Vision-language models (VLMs) enable open-vocabulary reasoning for robot manipulation, but their high inference latency limits responsiveness in dynamic scenes. Many scene changes, however, alter object geometry without invalidating task intent. We present DualManip, a dual-path framework that decouples infrequent sema...
Cheng-Xi Li, Yan Di, Ying-Yue Li et al.· 0 citations
Sparse voxel reconstruction offers an efficient representation for high-fidelity 3D modeling, yet its geometry is commonly optimized from local photometric evidence and discrete visibility statistics. This often leads to fragmented surfaces, excessive subdivision, and floating artifacts, particularly in weakly textured...
Yan Di, Cheng-Xi Li, Yao-Xing Wang et al.· 0 citations
This work proposes GrabVG, a novel visual grounding framework inspired by human visual search that generates a compact set of reliable object hypotheses through distillation-guided proposal induction and text-aware hypothesis filtering, substantially reducing background distractions and semantic mismatches.
Chaowei Wang, Yan Di, Jingjun Sun et al.· 0 citations
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