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PneuGen: Task-Driven Agentic Co-Design of Soft Pneumatic Robots
2026-11-09 23:13:59Shaohong Zhong, Marco Pontin, Perla MaiolinoAbstract
Task-driven design of soft robots requires the consideration of factors such as geometry, morphology, material properties, and actuation, resulting in a large and complex design space that is challenging to explore. Computational optimisation methods leverage signals from simulation to iteratively improve designs to achieve task objectives. However, these methods typically demand high computational load for both optimisation and simulation. We present PneuGen, an agentic co-design framework for soft robots that leverages Large Language Model (LLM) agents to search over the soft robot design space efficiently. A designer agent proposes design programs from a parametric component library, and a separate critic agent analyses simulation diagnostics and recommends targeted revisions. Fitted module response models provide reusable physical priors relating geometry and pressure to deformation. Design programs are automatically validated and converted into finite-element simulations, enabling iterative evaluation. Across grasping tasks on primitive shapes and challenging objects, as well as shape-matching tasks that require multi-directional planar and 3D deformation, the proposed framework significantly outperforms prior computational optimisation baselines. Ablation experiments also highlight the utility of the critic agent and the module response model in facilitating efficient design. We additionally demonstrate the agent-generated soft robot designs in real-world shape-matching and grasping tasks.
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URL
https://arxiv.org/abs/2611.13344
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Uni-Loc: Weakly Supervised 3D CT Pathology Localization via Spatially Grounded Vision-Language Classification
2026-11-09 22:58:36Hao-Chih Lee, Zahi A. Fayad, Xueyan MeiAbstract
Accurate localization of abnormalities in three-dimensional (3D) CT scans is essential for linking automated predictions with clinically relevant pathological findings. We propose Uni-Loc, a vision-language framework that unifies pathology classification and 3D localization using scan-level supervision. Uni-Loc derives both predictions and localization maps from spatial similarities between pathology-conditioned queries and image features. A token-to-voxel upsampling module enables high-resolution localization, while gradient-guided thresholding identifies pathology regions without additional learned parameters. Evaluated on five localization tasks comprising 355 annotated CT scans, Uni-Loc achieves macro-averaged voxel-level AUROC/AUPR of 96.1\%/34.5\%, outperforming relevance propagation (80.7%/13.9%) and gradient saliency (88.7%/8.1%). Uni-Loc also achieves classification AUROC of 88.39% on CT-RATE and 78.03% on RAD-ChestCT, improving over a matched baseline. These results demonstrate effective 3D pathology localization without requiring pathology-specific voxel-level supervision.
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URL
https://arxiv.org/abs/2611.13330
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Domain adaptation of a video Foundation model for Heart Failure Diagnosis from Echocardiography
2026-11-09 22:04:03Mahyar Bolhassani, Tijana Geroski, Narayana S. Singam, Amir AminiAbstract
The rapid advancement of foundation models has transformed computer vision, yet their adaptation to medical imaging, particularly purpose built foundation models for spatio temporal echocardiography videos, remains limited. In this work, we explore the feasibility of fine tuning a pretrained foundation model for video (TimeSformer) for automated diagnosis of reduced ejection fraction heart failure (HFrEF) from apical four chamber videos. The model is finetuned on the publicly available RVENet A4C dataset with a phase aware clip generation strategy that captures complementary systolic and diastolic dynamics. We employ divided space time attention, layer wise learning rate decay, and multi clip inference to enhance robustness under limited data. Experimental results show that full fine tuning of the proposed model outperforms classifier only tuning and a 3D CNN baseline. These findings highlight the potential of leveraging foundation video models for echocardiography based heart failure diagnosis and motivates further domain adaptation studies in medical imaging.
