Visual tracking across the air-water interface is challenged by splashes, bubbles, refraction, reflections, and abrupt appearance changes that can temporarily invalidate observations. This setting poses two coupled difficulties: first, for evaluation, image-only annotation cannot reliably describe the target's physical …
Score-based variational inference (VI) provides an alternative to Kullback--Leibler (KL)-based VI by minimizing the Fisher divergence between the variational distribution and the target. A prior score-VI approach formulates this optimization as an eigenvalue problem, with the variational distribution constructed from l …
Average performance on routine driving benchmarks does not establish planner reliability under rare, safety-critical hazards. We proposed ExceptionDrive, a counterfactual planning benchmark that uses VLM-assisted screening, localized multi-view editing, and quality auditing to insert hazards into real nuScenes scenes w …
Underwater image enhancement is crucial for improving visual perception in marine applications. Existing underwater image enhancement studies mainly focus on enhancement quality and visual fidelity, while rarely considering real-time deployment capability, which is essential for resource-constrained underwater robots. …
Vision-Language-Action (VLA) models for autonomous driving rely heavily on successful expert demonstrations, leaving model-specific failures underexploited. Learning from these failures is hindered by unreliable diagnoses, poorly matched correction targets, and coarse rewards. We propose RefineDrive, a failure-guided p …
Intermittent visual loss disrupts target-relative feedback during underwater orbiting, making it difficult to maintain coordinated motion and reacquire a moving target. We present AquaOrbit, a reinforcement-learning controller with a recovery module for underwater target orbiting under interrupted visual feedback. Duri …
Reliable perception is essential for underwater vehicles operating in complex environments, where light attenuation and scattering often degrade visibility and compromise optical sensing. Forward-looking sonar (FLS) offers an alternative by providing high-frame-rate acoustic imaging under poor optical conditions. Howev …
Underwater human--robot interaction requires gesture commands that are both easy for divers to use and reliable for robots to recognize. We investigate these aspects through a closed-loop diver--robot interaction framework integrating a compact seven-gesture vocabulary, lightweight landmark-based recognition, and comma …