Author

Ya-Fei Hu

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Preprint Oct 2026

RoMo-GS: Efficient Online 3D Gaussian Splatting for Robot Mapping via Exposure-Integrated Motion Blur

Online 3D Gaussian Splatting (3DGS) is emerging as a practical way to build a representation for robotics applications. However, deploying it on real-world platforms exposes multiple challenges. Rapid maneuvers of a robot induce motion-blurred images, which corrupt the reconstructed geometry and cause camera pose drift...

Sang-Woo Jung, Dian Deng, Jia-Hui Fu et al. · 0 citations

Preprint Sep 2026

Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Sim

Results show that the Simify framework outperforms prior work on foundation models for spatial reasoning by effectively exploiting large-scale parallel simulation during inference, and also highlight the importance of complete and accurate geometry for successful sim-to-real transfer.

Ivan Kapelyukh, Ya-Fei Hu, Ran Gong et al. · 1 citation