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URL
https://arxiv.org/abs/2611.13297
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RetinexGS: Retinex-Inspired Gaussian Splatting for Low-Light RAW Reconstruction
2026-11-09 21:44:31Yulang Fei, Huaiyuan Weng, Chul Min YeumAbstract
Standard 3D Gaussian Splatting (3DGS) pipelines struggle with severely underexposed images, producing unstable colors, floating artifacts, and incomplete reconstructions in dark regions. To better account for noise in these low-light observations, RAW images offer a natural basis for noise-aware reconstruction by preserving linear sensor measurements and providing access to noise metadata. We present RetinexGS, a RAW-domain 3DGS framework that combines Retinex-inspired appearance modeling with sensor-informed optimization for low-light novel-view synthesis. We factorize each Gaussian's color into a view-independent base color and a shared, position- and view-dependent modulation field, regularizing the two components separately to constrain appearance learning from noisy observations. We use DNG noise metadata to weight the reconstruction loss for signal-dependent noise, while distortion-aware rendering avoids spatially resampling RAW targets. To address sparse geometry in dark regions, we introduce depth-guided initialization. We evaluate RetinexGS on three public RawNeRF scenes and two custom-captured low-light RAW scenes. With all methods trained on the same RAW inputs for each scene, RetinexGS outperforms LE3D and RawNeRF in mean sRGB PSNR by 2.18 dB and 2.71 dB respectively, across the five scenes, while supporting real-time novel-view rendering.
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URL
https://arxiv.org/abs/2611.13280
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Adaptive Residual Quantization for Memory-Efficient Temporal Action Segmentation
2026-11-09 21:31:31Gerard Donahue, Guven Gergerli, Ayush Gupta, Reza Ghoddoosian, Enna Sachdeva, Faizan SiddiquiAbstract
Temporal action segmentation (TAS) is commonly trained on large banks of pre-extracted frame features, but storing and replaying those features becomes a practical bottleneck for long-form video, especially in incremental TAS where past-task data must remain available to mitigate catastrophic forgetting. Recent TAS replay and condensation methods reduce this burden, but they rely on dense frame-wise annotations and allocate storage through fixed segment-level structures, limiting their flexibility for long procedural videos whose frame complexity varies substantially over time. We introduce Adaptive Residual-Quantized Variational AutoEncoder (ARQ-VAE), a compact and label-free memory representation for TAS features that learns a discrete residual quantization of frame-level video features and then adaptively truncates the residual chain on a per-frame basis, retaining only the residual prefix that best reconstructs each frame feature. This yields a practical compact feature memory that does not depend on frame-wise labels and can therefore support multiple TAS settings with the same stored representation, while a lightweight fine-tuning stage further improves reconstruction quality for the truncated codes that are actually retained. Across standard TAS benchmarks, ARQ-VAE achieves a substantially improved storage-performance trade-off over prior replay and condensation baselines. On Breakfast, our final representation reduces training-set storage from 28 GB for the original I3D feature bank to 10 MB while retaining strong downstream segmentation performance; with ASFormer, it achieves 71.5 Edit and 51.2 F1@50 in the supervised setting. We further show that the same label-free memory remains effective for incremental and unsupervised TAS. We position ARQ-VAE as a practical memory representation for TAS and a promising direction for broader dataset condensation applications.
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URL
https://arxiv.org/abs/2611.13262
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Incorporating World Models in Decision Making for Next Best View Selection in Active Sensing
2026-11-09 20:56:59Nikita Sarawgi, Omey M. Manyar, Satyandra K. GuptaAbstract
Efficient robotic 3D reconstruction requires selecting views that contribute new surface measurements with few physical captures. Pretrained world models can guide this choice, but a predicted surface may not produce valid depth measurements under the operating conditions of the deployed sensor. We present a deployment adaptation methodology for next-best-view selection that learns a sensor-return adapter from limited local calibration data while keeping the pretrained predictor fixed. The adapter estimates measurement dropout over each predicted surface, allowing the selection method to favor views likely to fill gaps in the measured reconstruction. In a real-robot experiment with a structured-light sensor, the adapted method achieves higher measured surface coverage with 60% fewer captures than nominal selection. The adapted method recovers a surface region that the nominal method repeatedly targets but fails to measure. These results suggest that robots can reuse pretrained predictive models while adapting their decisions to local operating conditions in data-scarce environments.
