Learning a General Model: Folding Clothing with Topological Dynamics

The high degrees of freedom and complex structure of garments present significant challenges for clothing manipulation. In this paper, we propose a general topological dynamics model to fold complex clothing. By utilizing the visible folding structure as the topological skeleton, we design a novel topological graph to represent the clothing state. This topological graph is low-dimensional and applied for complex clothing in various folding states. It indicates the constraints of clothing and enables predictions regarding clothing movement. To extract graphs from self-occlusion, we apply semantic segmentation to analyze the occlusion relationships and decompose the clothing structure. The decomposed structure is then combined with keypoint detection to generate the topological graph. To analyze the behavior of the topological graph, we employ an improved Graph Neural Network (GNN) to learn the general dynamics. The GNN model can predict the deformation of clothing and is employed to calculate the deformation Jacobi matrix for control. Experiments using jackets validate the algorithm's effectiveness to recognize and fold complex clothing with self-occlusion.

UTTG_ A Universal Teleoperation Approach via Online Trajectory Generation

Teleoperation is crucial for hazardous environment operations and serves as a key tool for collecting expert demonstrations in robot learning. However, existing methods face robotic hardware dependency and control frequency mismatches between teleoperation devices and robotic platforms. Our approach automatically extracts kinematic parameters from unified robot description format (URDF) files, and enables pluggable deployment across diverse robots through uniform interfaces. The proposed interpolation algorithm bridges the frequency gap between low-rate human inputs and high-frequency robotic control commands through online continuous trajectory generation, \n{while requiring no access to the closed, bottom-level control loop}. To enhance trajectory smoothness, we introduce a minimum-stretch spline that optimizes the motion quality. The system further provides precision and rapid modes to accommodate different task requirements. Experiments across various robotic platforms including dual-arm ones demonstrate generality and smooth operation performance of our methods. The code is developed in C++ with python interface, and available at https://github.com/IRMV-Manipulation-Group/UTTG.

BEV-GS: Feed-forward Gaussian Splatting in Bird's-Eye-View for Road Reconstruction

Road surface is the sole contact medium for wheels or robot feet. Reconstructing road surface is crucial for unmanned vehicles and mobile robots. Recent studies on Neural Radiance Fields (NeRF) and Gaussian Splatting (GS) have achieved remarkable results in scene reconstruction. However, they typically rely on multi-view image inputs and require prolonged optimization times. In this paper, we propose BEV-GS, a real-time single-frame road surface reconstruction method based on feed-forward Gaussian splatting. BEV-GS consists of a prediction module and a rendering module. The prediction module introduces separate geometry and texture networks following Bird's-Eye-View paradigm. Geometric and texture parameters are directly estimated from a single frame, avoiding per-scene optimization. In the rendering module, we utilize grid Gaussian for road surface representation and novel view synthesis, which better aligns with road surface characteristics. Our method achieves state-of-the-art performance on the real-world dataset RSRD. The road elevation error reduces to 1.73 cm, and the PSNR of novel view synthesis reaches 28.36 dB. The prediction and rendering FPS is 26, and 2061, respectively, enabling high-accuracy and real-time applications. The code will be available at: \href{https://github.com/cat-wwh/BEV-GS}{\texttt{https://github.com/cat-wwh/BEV-GS}}

Novel Diffusion Models for Multimodal 3D Hand Trajectory Prediction

Predicting hand motion is critical for understanding human intentions and bridging the action space between human movements and robot manipulations. Existing hand trajectory prediction (HTP) methods forecast the future hand waypoints in 3D space conditioned on past egocentric observations. However, such models are only designed to accommodate 2D egocentric video inputs. There is a lack of awareness of multimodal environmental information from both 2D and 3D observations, hindering the further improvement of 3D HTP performance. In addition, these models overlook the synergy between hand movements and headset camera egomotion, either predicting hand trajectories in isolation or encoding egomotion only from past frames. To address these limitations, we propose novel diffusion models (MMTwin) for multimodal 3D hand trajectory prediction. MMTwin is designed to absorb multimodal information as input encompassing 2D RGB images, 3D point clouds, past hand waypoints, and text prompt. Besides, two latent diffusion models, the egomotion diffusion and the HTP diffusion as twins, are integrated into MMTwin to predict camera egomotion and future hand trajectories concurrently. We propose a novel hybrid Mamba-Transformer module as the denoising model of the HTP diffusion to better fuse multimodal features. The experimental results on three publicly available datasets and our self-recorded data demonstrate that our proposed MMTwin can predict plausible future 3D hand trajectories compared to the state-of-the-art baselines, and generalizes well to unseen environments. The code and pretrained models will be released at https://github.com/IRMVLab/MMTwin.

MovSAM: A Single-image Moving Object Segmentation Framework Based on Deep Thinking

Moving object segmentation plays a vital role in understanding dynamic visual environments. While existing methods rely on multi-frame image sequences to identify moving objects, single-image MOS is critical for applications like motion intention prediction and handling camera frame drops. However, segmenting moving objects from a single image remains challenging for existing methods due to the absence of temporal cues. To address this gap, we propose MovSAM, the first framework for single-image moving object segmentation. MovSAM leverages a Multimodal Large Language Model (MLLM) enhanced with Chain-of-Thought (CoT) prompting to search the moving object and generate text prompts based on deep thinking for segmentation. These prompts are cross-fused with visual features from the Segment Anything Model (SAM) and a Vision-Language Model (VLM), enabling logic-driven moving object segmentation. The segmentation results then undergo a deep thinking refinement loop, allowing MovSAM to iteratively improve its understanding of the scene context and inter-object relationships with logical reasoning. This innovative approach enables MovSAM to segment moving objects in single images by considering scene understanding. We implement MovSAM in the real world to validate its practical application and effectiveness for autonomous driving scenarios where the multi-frame methods fail. Furthermore, despite the inherent advantage of multi-frame methods in utilizing temporal information, MovSAM achieves state-of-the-art performance across public MOS benchmarks, reaching 92.5\% on J\&F. Our implementation will be available at https://github.com/IRMVLab/MovSAM.

