4 papers
AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Models
Hyeongjun Heo, Seungyeon Woo, Sang Min Kim +4
Despite remarkable progress in Vision-Language-Action models (VLAs) for robot manipulation, these large pre-trained models require fine-tuning to be deployed in specific environmen…
Point2Act: Efficient 3D Distillation of Multimodal LLMs for Zero-Shot Context-Aware Grasping
Sang Min Kim, Hyeongjun Heo, Junho Kim +2
We propose Point2Act, which directly retrieves the 3D action point relevant to a contextually described task, leveraging Multimodal Large Language Models (MLLMs). Foundation models…
I-SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM
Gwangtak Bae, Changwoon Choi, Hyeongjun Heo +2
We present an inverse image-formation module that can enhance the robustness of existing visual SLAM pipelines for casually captured scenarios. Casual video captures often suffer f…
Balanced Spherical Grid for Egocentric View Synthesis
Changwoon Choi, Sang Min Kim, Young Min Kim
We present EgoNeRF, a practical solution to reconstruct large-scale real-world environments for VR assets. Given a few seconds of casually captured 360 video, EgoNeRF can efficient…