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URL
https://arxiv.org/abs/2611.13229
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Robust Reconstruction of Power Lines from Incomplete Mobile and Aerial LiDAR Data
2026-11-09 19:58:33Mohamed Gaha, Damos Ayobo Abongo, Philippe Massicotte, Eya Ben Kacem, Wael Jaafar, Rami Langar, Christian ButeauAbstract
Accurate vegetation-encroachment assessment and risk mitigation require electric utilities to accurately locate and characterize distribution-network assets, including poles and power lines, and distinguish among medium-voltage, low-voltage, neutral, and telecommunication lines. Mobile and aerial Light Detection and Ranging (LiDAR) point clouds provide detailed 3D representations of these assets and their surroundings. However, power-line detection and reconstruction remain challenging because conductor returns are often sparse, incomplete, noisy, or occluded by vegetation. These challenges are especially significant in distribution networks, where lower pole heights and complex line configurations place conductors close to trees. In addition, mobile and aerial LiDAR datasets differ substantially in point density, viewing geometry, spatial coverage, and occlusion patterns. We propose a robust and automated reconstruction method combining scaled density-based clustering, robust polynomial fitting, and iterative fragment merging to recover individual conductors under severe data incompleteness and occlusion. Following semantic classification, the same reconstruction pipeline processes both mobile and aerial LiDAR data without modality-specific code or parameter tuning. The method is evaluated through degradation experiments, benchmarking, parameter sensitivity analysis, and large-scale validation. On the aerial dataset, it achieves 96.87% precision, 96.66% recall, a 96.76% F$_1$-score, and a geometric RMSE of 0.127 m. On the mobile dataset, where conductor-level reference annotations were unavailable, it achieves a point-to-model RMSE of 0.045 m and a reconstruction coverage of 95.27%. Source code, documentation, and evaluation data are publicly available at this https URL.
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https://arxiv.org/abs/2611.05197
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GTAGym: Real AAA Game Tasks Environment for Evaluation and Reinforcement Learning
2026-11-09 08:59:36Jiajun Chen, Shicheng Fang, Jiahao Lu, Yuxin Wang, Xipeng QiuAbstract
AAA games offer a rich testbed for evaluating agent perception, reasoning, and control. However, evaluating whether agents can complete tasks in AAA games is challenging and often human-annotated because task outcomes are often difficult to verify automatically, let alone applying it for Reinforcement Learning (RL). We introduce GTAGym, an environment and framework for evaluation and RL on GTA V tasks. Its evaluation benchmark, GTAVBench, derived from GTA V main-story missions, contains 103 online tasks reconstructed across nine task families, alongside 47 image-based shooting and sniping tasks using GTA V imagery. A web server provides access to the online environment and evaluation interface, supporting parallel testing through screenshots and keyboard-mouse actions with automatic engine-state outcome checks. We evaluate six frontier LLMs on GTAVBench with textual task instructions and on its GTAVBench-AGI branch, where instructions appear only in the first screenshot and a harness automatically compresses interaction history. The best configuration achieves 70.9% overall accuracy in GTAVBench-AGI, yet aerial navigation, evasion and interception remain difficult. GTAGym also provides a scalable generator that samples task parameters within user-specified ranges and option sets under fixed templates, creating batches of 3D and image-based shooting environments for RL with automatic reward and termination signals. LoRA RL of Qwen3.8-27B on generated on-foot navigation tasks improves the in-domain performance and transfers to out-of-domain task categories, and native GTA V tasks from 15% to 23%.
