Wei Dong
Beijing Institute of Technology
収録論文 40本 ・ フィジカルAI/ロボット学習
VLA世界モデル/長期認識マッピング
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- BICPO-VLA: 行動識別による継続選好最適化を用いた滑らかな非同期視覚言語行動制御VLA2026/8/14
ロボットの動作生成中に生じる要求から引き継ぎまでのギャップを、行動意図の識別、Haar部分空間による動作チャンク分解、参照相対Flow-DPOによる適応の3段階で解消する手法を提案した。
- PBD-AG: 不確実性を考慮した検査を備えた持続的ベースライン-デルタ能動グラフによる長時間稼働サービスロボットのための世界モデル世界モデル/長期認識2026/8/11
長時間稼働するサービスロボット向けに、安定した構造物と変化する物体イベントを分離した持続的な世界モデルを構築するフレームワークを提案。ロボットが自律的に環境を探索し、物体の状態を確率的に管理し、検査視点を選択することで、長期的な認識の信頼性を向上させる。
- M2-SMap: 階層的マルチモデル表現によるメモリ効率的なセマンティックマッピングマッピング2026/8/7
リソース制約のあるロボット向けに、階層的マルチモデル表現を用いてメモリ効率の良いセマンティックマップを構築するフレームワークを提案した。RGB-D点群をガウス成分に分解し、物体認識を統合することで、プリミティブ数を削減しつつリアルタイム動作を実現した。
- M2-SMap: Memory-Efficient Semantic Mapping with Hierarchical Multi-Model Representation2026/8/1
- PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots2026/8/1
- A2VISR: An Active and Adaptive Ground-Aerial Localization System Using Visual Inertial and Single-Range Fusion2025/12/1
- SPOT: Sensing-augmented Trajectory Planning via Obstacle Threat Modeling2025/10/1
- A Real-Time Multi-Model Parametric Representation of Point Clouds2025/9/1
- RAM-NAS: Resource-aware Multiobjective Neural Architecture Search Method for Robot Vision Tasks2025/9/1
- Flying Co-Stereo: Enabling Long-Range Aerial Dense Mapping via Collaborative Stereo Vision of Dynamic-Baseline2025/6/1
- Hierarchical Learning-Enhanced MPC for Safe Crowd Navigation with Heterogeneous Constraints2025/6/1
- Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle2025/3/1
- PMM-Net: Single-stage Multi-agent Trajectory Prediction with Patching-based Embedding and Explicit Modal Modulation2024/10/1
- An Adaptive Sliding Window Estimator for Positioning of Unmanned Aerial Vehicle Using a Single Anchor2024/9/1
- Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments2024/9/1
- A Flexible and Resilient Formation Approach based on Hierarchical Reorganization2024/6/1
- BEVRender: Vision-based Cross-view Vehicle Registration in Off-road GNSS-denied Environment2024/5/1
- Multi-View Active Sensing for Human-Robot Interaction via Hierarchically Connected Tree2024/3/1
- CEASE: Collision-Evaluation-based Active Sense System for Collaborative Robotic Arms2024/3/1
- Towards Aerial Collaborative Stereo: Real-Time Cross-Camera Feature Association and Relative Pose Estimation for UAVs2024/2/1
- Data-Centric Evolution in Autonomous Driving: A Comprehensive Survey of Big Data System, Data Mining, and Closed-Loop Technologies2024/1/1
- FlexDelta: A flexure-based fully decoupled parallel $xyz$ positioning stage with long stroke2023/7/1
- Perching on Moving Inclined Surfaces using Uncertainty Tolerant Planner and Thrust Regulation2022/12/1
- SRIBO: An Efficient and Resilient Single-Range and Inertia Based Odometry for Flying Robots2022/11/1
- Decentralized Coverage Path Planning with Reinforcement Learning and Dual Guidance2022/10/1
- Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper2022/3/1
- Obstacle Avoidance of Resilient UAV Swarm Formation with Active Sensing System in the Dense Environment2022/2/1
- Continuous Occupancy Mapping in Dynamic Environments Using Particles2022/2/1
- Risk-aware Trajectory Sampling for Quadrotor Obstacle Avoidance in Dynamic Environments2022/1/1
- Revisiting LiDAR Registration and Reconstruction: A Range Image Perspective2021/12/1
- ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception2021/10/1
- An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor2021/8/1
- Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization2021/8/1
- Self-supervised Geometric Perception2021/3/1
- Compositional Scalable Object SLAM2020/11/1
- An Active Sense and Avoid System for Flying Robots in Dynamic Environments2020/10/1
- Learning to Navigate from Simulation via Spatial and Semantic Information Synthesis with Noise Model Embedding2019/10/1
- Guided Feature Selection for Deep Visual Odometry2018/11/1
- PSDF Fusion: Probabilistic Signed Distance Function for On-the-fly 3D Data Fusion and Scene Reconstruction2018/7/1
- An Efficient Volumetric Mesh Representation for Real-time Scene Reconstruction using Spatial Hashing2018/3/1