Authors

Zhisong Xu

Publications 2

Preprint Open access

Towards Accurate End-Effector Localization for UMI-Style Robotic Manipulation Teaching

Junjie Zhang, Deteng Zhang, Zhisong Xu et al. · 2026

Robot demonstration learning requires accurate and temporally complete end-effector localization during close-range manipulation and camera occlusion. Existing SLAM benchmarks emphasize navigation motions, whereas manipulation datasets prioritize policy learning over localization evaluation. We introduce MILD, a Manipu …

Preprint Open access

F$^2$ SLAM: Turning Feed-Forward Geometry into Persistent Factors for SLAM

Zhisong Xu, Fan Zhu, Jiawei Qian et al. · 2026

Feed-forward 3D models provide strong multi-view geometric priors, while on- line simultaneous localization and mapping (SLAM) relies mainly on local mea- surements and can accumulate drift over long sequences. Existing attempts to combine the two typically treat feed-forward predictions as an external geomet- ric stat …

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