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URL
https://arxiv.org/abs/2611.13028
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Video-Coder: Reinforcing Agentic Coding for Video Generation
2026-11-06 18:59:57Chaoyang Wang, Sicheng Gao, Junan Hu, Kunyang Li, Dongyang Chen, Yiyang Zhou, Huaxiu Yao, Yong Jae Lee, Radu Timofte, Yuzhang ShangAbstract
Recent years have witnessed remarkable progress in video generation in terms of visual quality and temporal consistency. However, generating videos with precise spatial structure, coherent motion dynamics, and controllable scene composition remains challenging. In this paper, we introduce Video-Coder, the first attempt to train a code-driven video generation agent, which autonomously writes and executes code to construct a dynamic 3D scene (Draft Video) that provides structure and motion signals to downstream video generators. To support this paradigm, we design a dedicated data pipeline and curate two high-quality datasets, Video-Coder-SFT-6k and Video-Coder-RL-2k, which contain diverse prompts and ground-truth reference videos. We further develop the Video- Coder Harness, a unified interactive environment integrating code execution, 3D scene rendering, and execution feedback for agent training and inference. We then train Video-Coder with SFT fol- lowed by harness-native agentic reinforcement learning with dual reward feedback, which combines execution-based and video-based rewards. Additionally, we design an annealing training strategy that gradually reduces the execution reward over time, allowing the model to rely more on the video reward in the later training stages. Experiments show that Video-Coder achieves significant gains, improving Minimax-H3 by approximately 7 points on PhyGenBench and 24 points on VBench-2.0. We hope this work can serve as an open foundation for coding agents in video generation, and we fully open-source our data, models, and code
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URL
https://arxiv.org/abs/2611.09894
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FlowMoP: Stochastic Multi-Person Motion Prediction
2026-11-06 18:56:41Aadya Agrawal, Ho Kei Cheng, Alexander SchwingAbstract
Predicting the future motion of multiple people is inherently stochastic: the same observed history admits many plausible continuations depending on intent, coordination, and social context. Yet the dominant paradigm in multi-person 3D motion prediction remains deterministic, with existing methods producing a fixed number of outputs per agent. In contrast, we present a conditional flow matching framework that jointly generates diverse future motions for multiple agents, modeling both global trajectories and root-relative poses. A B-spline reparameterization compresses the generative state space while enforcing temporal smoothness, and a dual-stream transformer conditions each agent's predictions on observed neighbor motion for interaction-aware forecasting. Our method achieves state-of-the-art performance on CMU-Mocap (UMPM) and 3DPW, outperforming deterministic baselines on joint position error, pose error, and final displacement error despite producing a full predictive distribution. We additionally establish the first motion prediction baseline on WorldPose, a large-scale professional soccer dataset, where social conditioning demonstrably concentrates predictive uncertainty along interaction-constrained directions.
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URL
https://arxiv.org/abs/2611.09882
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ZeoBench: A Benchmark for Self-Supervised Learning on 3D Zeolite Representations
2026-11-06 18:55:34Aaron Sun, Yachan Liu, Ping Yang, Peng Bai, Subhransu MajiAbstract
Zeolites are an important class of porous crystalline materials with broad applications in gas storage, separations, and catalysis. Although hundreds of thousands of experimentally realized and hypothetical zeolite structures are known, identifying materials optimized for a target application remains challenging because property labels are expensive to obtain and available only for limited structure-molecule pairs. While prior work has demonstrated that 3D neural representations can predict zeolite properties effectively, it remains unclear which representation-learning strategies are most effective in the low-data regime relevant to materials discovery. We present ZeoBench, a benchmark for self-supervised learning on dense 3D representations of all-silica zeolites, and evaluate the resulting features on six existing downstream adsorption-property prediction tasks, across a range of training set sizes. Our study compares self-supervised 3D pretraining on volumetric zeolite data, adaptations of image-pretrained 2D ConvNets and vision transformers to 3D via multiview and channel-inflation strategies, and 3D ConvNets pretrained on out-of-domain volumetric datasets, alongside hand-crafted descriptors and supervised baselines. Using our pretraining and evaluation framework, we find self-supervised 3D representations outperform existing methods and achieve state-of-the-art performance across both in-domain label regimes and for the unseen domain of metal organic frameworks. Learned representations consistently outperform hand-crafted descriptors, and convolutional architectures are generally more effective than vision transformers in this setting. These results establish ZeoBench as a practical benchmark for 3D representation learning in zeolites and provide guidance for data-limited adsorption property prediction.
