Tootfinder

Detailed Aerial Mapping of Photovoltaic Power Plants Through Semantically Significant Keypoints
Viktor Koz\'ak, Jan Chudoba, Libor P\v{r}eu\v{c}il
https://arxiv.org/abs/2510.04840

Detailed Aerial Mapping of Photovoltaic Power Plants Through Semantically Significant Keypoints
An accurate and up-to-date model of a photovoltaic (PV) power plant is essential for its optimal operation and maintenance. However, such a model may not be easily available. This work introduces a novel approach for PV power plant mapping based on aerial overview images. It enables the automation of the mapping process while removing the reliance on third-party data. The presented mapping method takes advantage of the structural layout of the power plants to achieve detailed modeling down to t…

InterKey: Cross-modal Intersection Keypoints for Global Localization on OpenStreetMap
Nguyen Hoang Khoi Tran, Julie Stephany Berrio, Mao Shan, Stewart Worrall
https://arxiv.org/abs/2509.13857

InterKey: Cross-modal Intersection Keypoints for Global Localization on OpenStreetMap
Reliable global localization is critical for autonomous vehicles, especially in environments where GNSS is degraded or unavailable, such as urban canyons and tunnels. Although high-definition (HD) maps provide accurate priors, the cost of data collection, map construction, and maintenance limits scalability. OpenStreetMap (OSM) offers a free and globally available alternative, but its coarse abstraction poses challenges for matching with sensor data. We propose InterKey, a cross-modal framework…

TalkCuts: A Large-Scale Dataset for Multi-Shot Human Speech Video Generation
Jiaben Chen, Zixin Wang, Ailing Zeng, Yang Fu, Xueyang Yu, Siyuan Cen, Julian Tanke, Yihang Chen, Koichi Saito, Yuki Mitsufuji, Chuang Gan
https://arxiv.org/abs/2510.07249

TalkCuts: A Large-Scale Dataset for Multi-Shot Human Speech Video Generation
In this work, we present TalkCuts, a large-scale dataset designed to facilitate the study of multi-shot human speech video generation. Unlike existing datasets that focus on single-shot, static viewpoints, TalkCuts offers 164k clips totaling over 500 hours of high-quality human speech videos with diverse camera shots, including close-up, half-body, and full-body views. The dataset includes detailed textual descriptions, 2D keypoints and 3D SMPL-X motion annotations, covering over 10k identities…

ReLAM: Learning Anticipation Model for Rewarding Visual Robotic Manipulation
Nan Tang, Jing-Cheng Pang, Guanlin Li, Chao Qian, Yang Yu
https://arxiv.org/abs/2509.22402 https://

ReLAM: Learning Anticipation Model for Rewarding Visual Robotic Manipulation
Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise positional information is often unavailable in real-world visual settings due to sensory and perceptual limitations. In this study, we propose a method that implicitly infers spatial distances through keypoints extracted from images. Building on this, we introdu…

AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation
Anukriti Singh, Kasra Torshizi, Khuzema Habib, Kelin Yu, Ruohan Gao, Pratap Tokekar
https://arxiv.org/abs/2510.01433

AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation
Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be lightweight, but either depend on manual heuristics or task-coupled selection, limiting scalability and semantic understanding. To address this, we propose AFFORD2ACT, an affordance-guided framework that distills a minimal set of semantic 2D keypoints from a…

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[3/4]:
- InterKey: Cross-modal Intersection Keypoints for Global Localization on OpenStreetMap
Nguyen Hoang Khoi Tran, Julie Stephany Berrio, Mao Shan, Stewart Worrall

PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control
Haozhuo Zhang, Michele Caprio, Jing Shao, Qiang Zhang, Jian Tang, Shanghang Zhang, Wei Pan
https://arxiv.org/abs/2509.24591

PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint angles-from a single RGB image, eliminating the need for multi-stage pipelines or auxiliary modalities. Building upon this foundation, PoseDiff extends naturally to video-to-action inverse dynamics: by conditioning on sparse video keyframes generated by world mod…

Real-time Recognition of Human Interactions from a Single RGB-D Camera for Socially-Aware Robot Navigation
Thanh Long Nguyen, Duc Phu Nguyen, Thanh Thao Ton Nu, Quan Le, Thuan Hoang Tran, Manh Duong Phung
https://arxiv.org/abs/2509.24907

Real-time Recognition of Human Interactions from a Single RGB-D Camera for Socially-Aware Robot Navigation
{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues necessary for seamless human-robot interaction. To address this gap, we propose a framework to recognize human group interactions for socially aware navigation. Our method utilizes color and depth frames from a monocular RGB-D camera to estimate 3D human keypoints …

Category-Level Object Shape and Pose Estimation in Less Than a Millisecond
Lorenzo Shaikewitz, Tim Nguyen, Luca Carlone
https://arxiv.org/abs/2509.18979 https://