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cs.RO updates on arXiv.org

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
V2X-ReaLO: An Open Online Framework and Dataset for Coope...
Hao Xiang, Zhaoliang Zheng, Xin Xia, Seth Z. Zhao, Letian Gao, Z · 2025-03-13 · via cs.RO updates on arXiv.org

Cooperative perception enabled by Vehicle-to-Everything (V2X) communication holds significant promise for enhancing the perception capabilities of autonomous vehicles, allowing them to overcome occlusions and extend their field of view. However, existing research predominantly relies on simulated environments or static datasets, leaving the feasibility and effectiveness of V2X cooperative perception especially for intermediate fusion in real-world scenarios largely unexplored. In this work, we introduce V2X-ReaLO, an open online cooperative perception framework deployed on real vehicles and smart infrastructure that integrates early, late, and intermediate fusion methods within a unified pipeline and provides the first practical demonstration of online intermediate fusion's feasibility and performance under genuine real-world conditions. Additionally, we present an open benchmark dataset specifically designed to assess the performance of online cooperative perception systems. This new dataset extends V2X-Real dataset to dynamic, synchronized ROS bags and provides 25,028 test frames with 6,850 annotated key frames in challenging urban scenarios. By enabling real-time assessments of perception accuracy and communication lantency under dynamic conditions, V2X-ReaLO sets a new benchmark for advancing and optimizing cooperative perception systems in real-world applications. The codes and datasets will be released to further advance the field.