27 citations · 37 across the 18 of their papers we have counts for
21 papers
Filling the Unseen: Scene Extrapolation via 3D Gaussian Splatting
Yunlai Zhou, Yiren Lu, Tuo Liang +3
3D Gaussian Splatting achieves photorealistic reconstruction within training view distribution, yet it degrades on out-of-distribution novel views, exhibiting holes in unobserved r…
GeoWAM: Visual Geometry World Action Models for Autonomous Driving
Yiren Lu, Xin Ye, Jiaming Liu +10
World action models (WAMs) have recently gained increasing attention as a framework for jointly modeling scene evolution and ego actions in autonomous driving. Most existing WAMs l…
TraVEL: Trajectory-Guided Video Embedding Learning for Driving-Video Retrieval
Yi-Chung Chen, Philip Jacobson, Tom Lampo +6
Efficiently retrieving relevant clips from large-scale driving logs is essential for data curation, model development, and safety analysis. Structured and rule-based retrieval syst…
Structured 3D Latents Are Surprisingly Powerful: Unleashing Generalizable Style with 2D Diffusion
Yiran Qiao, Yiren Lu, Yunlai Zhou +5
3D asset generation plays a pivotal role in fields such as gaming and virtual reality, enabling the rapid synthesis of high-fidelity 3D objects from a single or multiple images. Bu…
AdvSplat: Adversarial Attacks on Feed-Forward Gaussian Splatting Models
Yiran Qiao, Yiren Lu, Yunlai Zhou +4
3D Gaussian Splatting (3DGS) is increasingly recognized as a powerful paradigm for real-time, high-fidelity 3D reconstruction. However, its per-scene optimization pipeline limits s…
Reconstruction Matters: Learning Geometry-Aligned BEV Representation through 3D Gaussian Splatting
Yiren Lu, Xin Ye, Burhaneddin Yaman +4
Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning fo…
GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning
Yiren Lu, Yi Du, Disheng Liu +3
Effective embodied exploration requires agents to accumulate and retain spatial knowledge over time. However, existing scene representations, such as discrete scene graphs or stati…
DefenseSplat: Enhancing the Robustness of 3D Gaussian Splatting via Frequency-Aware Filtering
Yiran Qiao, Yiren Lu, Yunlai Zhou +4
3D Gaussian Splatting (3DGS) has emerged as a powerful paradigm for real-time and high-fidelity 3D reconstruction from posed images. However, recent studies reveal its vulnerabilit…
UniDrive-WM: Unified Understanding, Planning and Generation World Model for Autonomous Driving
Zhexiao Xiong, Xin Ye, Burhan Yaman +5
World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision…
Fix False Transparency by Noise Guided Splatting
Aly El Hakie, Yiren Lu, Yu Yin +2
Opaque objects reconstructed by 3DGS often exhibit a falsely transparent surface, leading to inconsistent background and internal patterns under camera motion in interactive viewin…
Counterfactual Visual Explanation via Causally-Guided Adversarial Steering
Yiran Qiao, Disheng Liu, Yiren Lu +3
Recent work on counterfactual visual explanations has contributed to making artificial intelligence models more explainable by providing visual perturbation to flip the prediction.…
BARD-GS: Blur-Aware Reconstruction of Dynamic Scenes via Gaussian Splatting
Yiren Lu, Yunlai Zhou, Disheng Liu +2
3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the q…
When 'YES' Meets 'BUT': Can Large Models Comprehend Contradictory Humor Through Comparative Reasoning?
Tuo Liang, Zhe Hu, Jing Li +8
Understanding humor-particularly when it involves complex, contradictory narratives that require comparative reasoning-remains a significant challenge for large vision-language mod…
Segment then Splat: Unified 3D Open-Vocabulary Segmentation via Gaussian Splatting
Yiren Lu, Yunlai Zhou, Yiran Qiao +5
Open-vocabulary querying in 3D space is crucial for enabling more intelligent perception in applications such as robotics, autonomous systems, and augmented reality. However, most…
CAUSAL3D: A Comprehensive Benchmark for Causal Learning from Visual Data
Disheng Liu, Yiran Qiao, Wuche Liu +5
True intelligence hinges on the ability to uncover and leverage hidden causal relations. Despite significant progress in AI and computer vision (CV), there remains a lack of benchm…
End to End Face Reconstruction via Differentiable PnP
Yiren Lu, Huawei Wei
This is a challenge report of the ECCV 2022 WCPA Challenge, Face Reconstruction Track. Inside this report is a brief explanation of how we accomplish this challenge. We design a tw…
View-consistent Object Removal in Radiance Fields
Yiren Lu, Jing Ma, Yu Yin
Radiance Fields (RFs) have emerged as a crucial technology for 3D scene representation, enabling the synthesis of novel views with remarkable realism. However, as RFs become more w…
Cracking the Code of Juxtaposition: Can AI Models Understand the Humorous Contradictions
Zhe Hu, Tuo Liang, Jing Li +5
Recent advancements in large multimodal language models have demonstrated remarkable proficiency across a wide range of tasks. Yet, these models still struggle with understanding t…
PyPose v0.6: The Imperative Programming Interface for Robotics
Zitong Zhan, Xiangfu Li, Qihang Li +33
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has…
iSLAM: Imperative SLAM
Taimeng Fu, Shaoshu Su, Yiren Lu +1
Simultaneous Localization and Mapping (SLAM) stands as one of the critical challenges in robot navigation. A SLAM system often consists of a front-end component for motion estimati…
Improving CNN-based Planar Object Detection with Geometric Prior Knowledge
Jianxiong Cai, Jiawei Hou, Yiren Lu +3
In this paper, we focus on the question: how might mobile robots take advantage of affordable RGB-D sensors for object detection? Although current CNN-based object detectors have a…