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URL
https://arxiv.org/abs/2611.09880
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BEV3SR: Evidence-Aware 3D Spatial Reasoning from Video
Abstract
3D spatial reasoning from video remains challenging for VLMs because videos provide sequential, view-local observations rather than persistent metric scene records. Many questions must be answered in a query-specified perspective rather than the observed camera viewpoint, and prompting with a fixed set of RGB views may miss sparse or occluded visual cues. To address these gaps, we introduce BEV3SR, a training-free and backbone-agnostic framework for RGB-D videos with camera parameters. BEV3SR turns video observations into queryable metric bird's-eye-view (BEV) scene memory and formalizes each query into an evidence-aware spatial task. The Spatial Task Formalizer specifies the query's reference frame, spatial constraints, objective, and evidence requirement. The evidence requirement determines the appropriate reasoning pathway. A query treated as requiring geometric evidence is handled by the Geometric Reasoner, which deterministically computes the answer using the metric BEV records in the query-specified reference frame. Otherwise, a query treated as requiring visual evidence is passed to the Visual Evidence Aligner, which uses BEV-indexed object records and their associated supporting views to retrieve object-consistent and scene-context RGB frames for VLM grounding. Within a standard 16-frame budget, BEV3SR consistently improves different VLM backbones across multiple 3D scene QA benchmarks, delivering large gains on spatially intensive questions and significant improvements on open-ended scene QA. These results demonstrate that BEV3SR offers an effective, efficient, and interpretable framework for explicit 3D spatial reasoning from video.
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URL
https://arxiv.org/abs/2611.09816
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Beyond Segmentation: Enriching ImageCAS with Coronary Ostia Landmarks, Rooted Centerline Graphs, and Open-Weight Localization Models
2026-11-06 16:56:06Matteo Leccardi, Andrea Moglia, Marco Morandini, Michele Brembilla, Alessandro Nicosia, Andrea Penserini, Christian Brandini, Ender Konukoglu, Marco Marcon, Luca Mainardi, Pietro CerveriAbstract
Coronary ostia and centerlines are key reference points for automated analysis of coronary computed tomography angiography (CCTA), from surgical planning to intraoperative vessel tracking. However, the only public ostium annotations cover 77 non-gated aortic scans, not CCTA, while CAT08 and ASOCA (32 and 40 CCTA scans) mark the ostia only implicitly, as centerline start points. This work enriches ImageCAS, the largest public dataset for coronary artery segmentation, with ostium annotations for its 1000 patients and centerline graphs rooted at these new ostia, making it, to the authors' knowledge, the largest public dataset for ostium localization and the only one with centerlines following the official ImageCAS masks and starting at annotated ostia. Three annotators marked each ostium in the first 500 volumes; in the next 500, the candidates of a model trained on the first batch were corrected (human-in-the-loop). Six 3D localization models, trained on ImageCAS, CAT08 and ASOCA, were benchmarked on 58 held-out volumes (50 ImageCAS, 4 CAT08, 4 ASOCA). SwinUNETR-V2 and nnResUNet localized all ostia without failure (>5 mm error), with median errors of 0.70-0.87 mm. Trained on CAT08 and ASOCA alone, SwinUNETR-V2 fails on 34% of right and 53% of left ostia, whereas adding 250 ImageCAS volumes removes all failures. The centerlines were extracted by a deterministic, quality-controlled minimal-path procedure; on ASOCA, they cover a median of 99.5% of the reference length, with a median per-patient mean distance of 0.22 mm between matched reference points and centerlines. Annotations, centerlines, code, and weights are available at this https URL.
