7 papers
NSL-SLAM: High-Fidelity Neural Structured-Light Depth for Practical SLAM and Reconstruction
Jiaheng Li, Binsheng Zhang, Xinhai Chang +1
Structured-light (SL) cameras power depth sensing in millions of devices, and recent neural SL decoding methods have substantially improved their depth quality. SLAM systems can be…
Stream3D: Sequential Multi-View 3D Generation via Evidential Memory
Kaichen Zhou, Zeyang Bai, Xinhai Chang +3
View-conditioned 3D generators such as SAM 3D, TRELLIS, and Hunyuan3D produce high-quality object reconstructions from a single view, but real-world visual observation often arrive…
RAD: A Dataset and Benchmark for Real-Life Anomaly Detection with Robotic Observations
Kaichen Zhou, Xinhai Chang, Taewhan Kim +8
Anomaly detection is essential for robotic perception and industrial inspection, yet most benchmarks are collected under controlled conditions with fixed viewpoints and stable illu…
GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation
Kaichen Zhou, Yuzhen Chen, Fangneng Zhan +8
Video world models can generate realistic futures from a single instruction, but they often fail to track the same physical points consistently across time. As a result, the genera…
PAGE-4D: Disentangled pose and geometry estimation for vggt-4d perception
Kaichen Zhou, Yuhan Wang, Grace Chen +5
Recent 3D feed-forward models, such as the Visual Geometry Grounded Transformer (VGGT), have shown strong capability in inferring 3D attributes of static scenes. However, since the…
Scalable Trajectory Generation for Whole-Body Mobile Manipulation
Yida Niu, Xinhai Chang, Xin Liu +2
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled m…