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Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…
In this work, we propose DiT360, a DiT-based framework that performs hybrid training on perspective and panoramic data for panoramic image generation. For the issues of maintaining geometric fidelity and photorealism in generation quality,…
When legged robots perform agile movements, traditional RGB cameras often produce blurred images, posing a challenge for rapid perception. Event cameras have emerged as a promising solution for capturing rapid perception and coping with…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
360$^\circ$ video saliency detection is one of the challenging benchmarks for 360$^\circ$ video understanding since non-negligible distortion and discontinuity occur in the projection of any format of 360$^\circ$ videos, and capture-worthy…
World models have demonstrated significant promise for data synthesis in autonomous driving. However, existing methods predominantly concentrate on single-modality generation, typically focusing on either multi-camera video or LiDAR…
Camera control, which achieves diverse visual effects by changing camera position and pose, has attracted widespread attention. However, existing methods face challenges such as complex interaction and limited control capabilities. To…
Data scarcity continues to be a major challenge in the field of robotic manipulation. Although diffusion models provide a promising solution for generating robotic manipulation videos, existing methods largely depend on 2D trajectories,…
The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…
Human-motion video generation has been a challenging task, primarily due to the difficulty inherent in learning human body movements. While some approaches have attempted to drive human-centric video generation explicitly through pose…
High resolution panoramic video content is paramount for immersive experiences in Virtual Reality, but is non-trivial to collect as it requires specialized equipment and intricate camera setups. In this work, we introduce VideoPanda, a…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
The generation of sounding videos has seen significant advancements with the advent of diffusion models. However, existing methods often lack the fine-grained control needed to generate viewpoint-specific content from larger, immersive…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
Controllable 3D scene generation has extensive applications in virtual reality and interior design, where the generated scenes should exhibit high levels of realism and controllability in terms of geometry. Scene graphs provide a suitable…
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…
The rapid advancement of diffusion models holds the promise of revolutionizing the application of VR and AR technologies, which typically require scene-level 4D assets for user experience. Nonetheless, existing diffusion models…
The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation learning, as real-world data acquisition is costly and simulators offer limited diversity and fidelity with pronounced sim-to-real gaps.…
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and…