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URL
https://arxiv.org/abs/2611.09714
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PoseRieFlow: Riemannian Flow Matching for Whole-Body Text-to-Pose Generation
2026-11-06 16:40:03Jan Spindler, Bardia Ardakanian, Patrick Stotko, Reinhard KleinAbstract
We present PoseRieFlow, a compact flow-matching framework for text-conditioned generation of whole-body 3D human poses. Prior text-to-pose methods either neglect articulated hands or model rotations in Euclidean space despite their non-Euclidean geometry. PoseRieFlow instead formulates generation directly on the product manifold of SMPL-H joint rotations, learning a text-conditioned vector field that transports samples from an isotropic $\mathrm{SO}(3)$ Gaussian prior to the data distribution along Riemannian geodesics. A part-tokenized Diffusion Transformer aggregates the 52 joints into eight body-part tokens, allocating a dedicated token and nonlinear projector to each hand, and restores per-joint resolution through part-specific decoders, shortening the sequence while improving kinematic fidelity over per-joint tokenization. With only 21.6M trainable parameters, PoseRieFlow supports expressive SMPL-H generation with detailed hand articulation at a fraction of the scale of recent LLM-based generators. On PoseScript, it attains the lowest whole-body kinematic error among all hand-producing methods, with consistent kinematic gains from the Riemannian formulation over its Euclidean counterpart at every practical inference budget, while distributional and retrieval metrics remain comparable between them.
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URL
https://arxiv.org/abs/2611.09692
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Dual Architecture Fusion Vehicle Lidar 3D Target Detection
2026-11-06 16:13:58Muyun Li, Weizheng Jin, Yuan SunAbstract
In this paper, a 3D backbone network (SpconvTransformer) based on the fusion of convolutional architecture branch and Transformer architecture branch is proposed. The convolution branch uses 3D sparse convolution and submanifold convolution to learn local voxel features and semantic information, and the Transformer branch uses the self-attention mechanism to model the remote relationship between voxels, uses the broad receptive field to capture rich context information, and complementing the advantages of the two architectures by fusing the local features extracted from the two branches and the global features solves the problem of limited receptive fields of 3D convolutional neural networks. The experimental results show that the average accuracy of SpconvTransformer in 3D object detection and bird's-eye view detection tasks reaches 81.45% and 88.09%, respectively, and the average directional similarity reaches 91.10%, which is significantly better than other existing algorithms.
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URL
https://arxiv.org/abs/2611.09664
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Video2Asset: Online Construction of Persistent 3D Street-Scene Assets
2026-11-06 16:08:45Zihan Zheng, Chunlei Cai, Zhenlong Wu, Linjun Li, Yichen Gong, Xiaoyun Zhang, Qiang HuAbstract
Online 3D street-scene asset construction turns multi-view video into a continually updated scene of independently editable objects. The central challenge is to accumulate partial, intermittent observations under motion and occlusion without fragmenting identities or mixing evidence across objects. To address this challenge, we propose Video2Asset, an online framework for constructing persistent 3D assets from multi-view video. Using occupancy as an intermediate representation, we construct identity-aware observations with Historical Carrier Guidance for instance decoding and an identity encoder fusing instance-aligned 3D features with multi-view appearance. Accumulated-Evidence Association compares current observations with identity, geometric, and appearance evidence accumulated within asset records to determine identity inheritance and update world-coordinate states. We instantiate meshes from an asset library using these states and combine them with an occupancy-derived static background to support scene visualization, mesh replacement, object deletion, and trajectory editing. Experiments on several datasets demonstrate improvements in temporal identity consistency and asset quality across multiple occupancy models, including a 15.4% reduction in asset fragmentation on nuScenes with SGE.
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URL
https://arxiv.org/abs/2611.09661
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Encoding Memory in World Models with Test-Time Model-Based Reinforcement Learning
2026-11-06 15:45:54Maxime Burchi, Fayaz Ali Dharejo, Radu TimofteAbstract
Model-based reinforcement learning (MBRL) approaches have demonstrated strong performance across diverse domains in recent years, learning accurate world models from agent trajectories. However, despite this progress, current approaches still struggle to surpass human performance on tasks that require long-term memory and planning. In this work, we address the problem of long-term memory in MBRL by moving beyond the commonly studied paradigm of architecture design. We introduce Test-Time Model-Based Reinforcement Learning (TT-MBRL), using gradient descent at test time to encode the memory of episode observations into world model parameters. This enables the agent to learn a distinct world model for each episode, improving memory capabilities compared to traditional approaches that solely rely on contextual memory. We first establish a proof of concept on a simplified two-dimensional variant of the Memory Maze environment, which we refer to as Memory Maze 2D, showing consistent improvements across different world model architectures. We then demonstrate the effectiveness of TT-MBRL in the 3D domain, achieving new state-of-the-art results on the Memory Maze benchmark. Finally, we show that TT-MBRL maintains strong performance on non-memory benchmarks such as DeepMind Control and Atari 100k.
