Author

Chao Ye

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Preprint Sep 2026

DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments

In indoor environments, object positions frequently change due to human activities or embodied-agent interactions, causing previously constructed scene graphs to become inconsistent with the current scene. To address this issue, we propose DSG, a dynamic 3D scene graph construction framework that detects object changes...

Min-Yi Liao, Chao Ye, Jia-Ning Fei et al. · 0 citations

Sep 2026

AdaStart: Uncertainty-Aware Adaptive Warm Starting for Diffusion-Based Robotic Control

Diffusion policies have demonstrated excellent performance in robotic control tasks, yet their reliance on 50 to 100 denoising steps impedes real-time deployment. Existing acceleration methods based on sampler improvements lack responsiveness to perceptual quality and cannot adaptively adjust computation. Moreover, sta...

Qi Chen, Xinyang Ren, Jiajun Xing et al. · IEEE Robotics and Automation... · 0 citations