Jiale Li

Jiale Li, Hang Dai, Hao Han et al.

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while the robust multi-modal solution is under-explored, where we investigate three crucial inherent difficulties: modality heterogeneity, limited sensor field of view intersection, and multi-modal data augmentation. We propose a multi-modal 3D semantic segmentation model (MSeg3D) with joint intra-modal feature extraction and inter-modal feature fusion to mitigate the modality heterogeneity. The multi-modal fusion in MSeg3D consists of geometry-based feature fusion GF-Phase, cross-modal feature completion, and semantic-based feature fusion SF-Phase on all visible points. The multi-modal data augmentation is reinvigorated by applying asymmetric transformations on LiDAR point cloud and multi-camera images individually, which benefits the model training with diversified augmentation transformations. MSeg3D achieves state-of-the-art results on nuScenes, Waymo, and SemanticKITTI datasets. Under the malfunctioning multi-camera input and the multi-frame point clouds input, MSeg3D still shows robustness and improves the LiDAR-only baseline. Our code is publicly available at \url{https://github.com/jialeli1/lidarseg3d}.

Mingrui Wu, Xinyue Cai, Jiayi Ji et al.

In this work, we propose a training-free method to inject visual prompts into Multimodal Large Language Models (MLLMs) through test-time optimization of a learnable latent variable. We observe that attention, as the core module of MLLMs, connects text prompt tokens and visual tokens, ultimately determining the final results. Our approach involves adjusting visual tokens from the MLP output at test time, controlling the attention response to ensure text prompt tokens attend to visual tokens in referring regions. We optimize a learnable latent variable based on an energy function, enhancing the strength of referring regions in the attention map. This enables detailed region description and reasoning without the need for substantial training costs or model retraining. Our method offers a promising direction for integrating referring abilities into MLLMs, and supports referring with box, mask, scribble and point. The results demonstrate that our method exhibits out-of-domain generalization and interpretability.

Jiale Li, Yulin Fu, Dongwei Yan et al.

As the demands for railway transportation safety increase, traditional methods of rail track inspection no longer meet the needs of modern railway systems. To address the issues of automation and efficiency in rail fault detection, this study introduces a railway inspection system based on Field Programmable Gate Array (FPGA). This edge AI system collects track images via cameras and uses Convolutional Neural Networks (CNN) to perform real-time detection of track defects and automatically reports fault information. The innovation of this system lies in its high level of automation and detection efficiency. The neural network approach employed by this system achieves a detection accuracy of 88.9%, significantly enhancing the reliability and efficiency of detection. Experimental results demonstrate that this FPGA-based system is 1.39* and 4.67* better in energy efficiency than peer implementation on the GPU and CPU platform, respectively.

Mingrui Wu, Oucheng Huang, Jiayi Ji et al.

In this work, we propose a training-free, trajectory-based controllable T2I approach, termed TraDiffusion. This novel method allows users to effortlessly guide image generation via mouse trajectories. To achieve precise control, we design a distance awareness energy function to effectively guide latent variables, ensuring that the focus of generation is within the areas defined by the trajectory. The energy function encompasses a control function to draw the generation closer to the specified trajectory and a movement function to diminish activity in areas distant from the trajectory. Through extensive experiments and qualitative assessments on the COCO dataset, the results reveal that TraDiffusion facilitates simpler, more natural image control. Moreover, it showcases the ability to manipulate salient regions, attributes, and relationships within the generated images, alongside visual input based on arbitrary or enhanced trajectories.

Renyang Liu, Jiale Li, Jie Zhang et al.

Palmprint recognition is deployed in security-critical applications, including access control and palm-based payment, due to its contactless acquisition and highly discriminative ridge-and-crease textures. However, the robustness of deep palmprint recognition systems against physically realizable attacks remains insufficiently understood. Existing studies are largely confined to the digital setting and do not adequately account for the texture-dominant nature of palmprint recognition or the distortions introduced during physical acquisition. To address this gap, we propose CAAP, a capture-aware adversarial patch framework for palmprint recognition. CAAP learns a universal patch that can be reused across inputs while remaining effective under realistic acquisition variation. To match the structural characteristics of palmprints, the framework adopts a cross-shaped patch topology, which enlarges spatial coverage under a fixed pixel budget and more effectively disrupts long-range texture continuity. CAAP further integrates three modules: ASIT for input-conditioned patch rendering, RaS for stochastic capture-aware simulation, and MS-DIFE for feature-level identity-disruptive guidance. We evaluate CAAP on the Tongji, IITD, and AISEC datasets against generic CNN backbones and palmprint-specific recognition models. Experiments show that CAAP achieves strong untargeted and targeted attack performance with favorable cross-model and cross-dataset transferability. The results further show that, although adversarial training can partially reduce the attack success rate, substantial residual vulnerability remains. These findings indicate that deep palmprint recognition systems remain vulnerable to physically realizable, capture-aware adversarial patch attacks, underscoring the need for more effective defenses in practice. Code available at https://github.com/ryliu68/CAAP.