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URL
https://arxiv.org/abs/2611.09625
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MoRE-GS: Motion-Regime Experts for Future Gaussian Splatting
Abstract
Future dynamic novel-view synthesis requires extrapolating multiple motion regimes within the same scene. A single dynamics model may not simultaneously represent stationary regions, coordinated motion, local interactions, and articulated trajectories. We introduce Motion Regime Expert Routing for Gaussian Splatting (MoRE-GS), a causal, render-aware framework for forecasting dynamic 3D Gaussian scenes. MoRE-GS freezes a Gaussian representation reconstructed exclusively from the observed temporal prefix and forecasts its control-keypoint motion using four complementary experts: persistence, a coefficient-space Transformer, a graph convolutional network, and a structured Transformer with rigid and non-rigid motion constraints. A compact routing table assigns expert mixtures across soft motion groups and forecast-horizon bins, while a persistence gate suppresses unreliable extrapolation. Across D-NeRF and HyperNeRF scenes, MoRE-GS achieves improved performance against other methods, and these results demonstrate that renderer-calibrated composition of complementary motion predictors improves causal dynamic Gaussian forecasting across heterogeneous motion regimes. Project page: this https URL
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URL
https://arxiv.org/abs/2611.00375
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Lightweight Path-Aware Frontier Re-ranking for LiDAR-Based UAV Exploration
2026-11-06 15:03:12Duc Manh Do, Thanh Nguyen Canh, Ngoc Minh Do, Mai Thanh Thai, Xiem HoangVanAbstract
Autonomous 3D exploration with UAVs requires efficient target selection under limited flight time and onboard computation. In conventional Euclidean-distance-based frontier pipelines, geometric distance may poorly represent the actual collision-free travel cost in cluttered environments, leading to inefficient frontier choices. This paper presents a lightweight path-aware frontier re-ranking method for LiDAR-based UAV exploration. The method first retains a small top-N set of promising frontier candidates using a lightweight utility function and then applies time-bounded RRT* planning to estimate their feasible path costs for re-ranking. The path generated for the selected frontier is further reused for navigation to reduce redundant global planning. Experiments in three warehouse-like environments show that the proposed method consistently produces shorter exploration trajectories than conventional frontier baselines, with traveled-distance reductions of up to 14.1%, while reducing exploration time by up to 9.5% in two environments and remaining competitive in the third. The method maintains map detail comparable to the conventional OctoMap-based baseline, demonstrating an effective trade-off between exploration efficiency and mapping quality.
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URL
https://arxiv.org/abs/2611.09561
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ExQuery: Explicit Structured Query Priors for Temporal 3D Object Detection
2026-11-06 14:39:12Honglin Sun, Yifei Zhang, Junyang Zhang, Kenji HashimotoAbstract
Sparse query-based 3D detectors commonly encode heterogeneous semantic, geometric, and motion information into unified latent queries, including when explicit 3D anchors are used. We introduce ExQuery, an explicit structured query framework for temporal 3D object detection. Each decoded query is organized into a shared semantic context slice and physical-state-specific slices for center, dimensions, orientation, and velocity. This structure is preserved from prior encoding to branch-specific regression and is reused to reconstruct temporal queries: predicted physical states are transformed by ego motion, classification scores form soft semantic priors, and the reconstructed query is fused with the stored latent instance feature through gated affine modulation. Experiments on the nuScenes benchmark show that our method achieves competitive detection performance, and ablation studies validate the effectiveness of our proposed modules.
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URL
https://arxiv.org/abs/2611.09527
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