4 papers
DynActiveGS: Active Gaussian Splatting for Dynamic Scene Reconstruction
Hongbo Duan, Pengting Luo, Chengzhi Zhao +3
We present DynActiveGS, a dynamic-aware active reconstruction framework based on 3D Gaussian Splatting (3DGS) for autonomous exploration in dynamic environments. The framework incr…
Balancing Performance and Diversity in GRPO Autoregressive Text-to-Image Post-Training
Yuanhao Chiang, Hongbo Duan, Chunru Yang +3
Autoregressive text-to-image (T2I) generation has recently advanced rapidly, yet aligning generated images with human preferences remains challenging. GRPO-style online reinforceme…
RobustVisRAG: Causality-Aware Vision-Based Retrieval-Augmented Generation under Visual Degradations
I-Hsiang Chen, Yu-Wei Liu, Tse-Yu Wu +3
Vision-based Retrieval-Augmented Generation (VisRAG) leverages vision-language models (VLMs) to jointly retrieve relevant visual documents and generate grounded answers based on mu…
CausalNav: A Long-term Embodied Navigation System for Autonomous Mobile Robots in Dynamic Outdoor Scenarios
Hongbo Duan, Shangyi Luo, Zhiyuan Deng +5
Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions,…