10 papers
GeoLoco: Leveraging 3D Geometric Priors from Visual Foundation Model for Robust RGB-Only Humanoid Locomotion
Yufei Liu, Xieyuanli Chen, Hainan Pan +5
The prevailing paradigm of perceptive humanoid locomotion relies heavily on active depth sensors. However, this depth-centric approach fundamentally discards the rich semantic and…
Efficient Image-Goal Navigation with Representative Latent World Model
Zhiwei Zhang, Hui Zhang, Kaihong Huang +2
World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-leve…
Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM
Neng Wang, Huimin Lu, Zhiqiang Zheng +3
Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environmen…
Efficient Multimodal 3D Object Detector via Instance-Level Contrastive Distillation
Zhuoqun Su, Huimin Lu, Shuaifeng Jiao +3
Multimodal 3D object detectors leverage the strengths of both geometry-aware LiDAR point clouds and semantically rich RGB images to enhance detection performance. However, the inhe…
LuSeg: Efficient Negative and Positive Obstacles Segmentation via Contrast-Driven Multi-Modal Feature Fusion on the Lunar
Shuaifeng Jiao, Zhiwen Zeng, Zhuoqun Su +3
As lunar exploration missions grow increasingly complex, ensuring safe and autonomous rover-based surface exploration has become one of the key challenges in lunar exploration task…
BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Model
Ziyue Wang, Chenghao Shi, Neng Wang +3
Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently,…