5 papers
Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
Giorgio Tonetti, Laurent Kneip, Abel Gawel +1
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely…
Event-VLA: Action-Conditioned Event Fusion for Robust Vision-Language-Action Model
Jiaxin Liu, Xun Xu, Zhenhao Zhang +5
Vision-Language-Action (VLA) models have become an important paradigm of embodied AI. However, existing VLA models typically assume well-lit and stable indoor settings, while real-…
Metric, inertially aligned monocular state estimation via kinetodynamic priors
Jiaxin Liu, Min Li, Wanting Xu +3
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body ass…
Global Truncated Loss Minimization for Robust and Threshold-Resilient Geometric Estimation
Tianyu Huang, Liangzu Peng, Xinyue Zhang +5
To achieve outlier-robust geometric estimation, robust objective functions are generally employed to mitigate the influence of outliers. The widely used consensus maximization(CM)…
SpikeGS: Learning 3D Gaussian Fields from Continuous Spike Stream
Jinze Yu, Xin Peng, Zhengda Lu +2
A spike camera is a specialized high-speed visual sensor that offers advantages such as high temporal resolution and high dynamic range compared to conventional frame cameras. Thes…