, Jiaqi Yang, Huajian Zeng +5
Fast and reliable initialization is critical for monocular visual-inertial navigation systems (VINS), as it establishes the starting conditions for subsequent state estimation. Des…
Hg-I2P: Bridging Modalities for Generalizable Image-to-Point-Cloud Registration via Heterogeneous Graphs
Pei An, Junfeng Ding, Jiaqi Yang +3
Image-to-point-cloud (I2P) registration aims to align 2D images with 3D point clouds by establishing reliable 2D-3D correspondences. The drastic modality gap between images and poi…