Author

Hui-Min Lu

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Preprint Oct 2026

LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs

Robust proprioceptive state estimation is crucial for legged robots, particularly in challenging environments where exteroceptive sensors are unreliable. While traditional leg odometry typically relies on a single body-mounted inertial measurement unit (IMU) fused with leg kinematics via an extended Kalman filter (EKF)...

Yi-Cheng Zhou, Long-Wen Chen, Qing-Hua Yu et al. · 0 citations

Preprint Aug 2026

Behavior-Skill: A Fine-Grained Benchmark for Evaluating Vision-Language-Action Policies in Long-Horizon Tasks

Behavior-Skill is presented, a benchmark that reformulates the learning and evaluation of long-horizon tasks around executable constituent skills and introduces trajectory-level and skill-level metrics to characterize policy capability beyond aggregate task success.

Chun-Yun Ma, Lun Luo, Xing-Jian Luo et al. · 0 citations

2026

LOIC: Open-World Instance Classification in LiDAR Point Clouds

Open-world instance classification in LiDAR point clouds aims to discover and categorize instances of unknown classes unseen during training, without access to their ground-truth labels. The task is extremely challenging since only known-class labels are available for training. Existing LiDAR classification methods oft...

Wenbang Deng, Zi-Yue Wang, Wen-Qing Kuang et al. · IEEE Transactions on Automat... · 0 citations