Fisheye cameras give mobile robots a single-sensor, low-cost view of their surroundings, yet the COCO-pretrained detectors that practitioners routinely reuse fail on them: strong radial distortion warps local image structure, while boundary compression shrinks objects to near-invisible sizes. Full fine-tuning closes mu...
Animal demonstrations provide quadruped robots with natural and distinctive gait styles that are difficult to specify through hand-crafted rewards. However, their narrow directional coverage leaves little style-consistent supervision for backward, lateral, and turning commands. We present OmniMimic, a training framewor...
Sheng Wu, Guo-Qiang Zhao, Zhe Yang et al.· 0 citations
Video anomaly detection for patrol robots and surveillance systems must recognize abnormal interactions among familiar entities. Existing pixel-reconstruction and isolated-entity methods may fail when individual entities appear normal but their spatial or motion relations are abnormal. This work presents Interaction-Ce...
Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map can support such grounding within one agent's observations, cooperative settings require this ability to remain effective after independentl...
Zhi-Kun Zhou, Kun-Yu Peng, Run-Yi Yang et al.· 0 citations
Latent action models infer a code for the transition between two frames of action-free video. Recent methods regularise this code to compose additively and reverse antisymmetrically, and report order-of-magnitude reductions in the resulting errors as a label-free certificate that the code has captured temporal structur...
Di Wen, Ruo-Di Zhang, Kailun Yang et al.· 0 citations
Blind and low-vision users often need to locate a specific personal object rather than an arbitrary instance of the same category. The task calls for a robot that can move through the space and reach viewpoints the user cannot, and for an accessible interface where the user says which object is meant and learns whether...
Rui-Ping Liu, Shaofang Quan, Qian-De Yin et al.· 0 citations
Comprehensive 3D scene understanding for autonomous driving requires modeling geometry, semantics, and motion. However, camera-based occupancy and scene flow prediction are sensitive to unreliable spatial and temporal aggregation, caused by semantically incompatible image features, misaligned historical observations, a...
Yu-Hang Wang, Kai Luo, Yuan-Fan Zheng et al.· 0 citations
Accurate 3D detection is essential for mobile embodied agents, while Vision Foundation Models (VFMs) offer transferable visual and geometric priors. Yet existing VFM-based 3D detectors rely on narrow-view monocular images or discrete perspective views, limiting coherent surround perception; equirectangular projection (...
Division-of-focal-plane polarimeter (DoFP) cameras enable real-time polarization imaging by simultaneously capturing multiple polarization orientations at the cost of spatial resolution. Existing conventional and deep learning-based reconstruction methods still struggle to robustly estimate Degree of Polarization (DoP)...
Yi-Dong Luo, Cai-Yun Wu, Cheng-Gong Li et al.· IEEE Transactions on Image P...· 0 citations
General-purpose embodied robots should support both navigation toward language-specified destinations and dynamic person tracking under arbitrary initial target azimuths. However, existing methods typically rely on forward-facing observations and address these tasks with separate policies, limiting omnidirectional perc...
Peng-Fei Qi, Hao-Ran Lin, Si-Zhuang Chen et al.· 0 citations
Vision-Language-Action (VLA) policies have shown promising performance in language-conditioned robotic manipulation. However, most existing VLA systems rely on conventional perspective cameras with limited fields of view, often missing global scene context and leading to unreliable manipulation under visual occlusions,...
Peng Xu, Hao-Ran Lin, Wan-Jun Jia et al.· 0 citations
TONAV is presented, a unified framework integrating task-oriented navigation with action-velocity chunk learning that achieves higher success rates in both task-oriented navigation and complete mobile manipulation, mitigating the navigation-manipulation gap and improving continuous-contact interaction.
Hao-Ran Lin, Mingyu Yang, Peng-Fei Qi et al.· 0 citations
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