6 papers
EventPrune: Cascaded Event-Assisted Token Pruning for Efficient First-Person Dynamic Spatial Reasoning
Pengtao Ma, Ziliang Zhou, Ciyu Ruan +7
First-person dynamic spatial reasoning requires models to track continuous motion and precise geometric structure, but the quadratic attention cost of Transformer-based Video-LLMs…
HCLM: A Hierarchical Framework for Cooperative Loco-Manipulation with Dual Quadrupeds
Qixuan Li, Chen Le, Jincheng Yu +1
We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation acr…
Count Every Rotation and Every Rotation Counts: Exploring Drone Dynamics via Propeller Sensing
Xuecheng Chen, Jingao Xu, Wenhua Ding +7
As drone-based applications proliferate, paramount contactless sensing of airborne drones from the ground becomes indispensable. This work demonstrates concentrating on propeller r…
Enabling High-Frequency Cross-Modality Visual Positioning Service for Accurate Drone Landing
Haoyang Wang, Xinyu Luo, Wenhua Ding +7
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. W…
Skyshield: Event-Driven Submillimetre Thin Obstacle Detection for Drone Flight Safety
Zhengli Zhang, Xinyu Luo, Yucheng Sun +3
Drones operating in complex environments face a significant threat from thin obstacles, such as steel wires and kite strings at the submillimeter level, which are notoriously diffi…
SniffySquad: Patchiness-Aware Gas Source Localization with Multi-Robot Collaboration
Yuhan Cheng, Xuecheng Chen, Yixuan Yang +6
Gas source localization is pivotal for the rapid mitigation of gas leakage disasters, where mobile robots emerge as a promising solution. However, existing methods predominantly sc…