Author

Inkyu Sa

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Open access Aug 2026

GSSeq: Rendered-Reference Sequential Loop Verification for UAV 3D Gaussian Splatting SLAM

UAVs increasingly rely on accurate SLAM for aerial mapping and inspection in GPS-denied environments. 3D Gaussian Splatting (3DGS) has opened a new direction for UAV mapping by allowing SLAM systems to build dense, photorealistic, and renderable maps. Yet in 3DGS SLAM the map is optimized from the pose graph, so a fals...

Jaeseok Park, Chanoh Park, Inkyu Sa et al. · Drones · 0 citations

#robotics Preprint Aug 2026

ValueFormer: A Causal Transformer Value Function with Stage-Aware Labels for Semi-Autonomous Vision-Language-Action Policies

ValueFormer is presented, a compact policy-agnostic causal transformer over a frozen DINOv3 backbone that emits two per-frame signals in one forward pass: a smooth Monte Carlo value, V_mc, for advantage estimation and a sharp binary value for online mistake detection, targets that pull in opposite directions by design.

Inkyu Sa, Konstantin Stulov, Rajat Bhageria · 1 citation