Semantic Lifting
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Related Articles from SNS
LiftNav: Path Planning via Semantic Lifting in TSDF-Guided Gaussian Splatting
Announce Type: new Abstract: Autonomous robots in unknown indoor environments require both reliable collision avoidance and object-level understanding. Classical representations such as TSDF support safe planning but lack semantics, while photorealistic methods like Gaussian Splatting (GS) provide rich appearance yet suffer from soft geometry, limiting precise obstacle avoidance. We present LiftNav, a hybrid navigation framework built on GSFusion's TSDF+GS dual map, augmented with a...
AgentTrust: A Self-Improving Trust Layer for AI-Agent Actions
arXiv:2606.08539v1 Announce Type: new Abstract: AI agents increasingly take consequential actions -- shell commands, cloud operations, and arbitrary tool-calls -- so a trust layer must decide, per action, whether to allow, warn, block, or escalate. We argue that the right way to reason about such a layer is by threat type. Lexical (fixed-signature) threats, where danger lives in a stable token, are decidable by deterministic rules; semantic (intent-dependent) threats, where a benign and a...
Standpoint Logics with Defeasible Beliefs
arXiv:2606.08503v1 Announce Type: new Abstract: In this paper, we integrate the defeasible logic of Kraus, Lehmann and Magidor (KLM) with the standpoint logic framework of G\'omez \'Alvarez and Rudolph. This is done with the goal of formally expressing knowledge taking into account multiple (possibly contradicting) viewpoints, which in turn may hold defeasible beliefs. In doing so, we utilise Defeasible Restricted Standpoint Logics (DRSL), introduced by Leisegang et al.
RESBev: Making BEV Perception More Robust
arXiv:2603.09529v2 Announce Type: replace Abstract: Bird's-eye-view (BEV) perception has emerged as a cornerstone of autonomous driving systems, providing a structured, ego-centric representation critical for downstream planning and control. However, real-world deployment faces challenges from sensor degradation and adversarial attacks, which can cause severe perceptual anomalies and ultimately compromise the safety of autonomous driving systems. To address this, we propose a resilient and...
Repair Before Veto: Repair-Augmented Constraint Learning for Contextual Decisions
arXiv:2606.02326v1 Announce Type: new Abstract: Hard constraints are usually treated as terminal vetoes: once a candidate violates a requirement, the learned rule rejects it and any repair is handled outside the decision semantics. This misses a common deployed regime in which the system already knows a finite menu of modifications, such as adding a ticket option, changing a configuration, or requesting an available service upgrade. Existing constraint-learning, soft-relaxation, and recourse...
Decoupled Residual Denoising Diffusion Models for Unified and Data Efficient Image-to-Image Translation
arXiv:2606.01048v1 Announce Type: new Abstract: We propose Decoupled Residual Denoising Diffusion models (DRDD) for unified and data-efficient image-to-image (I2I) translation. While diffusion models have advanced I2I translation in terms of quality and diversity, we uncover a previously under-explored property in diffusion models. Crucially, beyond its conventional role of manifold lifting (i.e., moving data off low-dimensional manifolds), injecting Gaussian noise facilitates domain...
Mind the Gap: Disentangling Performance Bottlenecks in Video Instance Segmentation
Announce Type: new Abstract: In Video Instance Segmentation (VIS), classification, segmentation, and tracking objectives are jointly evaluated, but their individual contributions to performance loss remain opaque. We introduce a diagnostic framework that formulates identity and class assignment as an Integer Linear Program (ILP), yielding a model-agnostic oracle that hierarchically isolates each error source. Applied to seven VIS methods spanning online and offline paradigms across...
Leyline: KV Cache Directives for Agentic Inference
arXiv:2606.01065v1 Announce Type: new Abstract: Modern KV cache management assumes the chatbot workload: prompts arrive once and the cache grows append-only, so prefix caching and forward-only eviction are correct by construction. Agentic LLMs break this assumption. Their conversations evolve through policy-driven editing: failed tool calls are retried, stale outputs dropped, trajectories pivoted.
TARIC: Memory-Augmented Traversability-Aware Outdoor VLN under Interrupted Semantic Cues
arXiv:2605.31121v1 Announce Type: new Abstract: Outdoor vision-language navigation (VLN) in long-range, open-world environments is frequently disrupted by semantic-cue interruptions, where informative goal cues become sparse, occluded, or leave the field of view. Once such cues disappear, agents enter a cue-free phase and often degrade into backtracking, oscillatory headings, or aimless exploration. While memory-based methods attempt to bridge these gaps, they often fail under...
Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups
Announce Type: new Abstract: As autonomous systems expand from capital-intensive robotaxis to cost-sensitive logistics, sensor configurations are increasingly optimized for coverage-per-cost. A prevalent sparse-view setup utilizes dual-fisheye cameras with a roof-mounted LiDAR, introducing severe geometric challenges: extreme radial distortion, minimal overlap, and misalignment between spherical projections and rectilinear grids. BEV fusion algorithms typically force image and point cloud...