6 papers
SG-Layout: Structured Scene Graph-Guided Layout Generation with LLMs
Junsheng Wang, Chao Chen, Mengying Xie +2
Understanding and generating spatially coherent layouts from natural language remains a fundamental yet challenging task for large language models (LLMs). Existing LLMs often strug…
One-to-Two Acting: A Novel Framework for Single-arm Agent Action Expansion to Dual Arms
Youbin Yao, Nieqin Cao, Mingyan Li +3
Dual-arm manipulation can improve throughput via parallel execution, but collecting bimanual demonstrations for training is costly and difficult. We present ExS2D, a hierarchical a…
Heteroscedastic Bayesian Optimization-Based Dynamic PID Tuning for Accurate and Robust UAV Trajectory Tracking
Fuqiang Gu, Jiangshan Ai, Xu Lu +5
Unmanned Aerial Vehicles (UAVs) play an important role in various applications, where precise trajectory tracking is crucial. However, conventional control algorithms for trajector…
MambaSeg: Harnessing Mamba for Accurate and Efficient Image-Event Semantic Segmentation
Fuqiang Gu, Yuanke Li, Xianlei Long +4
Semantic segmentation is a fundamental task in computer vision with wide-ranging applications, including autonomous driving and robotics. While RGB-based methods have achieved stro…
SLTNet: Efficient Event-based Semantic Segmentation with Spike-driven Lightweight Transformer-based Networks
Xianlei Long, Xiaxin Zhu, Fangming Guo +4
Event-based semantic segmentation has great potential in autonomous driving and robotics due to the advantages of event cameras, such as high dynamic range, low latency, and low po…
MoMa-Pos: An Efficient Object-Kinematic-Aware Base Placement Optimization Framework for Mobile Manipulation
Beichen Shao, Nieqing Cao, Yan Ding +3
In this work, we present MoMa-Pos, a framework that optimizes base placement for mobile manipulators, focusing on navigation-manipulation tasks in environments with both rigid and…