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OmniMimic, a training framework that turns directionally limited animal demonstrations into a single multi-gait policy over target per-axis velocity ranges, and uses a shared actor with soft-gated, gait-specialized residual experts to balance reusable locomotion skills with gait-specific corrections.
Angular-to-Cartesian projection distortions have long bottlenecked spherical 3D perception, but explicitly modulating voxel features with spherical range-azimuth geometry outperforms top surround-view models like SurroundOcc and TPVFormer across varied wild environments.
Achieve 57% lower depth reprojection error and 21% higher cycle inlier ratio for panoramic 3D scene reconstruction by directly modeling Gaussian Opacity Fields on the sphere.