Jiale Li, Zhixin Li, Yibo Wang et al.

As digital transformation continues, enterprises are generating, managing, and storing vast amounts of data, while artificial intelligence technology is rapidly advancing. However, it brings challenges in information security and data security. Data security refers to the protection of digital information from unauthorized access, damage, theft, etc. throughout its entire life cycle. With the promulgation and implementation of data security laws and the emphasis on data security and data privacy by organizations and users, Privacy-preserving technology represented by federated learning has a wide range of application scenarios. Federated learning is a distributed machine learning computing framework that allows multiple subjects to train joint models without sharing data to protect data privacy and solve the problem of data islands. However, the data among multiple subjects are independent of each other, and the data differences in quality may cause fairness issues in federated learning modeling, such as data bias among multiple subjects, resulting in biased and discriminatory models. Therefore, we propose DBFed, a debiasing federated learning framework based on domain-independent, which mitigates model bias by explicitly encoding sensitive attributes during client-side training. This paper conducts experiments on three real datasets and uses five evaluation metrics of accuracy and fairness to quantify the effect of the model. Most metrics of DBFed exceed those of the other three comparative methods, fully demonstrating the debiasing effect of DBFed.

Kaidong Wang, Jiale Li, Shao-Bo Lin et al.

The non-rival nature of data creates a dilemma for firms: sharing data unlocks value but risks eroding competitive advantage. Existing data synthesis methods often exacerbate this problem by creating data with symmetric utility, allowing any party to extract its value. This paper introduces the Encapsulation-Forging (EnFo) framework, a novel approach to generate rival synthetic data with asymmetric utility. EnFo operates in two stages: it first encapsulates predictive knowledge from the original data into a designated ``key'' model, and then forges a synthetic dataset by optimizing the data to intentionally overfit this key model. This process transforms non-rival data into a rival product, ensuring its value is accessible only to the intended model, thereby preventing unauthorized use and preserving the data owner's competitive edge. Our framework demonstrates remarkable sample efficiency, matching the original data's performance with a fraction of its size, while providing robust privacy protection and resistance to misuse. EnFo offers a practical solution for firms to collaborate strategically without compromising their core analytical advantage.

Jiale Li, Hang Dai, Ling Shao et al.

In this paper, we present an Intersection-over-Union (IoU) guided two-stage 3D object detector with a voxel-to-point decoder. To preserve the necessary information from all raw points and maintain the high box recall in voxel based Region Proposal Network (RPN), we propose a residual voxel-to-point decoder to extract the point features in addition to the map-view features from the voxel based RPN. We use a 3D Region of Interest (RoI) alignment to crop and align the features with the proposal boxes for accurately perceiving the object position. The RoI-Aligned features are finally aggregated with the corner geometry embeddings that can provide the potentially missing corner information in the box refinement stage. We propose a simple and efficient method to align the estimated IoUs to the refined proposal boxes as a more relevant localization confidence. The comprehensive experiments on KITTI and Waymo Open Dataset demonstrate that our method achieves significant improvements with novel architectures against the existing methods. The code is available on Github URL\footnote{\url{https://github.com/jialeli1/From-Voxel-to-Point}}.

Jiale Li, Hang Dai, Ling Shao et al.

Most of the existing single-stage and two-stage 3D object detectors are anchor-based methods, while the efficient but challenging anchor-free single-stage 3D object detection is not well investigated. Recent studies on 2D object detection show that the anchor-free methods also are of great potential. However, the unordered and sparse properties of point clouds prevent us from directly leveraging the advanced 2D methods on 3D point clouds. We overcome this by converting the voxel-based sparse 3D feature volumes into the sparse 2D feature maps. We propose an attentive module to fit the sparse feature maps to dense mostly on the object regions through the deformable convolution tower and the supervised mask-guided attention. By directly regressing the 3D bounding box from the enhanced and dense feature maps, we construct a novel single-stage 3D detector for point clouds in an anchor-free manner. We propose an IoU-based detection confidence re-calibration scheme to improve the correlation between the detection confidence score and the accuracy of the bounding box regression. Our code is publicly available at \url{https://github.com/jialeli1/MGAF-3DSSD}.

