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FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
HopaDIFF: Holistic-Partial Aware Fourier Conditioned Diff...
Kunyu Peng, Junchao Huang, Xiangsheng Huang, Di Wen, Junwei Zhen · 2025-06-11 · via cs.RO updates on arXiv.org

Action segmentation is a core challenge in high-level video understanding, aiming to partition untrimmed videos into segments and assign each a label from a predefined action set. Existing methods primarily address single-person activities with fixed action sequences, overlooking multi-person scenarios. In this work, we pioneer textual reference-guided human action segmentation in multi-person settings, where a textual description specifies the target person for segmentation. We introduce the first dataset for Referring Human Action Segmentation, i.e., RHAS133, built from 133 movies and annotated with 137 fine-grained actions with 33h video data, together with textual descriptions for this new task. Benchmarking existing action segmentation methods on RHAS133 using VLM-based feature extractors reveals limited performance and poor aggregation of visual cues for the target person. To address this, we propose a holistic-partial aware Fourier-conditioned diffusion framework, i.e., HopaDIFF, leveraging a novel cross-input gate attentional xLSTM to enhance holistic-partial long-range reasoning and a novel Fourier condition to introduce more fine-grained control to improve the action segmentation generation. HopaDIFF achieves state-of-the-art results on RHAS133 in diverse evaluation settings. The dataset and code are available at https://github.com/KPeng9510/HopaDIFF.