3 papers
cs.RO2025
Understanding while Exploring: Semantics-driven Active Mapping
Liyan Chen, Huangying Zhan, Hairong Yin +2
Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an a…
cs.CV2025
ActiveGAMER: Active GAussian Mapping through Efficient Rendering
Liyan Chen, Huangying Zhan, Kevin Chen +4
We introduce ActiveGAMER, an active mapping system that utilizes 3D Gaussian Splatting (3DGS) to achieve high-quality, real-time scene mapping and exploration. Unlike traditional N…
cs.CV2024
Flash3D: Super-scaling Point Transformers through Joint Hardware-Geometry Locality
Liyan Chen, Gregory P. Meyer, Zaiwei Zhang +2
Recent efforts recognize the power of scale in 3D learning (e.g. PTv3) and attention mechanisms (e.g. FlashAttention). However, current point cloud backbones fail to holistically u…