5 accepted papers
Flexible tendon-driven multi-segment robotic bronchoscopes can reach peripheral lung regions for minimally invasive diagnosis and therapy. However, long tendon transmissions introduce friction, elasticity, and backlash, which couple the motion of adjacent segments and reduce operational accuracy and…
Robust all-weather localization is a critical capability for autonomous systems. While 4D mmWave radar offers superior resilience to adverse environmental conditions compared to LiDAR and cameras, its application in high-precision Simultaneous Localization and Mapping (SLAM) is hindered by significa…
Visual localization is critical for AR navigation, AI-driven audio guidance, and mobile robot localization. How- ever, traditional SLAM methods that rely on pre-built 3D maps suffer from high costs, privacy concerns, and sensitivity to environmental changes. Recent floorplan-based localization metho…
Process reward model (PRM) has been proven effective in test-time scaling of LLM on challenging reasoning tasks. However, the reward hacking induced by PRM hinders its successful applications in reinforcement fine-tuning. We find the primary cause of reward hacking induced by PRM is that: the canoni…
Achieving efficient and consistent localization with a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffer from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus degrading the localization performance. To address this…