Zhuoxiao Li, Xinyi Liu, Hongye Hou, Jing OU, Kang Du, Shuai Zhang, Dongli Wu, Taoyu Wu 等 11 位作者
Long-sequence panoramic reconstruction requires detailed scene geometry and globally consistent camera poses across distant revisits. Panoramic SLAM and incremental SfM rely on feature correspondences, but repeated, similar structures and small partial overlap make reliable long-range connections difficult to establish, leaving accumulated drift unresolved. Feed-forward models offer detailed local geometry, but their high computational costs limit inference window size, necessitating additional constraints for global consistency. This motivates combining continuous feature-based tracking and sparse mapping with rapid, high-quality local reconstruction from feed-forward models to achieve accurate localization and globally consistent dense mapping over long sequences. We therefore propose a panoramic reconstruction framework that couples an ORB-based sparse panoramic mapping frontend with a fine-tuned feed-forward model. Our key insight is that predicted local geometry enables 3D verification of feature matches across distant revisits, yielding long-range camera constraints even between regions. We calibrate predicted depths with sparse landmarks and use verified connections to optimize the global pose graph, updating dense geometry with the corrected camera poses. We also introduce PanoRecon, a seven-scene benchmark with repetitive architecture, large and small loops, and reference camera poses and LiDAR geometry for evaluating global consistency. Our method achieves the lowest mean absolute trajectory error and high F-1 Score among the evaluated methods. Project Page:https://zhuoxiaoli.github.io/HoloRecon_page/
Chenduo Ying, Linkang Du Xi'an Jiaotong University, Yuanchao Shu Zhejiang University, Peng Cheng Zhejiang University
Reliable failure detection and causal reasoning are critical in robotic manipulation, as their absence risks robot damage and endangers human safety.Although recent Vision–Language Models (VLMs) are employed to attempt failure detection and causality reasoning, they typically make retrospective assessment only after task completion, and their reasoning accuracy is often limited.To address these issues, we introduce RoboFailRing, which enables timely failure detection during task execution and enhances the reasoning accuracy of VLMs.It achieves rapid failure detection by retrieving a pre-constructed failure memory and returning a similarity-based decision.In addition, by providing grounded failure report to VLMs, it improves the accuracy of their reasoning about the failure causes and repair strategies.We evaluate RoboFailRing on two large-scale simulated datasets comprising over 6,000 failure trajectories and covering 81 distinct manipulation tasks.The results show that the average success rate of out-of-distribution failure detection reaches 80%, while the mean detection time is cut to roughly 50% of the baseline.Moreover, evaluations on real-world systems show an average 35% gain in VLM failure-reasoning accuracy.We make our code publicly available at: https://github.com/DynamicPoet/RoboFailRing.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表