Mingkai Li

Chao Yin, Hongzhe Yue, Qing Han et al.

Automated semantic understanding of dense point clouds is a prerequisite for Scan-to-BIM pipelines, digital twin construction, and as-built verification--core tasks in the digital transformation of the construction industry. Yet for industrial mechanical, electrical, and plumbing (MEP) facilities, this challenge remains largely unsolved: TLS acquisitions of water treatment plants, chiller halls, and pumping stations exhibit extreme geometric ambiguity, severe occlusion, and extreme class imbalance that architectural benchmarks (e.g., S3DIS or ScanNet) cannot adequately represent. We present Industrial3D, a terrestrial LiDAR dataset comprising 612 million expertly labelled points at 6 mm resolution from 13 water treatment facilities. At 6.6x the scale of the closest comparable MEP dataset, Industrial3D provides the largest and most demanding testbed for industrial 3D scene understanding to date. We further establish the first industrial cross-paradigm benchmark, evaluating nine representative methods across fully supervised, weakly supervised, unsupervised, and foundation model settings under a unified benchmark protocol. The best supervised method achieves 55.74% mIoU, whereas zero-shot Point-SAM reaches only 15.79%--a 39.95 percentage-point gap that quantifies the unresolved domain-transfer challenge for industrial TLS data. Systematic analysis reveals that this gap originates from a dual crisis: statistical rarity (215:1 imbalance, 3.5x more severe than S3DIS) and geometric ambiguity (tail-class points share cylindrical primitives with head-class pipes) that frequency-based re-weighting alone cannot resolve. Industrial3D, along with benchmark code and pre-trained models, will be publicly available at https://github.com/pointcloudyc/Industrial3D.

Mingkai Li, Hang Ye, Joseph Devietti et al.

Memory safety bugs, such as buffer overflows and use-after-frees, are the leading causes of software safety issues in production. Software-based approaches, e.g., Address Sanitizer (ASAN), can detect such bugs with high precision, but with prohibitively high overhead. ARM's Memory Tagging Extension (MTE) offers a promising alternative to detect these bugs in hardware with a much lower overhead. In this paper, we perform a thorough investigation of the first production implementation of ARM MTE (Google Pixel 8) and observe that MTE can only achieve coarse precision in bug detection compared with software-based approaches such as ASAN, mainly due to its 16-byte tag granularity. To address this issue, we present NANOTAG, a system to probabilistically detect buffer overflows at byte granularity in unmodified MTE-enabled binaries with minimal changes to memory allocators, introducing an explicit detection-performance tradeoff for in-house testing. NANOTAG detects buffer overflows at byte granularity by setting up a tripwire for tag granules that may require intra-granule overflow detection. The memory access to the tripwire causes additional overflow detection in the software while using MTE's hardware to detect bugs for the rest of the accesses. We implement NANOTAG based on the Scudo Hardened Allocator, the default memory allocator on Android since Android 11. Our evaluation results across popular benchmarks and real-world case studies show that NANOTAG detects nearly as many memory safety bugs as ASAN while incurring similar run-time overhead to Scudo Hardened Allocator in MTE SYNC mode.

Guanting Ye, Qiyan Zhao, Wenhao Yu et al.

3D Large Vision-Language Models (3D LVLMs) built upon Large Language Models (LLMs) have achieved remarkable progress across various multimodal tasks. However, their inherited position-dependent modeling mechanism, Rotary Position Embedding (RoPE), remains suboptimal for 3D multimodal understanding. The vanilla RoPE formulation fails to preserve essential three-dimensional spatial structures when encoding 3D tokens, and its relative distance computation overlooks angular dependencies, hindering the model's ability to capture directional variations in visual representations. To overcome these limitations, we introduce Spherical Coordinate-based Positional Embedding (SoPE). Our method maps point-cloud token indices into a 3D spherical coordinate space, enabling unified modeling of spatial locations and directional angles. This formulation preserves the inherent geometric structure of point-cloud data, enhances spatial awareness, and yields more consistent and expressive geometric representations for multimodal learning. In addition, we introduce a multi-scale frequency mixing strategy to fuse feature information across different frequency domains. Experimental results on multiple 3D scene benchmarks validate the effectiveness of our approach, while real-world deployment experiments further demonstrate its strong generalization capability.