EndoFlow-SLAM: Real-Time Endoscopic SLAM with Flow-Constrained Gaussian Splatting

Efficient three-dimensional reconstruction and real-time visualization are critical in surgical scenarios such as endoscopy. In recent years, 3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in efficient 3D reconstruction and rendering. Most 3DGS-based Simultaneous Localization and Mapping (SLAM) methods only rely on the appearance constraints for optimizing both 3DGS and camera poses. However, in endoscopic scenarios, the challenges include photometric inconsistencies caused by non-Lambertian surfaces and dynamic motion from breathing affects the performance of SLAM systems. To address these issues, we additionally introduce optical flow loss as a geometric constraint, which effectively constrains both the 3D structure of the scene and the camera motion. Furthermore, we propose a depth regularisation strategy to mitigate the problem of photometric inconsistencies and ensure the validity of 3DGS depth rendering in endoscopic scenes. In addition, to improve scene representation in the SLAM system, we improve the 3DGS refinement strategy by focusing on viewpoints corresponding to Keyframes with suboptimal rendering quality frames, achieving better rendering results. Extensive experiments on the C3VD static dataset and the StereoMIS dynamic dataset demonstrate that our method outperforms existing state-of-the-art methods in novel view synthesis and pose estimation, exhibiting high performance in both static and dynamic surgical scenes. The source code will be publicly available upon paper acceptance.

CEED-VLA: Consistency Vision-Language-Action Model with Early-Exit Decoding

In recent years, Vision-Language-Action (VLA) models have become a vital research direction in robotics due to their impressive multimodal understanding and generalization capabilities. Despite the progress, their practical deployment is severely constrained by inference speed bottlenecks, particularly in high-frequency and dexterous manipulation tasks. While recent studies have explored Jacobi decoding as a more efficient alternative to traditional autoregressive decoding, its practical benefits are marginal due to the lengthy iterations. To address it, we introduce consistency distillation training to predict multiple correct action tokens in each iteration, thereby achieving acceleration. Besides, we design mixed-label supervision to mitigate the error accumulation during distillation. Although distillation brings acceptable speedup, we identify that certain inefficient iterations remain a critical bottleneck. To tackle this, we propose an early-exit decoding strategy that moderately relaxes convergence conditions, which further improves average inference efficiency. Experimental results show that the proposed method achieves more than 4 times inference acceleration across different baselines while maintaining high task success rates in both simulated and real-world robot tasks. These experiments validate that our approach provides an efficient and general paradigm for accelerating multimodal decision-making in robotics. Our project page is available at https://irpn-eai.github.io/CEED-VLA/.

RationalVLA: A Rational Vision-Language-Action Model with Dual System

A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned with the environment. This assumption limits robustness and generalization in realistic scenarios where instructions may be ambiguous, irrelevant, or infeasible. To address this problem, we introduce RAtional MAnipulation (RAMA), a new benchmark that challenges models with both unseen executable instructions and defective ones that should be rejected. In RAMA, we construct a dataset with over 14,000 samples, including diverse defective instructions spanning six dimensions: visual, physical, semantic, motion, safety, and out-of-context. We further propose the Rational Vision-Language-Action model (RationalVLA). It is a dual system for robotic arms that integrates the high-level vision-language model with the low-level manipulation policy by introducing learnable latent space embeddings. This design enables RationalVLA to reason over instructions, reject infeasible commands, and execute manipulation effectively. Experiments demonstrate that RationalVLA outperforms state-of-the-art baselines on RAMA by a 14.5% higher success rate and 0.94 average task length, while maintaining competitive performance on standard manipulation tasks. Real-world trials further validate its effectiveness and robustness in practical applications. Our project page is https://irpn-eai.github.io/rationalvla.

Convex Relaxation for Robust Vanishing Point Estimation in Manhattan World

Determining the vanishing points (VPs) in a Manhattan world, as a fundamental task in many 3D vision applications, consists of jointly inferring the line-VP association and locating each VP. Existing methods are, however, either sub-optimal solvers or pursuing global optimality at a significant cost of computing time. In contrast to prior works, we introduce convex relaxation techniques to solve this task for the first time. Specifically, we employ a ``soft'' association scheme, realized via a truncated multi-selection error, that allows for joint estimation of VPs' locations and line-VP associations. This approach leads to a primal problem that can be reformulated into a quadratically constrained quadratic programming (QCQP) problem, which is then relaxed into a convex semidefinite programming (SDP) problem. To solve this SDP problem efficiently, we present a globally optimal outlier-robust iterative solver (called \textbf{GlobustVP}), which independently searches for one VP and its associated lines in each iteration, treating other lines as outliers. After each independent update of all VPs, the mutual orthogonality between the three VPs in a Manhattan world is reinforced via local refinement. Extensive experiments on both synthetic and real-world data demonstrate that \textbf{GlobustVP} achieves a favorable balance between efficiency, robustness, and global optimality compared to previous works. The code is publicly available at https://github.com/WU-CVGL/GlobustVP.

L2COcc: Lightweight Camera-Centric Semantic Scene Completion via Distillation of LiDAR Model

Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented various computationally demanding and memory-intensive 3D operations, imposing significant computational requirements on the platform during training and testing. This paper proposes L2COcc, a lightweight camera-centric SSC framework that also accommodates LiDAR inputs. With our proposed efficient voxel transformer (EVT) and cross-modal knowledge modules, including feature similarity distillation (FSD), TPV distillation (TPVD) and prediction alignment distillation (PAD), our method substantially reduce computational burden while maintaining high accuracy. The experimental evaluations demonstrate that our proposed method surpasses the current state-of-the-art vision-based SSC methods regarding accuracy on both the SemanticKITTI and SSCBench-KITTI-360 benchmarks, respectively. Additionally, our method is more lightweight, exhibiting a reduction in both memory consumption and inference time by over 23% compared to the current state-of-the-arts method. Code is available at our project page:https://studyingfufu.github.io/L2COcc/.

Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control. However, action chunking linearly scales up action dimensions in VLA models with increased chunking sizes. This reduces the inference efficiency. To tackle this problem, we propose PD-VLA, the first parallel decoding framework for VLA models integrated with action chunking. Our framework reformulates autoregressive decoding as a nonlinear system solved by parallel fixed-point iterations. This approach preserves model performance with mathematical guarantees while significantly improving decoding speed. In addition, it enables training-free acceleration without architectural changes, as well as seamless synergy with existing acceleration techniques. Extensive simulations validate that our PD-VLA maintains competitive success rates while achieving 2.52 times execution frequency on manipulators (with 7 degrees of freedom) compared with the fundamental VLA model. Furthermore, we experimentally identify the most effective settings for acceleration. Finally, real-world experiments validate its high applicability across different tasks.

Interactive Navigation for Legged Manipulators with Learned Arm-Pushing Controller

Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large obstacles (which could be comparable to the size of a robot). However, they prove ineffective in narrow or constrained spaces where the robot's dimensions restrict its manipulation capabilities. This paper introduces a novel interactive navigation framework for legged manipulators, featuring an active arm-pushing mechanism that enables the robot to reposition movable obstacles in space-constrained environments. To this end, we develop a reinforcement learning-based arm-pushing controller with a two-stage reward strategy for large-object manipulation. Specifically, this strategy first directs the manipulator to a designated pushing zone to achieve a kinematically feasible contact configuration. Then, the end effector is guided to maintain its position at appropriate contact points for stable object displacement while preventing toppling. The simulations validate the robustness of the arm-pushing controller, showing that the two-stage reward strategy improves policy convergence and long-term performance. Real-world experiments further demonstrate the effectiveness of the proposed navigation framework, which achieves shorter paths and reduced traversal time. The open-source project can be found at https://github.com/Zhihaibi/Interactive-Navigation-for-legged-manipulator.git.

RoboDexVLM: Visual Language Model-Enabled Task Planning and Motion Control for Dexterous Robot Manipulation

This paper introduces RoboDexVLM, an innovative framework for robot task planning and grasp detection tailored for a collaborative manipulator equipped with a dexterous hand. Previous methods focus on simplified and limited manipulation tasks, which often neglect the complexities associated with grasping a diverse array of objects in a long-horizon manner. In contrast, our proposed framework utilizes a dexterous hand capable of grasping objects of varying shapes and sizes while executing tasks based on natural language commands. The proposed approach has the following core components: First, a robust task planner with a task-level recovery mechanism that leverages vision-language models (VLMs) is designed, which enables the system to interpret and execute open-vocabulary commands for long sequence tasks. Second, a language-guided dexterous grasp perception algorithm is presented based on robot kinematics and formal methods, tailored for zero-shot dexterous manipulation with diverse objects and commands. Comprehensive experimental results validate the effectiveness, adaptability, and robustness of RoboDexVLM in handling long-horizon scenarios and performing dexterous grasping. These results highlight the framework's ability to operate in complex environments, showcasing its potential for open-vocabulary dexterous manipulation. Our open-source project page can be found at https://henryhcliu.github.io/robodexvlm.

DynSUP: Dynamic Gaussian Splatting from An Unposed Image Pair

Recent advances in 3D Gaussian Splatting have shown promising results. Existing methods typically assume static scenes and/or multiple images with prior poses. Dynamics, sparse views, and unknown poses significantly increase the problem complexity due to insufficient geometric constraints. To overcome this challenge, we propose a method that can use only two images without prior poses to fit Gaussians in dynamic environments. To achieve this, we introduce two technical contributions. First, we propose an object-level two-view bundle adjustment. This strategy decomposes dynamic scenes into piece-wise rigid components, and jointly estimates the camera pose and motions of dynamic objects. Second, we design an SE(3) field-driven Gaussian training method. It enables fine-grained motion modeling through learnable per-Gaussian transformations. Our method leads to high-fidelity novel view synthesis of dynamic scenes while accurately preserving temporal consistency and object motion. Experiments on both synthetic and real-world datasets demonstrate that our method significantly outperforms state-of-the-art approaches designed for the cases of static environments, multiple images, and/or known poses. Our project page is available at https://colin-de.github.io/DynSUP/.

PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments

Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in incomplete scene reconstruction and limited accuracy of camera localization. The other works express dynamic objects by point clouds, sparse joints, or coarse meshes, which fails to provide a photo-realistic representation. To overcome the above limitations, we propose a photo-realistic and geometry-aware RGB-D SLAM method by extending Gaussian splatting. Our method is composed of three main modules to 1) map the dynamic foreground including non-rigid humans and rigid items, 2) reconstruct the static background, and 3) localize the camera. To map the foreground, we focus on modeling the deformations and/or motions. We consider the shape priors of humans and exploit geometric and appearance constraints of humans and items. For background mapping, we design an optimization strategy between neighboring local maps by integrating appearance constraint into geometric alignment. As to camera localization, we leverage both static background and dynamic foreground to increase the observations for noise compensation. We explore the geometric and appearance constraints by associating 3D Gaussians with 2D optical flows and pixel patches. Experiments on various real-world datasets demonstrate that our method outperforms state-of-the-art approaches in terms of camera localization and scene representation. Source codes will be publicly available upon paper acceptance.