4 papers
NavBind: Diagnosing Instruction-Action Binding at Route Forks in Navigation VLAs
Josh Qixuan Sun, Xiaoying Xing, Yurun Chen +3
Vision-language-action (VLA) navigation models translate visual observations and instructions into actions. Navigation success assesses whether an agent reaches the goal. However,…
GS-CPE: Unified 6-Degree-of-Freedom Camera Pose Estimation via 3D Gaussian Splatting
Huaiyuan Weng, Chul Min Yeum, Su-Min Kang
Despite substantial progress in visual localization, from scene coordinate regression to direct camera pose regression, achieving both robust generalization and high accuracy remai…
Structured-Li-GS: Structured 3D Gaussians Splatting with LiDAR Incorporation and Spatial Constraints
Huaiyuan Weng, Huibin Li, Chul Min Yeum
In this study, we develop a Structured framework for Gaussian Splatting (3DGS) with LiDAR integration (Structured-Li-GS). It is a lightweight Gaussian Splatting pipeline that lever…
View Invariant Learning for Vision-Language Navigation in Continuous Environments
Josh Qixuan Sun, Huaiyuan Weng, Xiaoying Xing +2
Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI…