Author

Qiwen Gu

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Preprint Aug 2026

GeoUniPR: A Geometry-Consistent Unified Framework for Cross-Modal Place Recognition

Cross-modal place recognition (CMPR) aims to identify the same location across heterogeneous sensing modalities, such as vision and LiDAR. Existing methods commonly bridge the modality gap using complex alignment modules, multi-stage training, or full fine-tuning of pretrained backbones. In this work, we revisit CMPR f...

W. Kim, Jiatong Xiao, Rui Li et al. · 0 citations

Preprint Sep 2026

The Right Future for Action: Learning Action-Relevant Predictive States in World Action Models

Generation-free world action models (WAMs) retain future-video prediction during training but act from internal video features at inference, leaving unclear what these features should preserve for control. Our representation diagnostics show that representations with more predictable future changes need not make linear...

Qiwen Gu, Jifan Li, Bing-Jie Gao et al. · 0 citations

Preprint Aug 2026

R2M-Bench: Evaluating Revisit Memory via Relative Consistency in Interactive Video World Models

High similarity between first-visit and return frames does not necessarily show that a video world model remembered the scene; the intervening rollout may simply have changed very little. This ambiguity makes absolute revisit scores sensitive to rendering stability, repetitive content, and failed motion. We introduce \...

Qiwen Gu, Bingjie Gao, Rui Chen et al. · 0 citations