5 papers
World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation
Yuhao Pan, Haosong Peng, Zhengshen Zhang +8
Vision-language-action (VLA) models often treat main-view and wrist-view observations as parallel visual inputs, overlooking their distinct roles in robot manipulation. Fine-graine…
SpatialBench: Is Your Spatial Foundation Model an All-Round Player?
Haosong Peng, Hao Li, Jiaqi Chen +10
While spatial foundation models have demonstrated impressive performance on standard datasets, a critical question remains: are they truly all-round players capable of generalizing…
OmniVGGT: Omni-Modality Driven Visual Geometry Grounded Transformer
Haosong Peng, Hao Li, Yalun Dai +8
General 3D foundation models have started to lead the trend of unifying diverse vision tasks, yet most assume RGB-only inputs and ignore readily available geometric cues (e.g., cam…
Radiant: Large-scale 3D Gaussian Rendering based on Hierarchical Framework
Haosong Peng, Tianyu Qi, Yufeng Zhan +3
With the advancement of computer vision, the recently emerged 3D Gaussian Splatting (3DGS) has increasingly become a popular scene reconstruction algorithm due to its outstanding p…
DGTR: Distributed Gaussian Turbo-Reconstruction for Sparse-View Vast Scenes
Hao Li, Yuanyuan Gao, Haosong Peng +7
Novel-view synthesis (NVS) approaches play a critical role in vast scene reconstruction. However, these methods rely heavily on dense image inputs and prolonged training times, mak…