5 papers
Dual-Layer Semantic-Spatial Belief Mapping for Aerial Object Goal Navigation
Jianqiang Xiao, Xiang Deng, Yuexuan Sun +3
Aerial Object Goal Navigation (ObjectNav) requires an unmanned aerial vehicle (UAV) to locate a described target in an unknown outdoor environment using onboard visual observations…
IGASA: Integrated Geometry-Aware and Skip-Attention Modules for Enhanced Point Cloud Registration
Dongxu Zhang, Jihua Zhu, Shiqi Li +4
Point cloud registration (PCR) is a fundamental task in 3D vision and provides essential support for applications such as autonomous driving, robotics, and environmental modeling.…
PointCoT: A Multi-modal Benchmark for Explicit 3D Geometric Reasoning
Dongxu Zhang, Yiding Sun, Pengcheng Li +12
While Multimodal Large Language Models (MLLMs) demonstrate proficiency in 2D scenes, extending their perceptual intelligence to 3D point cloud understanding remains a significant c…
Chain-of-Thought Compression Should Not Be Blind: V-Skip for Efficient Multimodal Reasoning via Dual-Path Anchoring
Dongxu Zhang, Yiding Sun, Cheng Tan +4
While Chain-of-Thought (CoT) reasoning significantly enhances the performance of Multimodal Large Language Models (MLLMs), its autoregressive nature incurs prohibitive latency cons…
HumanRefiner: Benchmarking Abnormal Human Generation and Refining with Coarse-to-fine Pose-Reversible Guidance
Guian Fang, Wenbiao Yan, Yuanfan Guo +5
Text-to-image diffusion models have significantly advanced in conditional image generation. However, these models usually struggle with accurately rendering images featuring humans…