SemAlign3D: Semantic Correspondence between RGB-Images through Aligning 3D Object-Class Representations

Semantic correspondence made tremendous progress through the recent advancements of large vision models (LVM). While these LVMs have been shown to reliably capture local semantics, the same can currently not be said for capturing global geometric relationships between semantic object regions. This problem leads to unreliable performance for semantic correspondence between images with extreme view variation. In this work, we aim to leverage monocular depth estimates to capture these geometric relationships for more robust and data-efficient semantic correspondence. First, we introduce a simple but effective method to build 3D object-class representations from monocular depth estimates and LVM features using a sparsely annotated image correspondence dataset. Second, we formulate an alignment energy that can be minimized using gradient descent to obtain an alignment between the 3D object-class representation and the object-class instance in the input RGB-image. Our method achieves state-of-the-art matching accuracy in multiple categories on the challenging SPair-71k dataset, increasing the PCK@0.1 score by more than 10 points on three categories and overall by 3.3 points from 85.6% to 88.9%. Additional resources and code are available at https://dub.sh/semalign3d.

Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene representation that not only enhances localization accuracy in SLAM but also enables advanced cognitive functionalities for downstream navigation and planning tasks. Existing point-wise semantic LiDAR SLAM methods often suffer from poor efficiency and generalization, making them less robust in diverse real-world scenarios. In this paper, we propose a semantic graph-enhanced SLAM framework, named SG-SLAM, which effectively leverages the geometric, semantic, and topological characteristics inherent in environmental structures. The semantic graph serves as a fundamental component that facilitates critical functionalities of SLAM, including robust relocalization during odometry failures, accurate loop closing, and semantic graph map construction. Our method employs a dual-threaded architecture, with one thread dedicated to online odometry and relocalization, while the other handles loop closure, pose graph optimization, and map update. This design enables our method to operate in real time and generate globally consistent semantic graph maps and point cloud maps. We extensively evaluate our method across the KITTI, MulRAN, and Apollo datasets, and the results demonstrate its superiority compared to state-of-the-art methods. Our method has been released at https://github.com/nubot-nudt/SG-SLAM.

Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations

Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent advancements in solving household manipulation tasks. These successes have been largely driven by (1) advanced models, such as transformers and diffusion models, and (2) large-scale data utilization. Aiming to extend these successes to the domain of surgical robotics, we propose a diffusion-based policy learning framework, called Diffusion Stabilizer Policy (DSP), which enables training with imperfect or even failed trajectories. Our approach consists of two stages: first, we train the diffusion stabilizer policy using only clean data. Then, the policy is continuously updated using a mixture of clean and perturbed data, with filtering based on the prediction error on actions. Comprehensive experiments conducted in various surgical environments demonstrate the superior performance of our method in perturbation-free settings and its robustness when handling perturbed demonstrations.

KN-LIO: Geometric Kinematics and Neural Field Coupled LiDAR-Inertial Odometry

Recent advancements in LiDAR-Inertial Odometry (LIO) have boosted a large amount of applications. However, traditional LIO systems tend to focus more on localization rather than mapping, with maps consisting mostly of sparse geometric elements, which is not ideal for downstream tasks. Recent emerging neural field technology has great potential in dense mapping, but pure LiDAR mapping is difficult to work on high-dynamic vehicles. To mitigate this challenge, we present a new solution that tightly couples geometric kinematics with neural fields to enhance simultaneous state estimation and dense mapping capabilities. We propose both semi-coupled and tightly coupled Kinematic-Neural LIO (KN-LIO) systems that leverage online SDF decoding and iterated error-state Kalman filtering to fuse laser and inertial data. Our KN-LIO minimizes information loss and improves accuracy in state estimation, while also accommodating asynchronous multi-LiDAR inputs. Evaluations on diverse high-dynamic datasets demonstrate that our KN-LIO achieves performance on par with or superior to existing state-of-the-art solutions in pose estimation and offers improved dense mapping accuracy over pure LiDAR-based methods. The relevant code and datasets will be made available at https://**.

Deformable Gaussian Splatting for Efficient and High-Fidelity Reconstruction of Surgical Scenes

Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current methods have seen significant improvements in both reconstruction quality and rendering speed. However, two major limitations remain: (1) difficulty in handling irreversible dynamic changes, such as tissue shearing, which are common in surgical scenes; and (2) the lack of hierarchical modeling for surgical scene deformation, which reduces rendering speed. To address these challenges, we introduce EH-SurGS, an efficient and high-fidelity reconstruction algorithm for deformable surgical scenes. We propose a deformation modeling approach that incorporates the life cycle of 3D Gaussians, effectively capturing both regular and irreversible deformations, thus enhancing reconstruction quality. Additionally, we present an adaptive motion hierarchy strategy that distinguishes between static and deformable regions within the surgical scene. This strategy reduces the number of 3D Gaussians passing through the deformation field, thereby improving rendering speed. Extensive experiments demonstrate that our method surpasses existing state-of-the-art approaches in both reconstruction quality and rendering speed. Ablation studies further validate the effectiveness and necessity of our proposed components. We will open-source our code upon acceptance of the paper.