7 papers
Relative Energy Learning for LiDAR Out-of-Distribution Detection
Zizhao Li, Zhengkang Xiang, Jiayang Ao +2
Out-of-distribution (OOD) detection is a critical requirement for reliable autonomous driving, where safety depends on recognizing road obstacles and unexpected objects beyond the…
Neural Distribution Prior for LiDAR Out-of-Distribution Detection
Zizhao Li, Zhengkang Xiang, Jiayang Ao +3
LiDAR-based perception is critical for autonomous driving due to its robustness to poor lighting and visibility conditions. Yet, current models operate under the closed-set assumpt…
Reasoning-Driven Amodal Completion: Collaborative Agents and Perceptual Evaluation
Hongxing Fan, Shuyu Zhao, Jiayang Ao +1
Amodal completion, the task of inferring invisible object parts, faces significant challenges in maintaining semantic consistency and structural integrity. Prior progressive approa…
PointNet4D: A Lightweight 4D Point Cloud Video Backbone for Online and Offline Perception in Robotic Applications
Yunze Liu, Zifan Wang, Peiran Wu +1
Understanding dynamic 4D environments-3D space evolving over time-is critical for robotic and interactive systems. These applications demand systems that can process streaming poin…
Beyond Perception: Evaluating Abstract Visual Reasoning through Multi-Stage Task
Yanbei Jiang, Yihao Ding, Chao Lei +3
Current Multimodal Large Language Models (MLLMs) excel in general visual reasoning but remain underexplored in Abstract Visual Reasoning (AVR), which demands higher-order reasoning…
Open-World Amodal Appearance Completion
Jiayang Ao, Yanbei Jiang, Qiuhong Ke +1
Understanding and reconstructing occluded objects is a challenging problem, especially in open-world scenarios where categories and contexts are diverse and unpredictable. Traditio…