{"id":"https://openalex.org/W7134041801","doi":"https://doi.org/10.48550/arxiv.2603.05355","title":"OmniDP: Beyond-FOV Large-Workspace Humanoid Manipulation with Omnidirectional 3D Perception","display_name":"OmniDP: Beyond-FOV Large-Workspace Humanoid Manipulation with Omnidirectional 3D Perception","publication_year":2026,"publication_date":"2026-03-05","ids":{"openalex":"https://openalex.org/W7134041801","doi":"https://doi.org/10.48550/arxiv.2603.05355"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.05355","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05355","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.05355","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125459197","display_name":"Pei Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Qu, Pei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128233202","display_name":"Zheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128246289","display_name":"Yufei Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Yufei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128242050","display_name":"Ziyun Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Ziyun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128268443","display_name":"Liang Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Liang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128235800","display_name":"Haoang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109404467","display_name":"Jinni Zhou","orcid":"https://orcid.org/0000-0002-9093-5648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jinni","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128267579","display_name":"Jun F\u00e9lix Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Jun","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5125459197"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7360000014305115,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7360000014305115,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.05920000001788139,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.03139999881386757,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5623000264167786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5432000160217285},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5338000059127808},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4848000109195709},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4779999852180481},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4494999945163727},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43130001425743103},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.32019999623298645}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7408999800682068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.607699990272522},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5623000264167786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5541999936103821},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5432000160217285},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5338000059127808},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4848000109195709},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4494999945163727},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32749998569488525},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3107999861240387},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.30649998784065247},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2624000012874603},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C28063669","wikidata":"https://www.wikidata.org/wiki/Q7167042","display_name":"Perceptual system","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.05355","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05355","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.05355","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05355","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"deployment":[1],"of":[2,62],"humanoid":[3],"robots":[4],"for":[5,168],"dexterous":[6],"manipulation":[7,53,117],"in":[8,47,118,177,188],"unstructured":[9],"environments":[10,181],"remains":[11],"challenging":[12],"due":[13],"to":[14,80,148],"perceptual":[15],"limitations":[16],"that":[17,71,97,114,183,195],"constrain":[18],"the":[19,28,146],"effective":[20],"workspace.":[21],"In":[22,102],"scenarios":[23],"where":[24],"physical":[25],"constraints":[26],"prevent":[27],"robot":[29,147],"from":[30,59],"repositioning":[31],"itself,":[32],"maintaining":[33],"omnidirectional":[34],"awareness":[35],"becomes":[36],"far":[37],"more":[38],"critical":[39],"than":[40],"color":[41],"or":[42],"semantic":[43],"information.While":[44],"recent":[45],"advances":[46],"visuomotor":[48,112],"policy":[49,113,160],"learning":[50],"have":[51],"improved":[52],"capabilities,":[54],"conventional":[55],"RGB-D":[56],"solutions":[57],"suffer":[58],"narrow":[60],"fields":[61],"view":[63],"(FOV)":[64],"and":[65,75,87,95,179,190],"self-occlusion,":[66],"requiring":[67],"frequent":[68,156],"base":[69],"movements":[70],"introduce":[72,90],"motion":[73],"uncertainty":[74],"safety":[76],"risks.":[77],"Existing":[78],"approaches":[79],"expanding":[81],"perception,":[82],"including":[83],"active":[84],"vision":[85],"systems":[86],"third-view":[88],"cameras,":[89],"mechanical":[91],"complexity,":[92],"calibration":[93],"dependencies,":[94],"latency":[96],"hinder":[98],"reliable":[99],"real-time":[100],"performance.":[101],"this":[103],"work,":[104],"We":[105],"propose":[106],"OmniDP,":[107],"an":[108],"end-to-end":[109],"LiDAR-driven":[110],"3D":[111,136],"enables":[115],"robust":[116,186],"large":[119],"workspaces.":[120],"Our":[121],"method":[122],"processes":[123],"panoramic":[124],"point":[125],"clouds":[126],"through":[127],"a":[128,164],"Time-Aware":[129],"Attention":[130],"Pooling":[131],"mechanism,":[132],"efficiently":[133],"encoding":[134],"sparse":[135],"data":[137,170],"while":[138],"capturing":[139],"temporal":[140],"dependencies.":[141],"This":[142],"360\u00b0":[143],"perception":[144],"allows":[145],"interact":[149],"with":[150],"objects":[151],"across":[152],"wide":[153],"areas":[154],"without":[155],"repositioning.":[157],"To":[158],"support":[159],"learning,":[161],"we":[162],"develop":[163],"whole-body":[165],"teleoperation":[166],"system":[167],"efficient":[169],"collection":[171],"on":[172,197],"full-body":[173],"coordination.":[174],"Extensive":[175],"experiments":[176],"simulation":[178],"real-world":[180],"show":[182],"OmniDP":[184],"achieves":[185],"performance":[187],"large-workspace":[189],"cluttered":[191],"scenarios,":[192],"outperforming":[193],"baselines":[194],"rely":[196],"egocentric":[198],"depth":[199],"cameras.":[200]},"counts_by_year":[],"updated_date":"2026-03-10T14:07:55.174380","created_date":"2026-03-07T00:00:00"}