Peiwen Lin

OmniCalib, a target-free workflow that calibrates the full upper limbs---all 14 arm joint zeros and the extrinsics of both wrist and chest cameras---as well as lower limbs and the multi-camera head rig, and writes only supported corrections to the CAD model.

Calibration without external systems can cut foot-height errors in humanoid robots by over 50%, enhancing kinematic accuracy in real-world applications.

Continuous reliability weights for foot kinematics can slash trajectory errors by over 83% in dynamic locomotion scenarios.

OVIP-SG outperforms existing frameworks by preserving small object instances and enhancing retrieval accuracy, revolutionizing the mapping of fine-grained objects in 3D environments.

MVUCF achieves a remarkable 98.9% on LIBERO, showcasing a 22.4-point improvement on LIBERO-Plus and a 23.3-point increase in task success rates, all without additional inference costs.