3D Gaussian Splatting (3DGS) can reconstruct a captured scene photorealistically, but the resulting representation does not by itself support physical interaction. Robot simulation instead requires object-level change, \textit{i.e.}, objects must move independently, make contact, and reveal previously occluded surround...
Run-Yi Yang, De-Heng Zhang, Xiao-Ye Wang et al.· 0 citations
Referring scene understanding for embodied robots requires grounding object- and relation-centric language queries from a designated viewpoint. While a local semantic Gaussian map can support such grounding within one agent's observations, cooperative settings require this ability to remain effective after independentl...
Zhi-Kun Zhou, Kun-Yu Peng, Run-Yi Yang et al.· 0 citations
Recent 4D LiDAR language models aim to reason about objects and their evolving spatial relationships. Yet, in our evaluation, always selecting the same option nearly matches the multiple-choice accuracy of two B4DL-derived configurations. We introduce LiDAR-Hallu, a geometry-referenced benchmark and diagnostic protocol...
Run-Yi Yang, Murat Akkoyun, Di Wen et al.· 0 citations
Oriented Distance Field Motion Estimation (ODF Motion Estimation), which replaces this optimization with a single averaging step over a precomputed field of event distance vectors, combined with an adaptive event-count selection strategy and a parameter-free trail filter, reaches sub-pixel accuracy at the lowest latenc...
Lei Sun, Yuqin Ma, Weilun Li et al.· 0 citations
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