RoboSVG: A Unified Framework for Interactive SVG Generation with Multi-modal Guidance

Scalable Vector Graphics (SVGs) are fundamental to digital design and robot control, encoding not only visual structure but also motion paths in interactive drawings. In this work, we introduce RoboSVG, a unified multimodal framework for generating interactive SVGs guided by textual, visual, and numerical signals. Given an input query, the RoboSVG model first produces multimodal guidance, then synthesizes candidate SVGs through dedicated generation modules, and finally refines them under numerical guidance to yield high-quality outputs. To support this framework, we construct RoboDraw, a large-scale dataset of one million examples, each pairing an SVG generation condition (e.g., text, image, and partial SVG) with its corresponding ground-truth SVG code. RoboDraw dataset enables systematic study of four tasks, including basic generation (Text-to-SVG, Image-to-SVG) and interactive generation (PartialSVG-to-SVG, PartialImage-to-SVG). Extensive experiments demonstrate that RoboSVG achieves superior query compliance and visual fidelity across tasks, establishing a new state of the art in versatile SVG generation. The dataset and source code of this project will be publicly available soon.

GP3: A 3D Geometry-Aware Policy with Multi-View Images for Robotic Manipulation

Effective robotic manipulation relies on a precise understanding of 3D scene geometry, and one of the most straightforward ways to acquire such geometry is through multi-view observations. Motivated by this, we present GP3 -- a 3D geometry-aware robotic manipulation policy that leverages multi-view input. GP3 employs a spatial encoder to infer dense spatial features from RGB observations, which enable the estimation of depth and camera parameters, leading to a compact yet expressive 3D scene representation tailored for manipulation. This representation is fused with language instructions and translated into continuous actions via a lightweight policy head. Comprehensive experiments demonstrate that GP3 consistently outperforms state-of-the-art methods on simulated benchmarks. Furthermore, GP3 transfers effectively to real-world robots without depth sensors or pre-mapped environments, requiring only minimal fine-tuning. These results highlight GP3 as a practical, sensor-agnostic solution for geometry-aware robotic manipulation.

Depth Completion with Multiple Balanced Bases and Confidence for Dense Monocular SLAM

Dense SLAM based on monocular cameras does indeed have immense application value in the field of AR/VR, especially when it is performed on a mobile device. In this paper, we propose a novel method that integrates a light-weight depth completion network into a sparse SLAM system using a multi-basis depth representation, so that dense mapping can be performed online even on a mobile phone. Specifically, we present a specifically optimized multi-basis depth completion network, called BBC-Net, tailored to the characteristics of traditional sparse SLAM systems. BBC-Net can predict multiple balanced bases and a confidence map from a monocular image with sparse points generated by off-the-shelf keypoint-based SLAM systems. The final depth is a linear combination of predicted depth bases that can be optimized by tuning the corresponding weights. To seamlessly incorporate the weights into traditional SLAM optimization and ensure efficiency and robustness, we design a set of depth weight factors, which makes our network a versatile plug-in module, facilitating easy integration into various existing sparse SLAM systems and significantly enhancing global depth consistency through bundle adjustment. To verify the portability of our method, we integrate BBC-Net into two representative SLAM systems. The experimental results on various datasets show that the proposed method achieves better performance in monocular dense mapping than the state-of-the-art methods. We provide an online demo running on a mobile phone, which verifies the efficiency and mapping quality of the proposed method in real-world scenarios.