4 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…
Lorica: A Synergistic Fine-Tuning Framework for Advancing Personalized Adversarial Robustness
Tianyu Qi, Lei Xue, Yufeng Zhan +1
The growing use of large pre-trained models in edge computing has made model inference on mobile clients both feasible and popular. Yet these devices remain vulnerable to adversari…
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…