Author

Kang-Jin Yu

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Preprint Sep 2026

Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry

LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO2 and LIO-SAM, then separately test a gravity-direction factor. Across 12 dataset sequences evaluated with FAST-LIO2, fixing gravity under c...

Jie Xu, Zi-Yi Jin, Kang-Jin Yu et al. · 0 citations

Preprint Sep 2026

UpDown-SC: Gravity-Canonicalized Dual-Envelope Scan Context for Indoor LiDAR Place Recognition

UpDown-SC is presented, a training-free polar descriptor that first canonicalizes gravity and then represents two complementary surfaces: the upper envelope of lower/middle structures and the lower envelope of overhead structures that gives the best or second-best F1max and AUPR under threshold-based acceptance while r...

Jie Xu, Yong-Xin Yang, Zi-Yi Jin et al. · 0 citations

#diffusion models Preprint Sep 2026

JEPA Policy: Diffusion-Free Imitation Learning via Paired Action and Future Representation Prediction

JEPA Policy is introduced, a diffusion-free framework that uses the action chunk and its observed future representation as paired training targets as paired training targets and supports paired future-representation supervision supervision as a practical approach to low-latency visuomotor imitation without iterative ge...

Jie Xu, Kang-Jin Yu, Zi-Yi Jin et al. · 0 citations