arXiv subjects

Zhijian Fang

Publications and source records attributed to Zhijian Fang.

4 recordsLinked to original sources

arXiv2026

SLAMFormer-$\infty$: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing

We introduce the Infinite SLAM Transformer (SLAMFormer-$\infty$), the first geometric transformer capable of supporting both long-range frontend and backend processing without an explicit distance bound. Instead of relying on a first-frame-anchored formulation, SLAMFormer-$\infty$ employs memory conditions to define flexible coordinate systems and scales for input frames, enabling more expressive structural conditioning. Built upon this formulation, the frontend preserves efficient local computation, while the backend jointly optimizes long-range trajectories and scene geometry in a globally consistent manner. Experimental results demonstrate that SLAMFormer-$\infty$ achieves superior or highly competitive performance in both trajectory estimation and scene reconstruction across large-scale datasets. Notably, SLAMFormer-$\infty$ generalizes to extremely long trajectories, successfully operating on sequences exceeding $17\mathrm{km}$.

cs.CV↗

arXiv2026

SLAM-Former: Putting SLAM into One Transformer

We present SLAM-Former, a neural approach that integrates full SLAM capabilities into a single transformer. Similar to traditional SLAM systems, SLAM-Former comprises both a frontend and a back-end that operate in tandem. The frontend processes sequential monocular images in real-time for incremental mapping and tracking, while the backend performs global refinement to ensure a geometrically consistent result. This alternating execution allows the frontend and back-end to mutually promote one another, enhancing overall system performance. Comprehensive experimental results demonstrate that SLAM- Former achieves superior or highly competitive performance compared to state-of-the-art dense SLAM methods.

cs.CV↗

arXiv2025

SemanticVLA: Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation

Vision-Language-Action (VLA) models have advanced in robotic manipulation, yet practical deployment remains hindered by two key limitations: 1) perceptual redundancy, where irrelevant visual inputs are processed inefficiently, and 2) superficial instruction-vision alignment, which hampers semantic grounding of actions. In this paper, we propose SemanticVLA, a novel VLA framework that performs Semantic-Aligned Sparsification and Enhancement for Efficient Robotic Manipulation. Specifically: 1) To sparsify redundant perception while preserving semantic alignment, Semantic-guided Dual Visual Pruner (SD-Pruner) performs: Instruction-driven Pruner (ID-Pruner) extracts global action cues and local semantic anchors in SigLIP; Spatial-aggregation Pruner (SA-Pruner) compacts geometry-rich features into task-adaptive tokens in DINOv2. 2) To exploit sparsified features and integrate semantics with spatial geometry, Semantic-complementary Hierarchical Fuser (SH-Fuser) fuses dense patches and sparse tokens across SigLIP and DINOv2 for coherent representation. 3) To enhance the transformation from perception to action, Semantic-conditioned Action Coupler (SA-Coupler) replaces the conventional observation-to-DoF approach, yielding more efficient and interpretable behavior modeling for manipulation tasks. Extensive experiments on simulation and real-world tasks show that SemanticVLA sets a new SOTA in both performance and efficiency. SemanticVLA surpasses OpenVLA on LIBERO benchmark by 21.1% in success rate, while reducing training cost and inference latency by 3.0-fold and 2.7-fold.SemanticVLA is open-sourced and publicly available at https://github.com/JiuTian-VL/SemanticVLA

cs.CV↗

arXiv2018

AstroServ: Distributed Database for Serving Large-Scale Full Life-Cycle Astronomical Data

In time-domain astronomy, STLF (Short-Timescale and Large Field-of-view) sky survey is the latest way of sky observation. Compared to traditional sky survey who can only find astronomical phenomena, STLF sky survey can even reveal how short astronomical phenomena evolve. The difference does not only lead the new survey data but also the new analysis style. It requires that database behind STLF sky survey should support continuous analysis on data streaming, real-time analysis on short-term data and complex analysis on long-term historical data. In addition, both insertion and query latencies have strict requirements to ensure that scientific phenomena can be discovered. However, the existing databases cannot support our scenario. In this paper, we propose AstroServ, a distributed system for analysis and management of large-scale and full life-cycle astronomical data. AstroServ's core components include three data service layers and a query engine. Each data service layer serves for a specific time period of data and query engine can provide the uniform analysis interface on different data. In addition, we also provide many applications including interactive analysis interface and data mining tool to help scientists efficiently use data. The experimental results show that AstroServ can meet the strict performance requirements and the good recognition accuracy.

cs.DB↗