Author

Hengyi Wang

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Preprint Oct 2026

Relational Spatial Alignment for Vision-Language-Action Models

Spatial understanding is essential for robots to perceive their surrounding environments and execute actions. Existing approaches typically encode 3D awareness into vision-language-action (VLA) models by directly aligning their representations with pre-trained 3D foundation models. However, we observe that such direct...

Chao-Ran Zhu, Hengyi Wang, Cheng-Lin Cui et al. · 0 citations

Preprint Sep 2026

AMB3R-SLAM: Kilometer-scale SLAM with Hierarchical Backend

We present AMB3R-SLAM, a real-time monocular SLAM system capable of reconstructing kilometer-scale trajectories over 10k frames on a single consumer-grade GPU. Our model couples a lightweight front-end for low-latency online tracking with a hierarchical backend that progressively enforces local, mid-level, and global c...

Hengyi Wang, Lourdes Agapito · 0 citations