Liufan Tan, Jiale Li, Gangshan Jing

Memory-augmented robotic policies are essential in handling memory-dependent tasks. However, existing approaches typically rely on simple observation window extensions, struggling to simultaneously achieve precise task state tracking and robust long-horizon retention. To overcome these challenges, inspired by the Atkinson-Shiffrin memory model, we propose MemoAct, a hierarchical memory-based policy that leverages distinct memory tiers to tackle specific bottlenecks. Specifically, lossless short-term memory ensures precise task state tracking, while compressed long-term memory enables robust long-horizon retention. To enrich the evaluation landscape, we construct MemoryRTBench based on RoboTwin 2.0, specifically tailored to assess policy capabilities in task state tracking and long-horizon retention. Extensive experiments across simulated and real-world scenarios demonstrate that MemoAct achieves superior performance compared to both existing Markovian baselines and history-aware policies. The project page is \href{https://tlf-tlf.github.io/MemoActPage/}{available}.

Jiayang Li, Jiale Li

The outstanding performance capabilities of large language model have driven the evolution of current AI system interaction patterns. This has led to considerable discussion within the Human-AI Interaction (HAII) community. Numerous studies explore this interaction from technical, design, and empirical perspectives. However, the majority of current literature reviews concentrate on interactions across the wider spectrum of AI, with limited attention given to the specific realm of interaction with LLM. We searched for articles on human interaction with LLM, selecting 110 relevant publications meeting consensus definition of Human-AI interaction. Subsequently, we developed a comprehensive Mapping Procedure, structured in five distinct stages, to systematically analyze and categorize the collected publications. Applying this methodical approach, we meticulously mapped the chosen studies, culminating in a detailed and insightful representation of the research landscape. Overall, our review presents an novel approach, introducing a distinctive mapping method, specifically tailored to evaluate human-LLM interaction patterns. We conducted a comprehensive analysis of the current research in related fields, employing clustering techniques for categorization, which enabled us to clearly delineate the status and challenges prevalent in each identified area.

Jiale Li, Mingrui Wu, Zixiang Jin et al.

Despite growing interest in hallucination in Multimodal Large Language Models, existing studies primarily focus on single-image settings, leaving hallucination in multi-image scenarios largely unexplored. To address this gap, we conduct the first systematic study of hallucinations in multi-image MLLMs and propose MIHBench, a benchmark specifically tailored for evaluating object-related hallucinations across multiple images. MIHBench comprises three core tasks: Multi-Image Object Existence Hallucination, Multi-Image Object Count Hallucination, and Object Identity Consistency Hallucination, targeting semantic understanding across object existence, quantity reasoning, and cross-view identity consistency. Through extensive evaluation, we identify key factors associated with the occurrence of multi-image hallucinations, including: a progressive relationship between the number of image inputs and the likelihood of hallucination occurrences; a strong correlation between single-image hallucination tendencies and those observed in multi-image contexts; and the influence of same-object image ratios and the positional placement of negative samples within image sequences on the occurrence of object identity consistency hallucination. To address these challenges, we propose a Dynamic Attention Balancing mechanism that adjusts inter-image attention distributions while preserving the overall visual attention proportion. Experiments across multiple state-of-the-art MLLMs demonstrate that our method effectively reduces hallucination occurrences and enhances semantic integration and reasoning stability in multi-image scenarios.

Mingrui Wu, Jiayi Ji, Oucheng Huang et al.

The issue of hallucinations is a prevalent concern in existing Large Vision-Language Models (LVLMs). Previous efforts have primarily focused on investigating object hallucinations, which can be easily alleviated by introducing object detectors. However, these efforts neglect hallucinations in inter-object relationships, which is essential for visual comprehension. In this work, we introduce R-Bench, a novel benchmark for evaluating Vision Relationship Hallucination. R-Bench features image-level questions that focus on the existence of relationships and instance-level questions that assess local visual comprehension. We identify three types of relationship co-occurrences that lead to hallucinations: relationship-relationship, subject-relationship, and relationship-object. The visual instruction tuning dataset's long-tail distribution significantly impacts LVLMs' understanding of visual relationships. Furthermore, our analysis reveals that current LVLMs tend to disregard visual content and overly rely on the common sense knowledge of Large Language Models. They also struggle with reasoning about spatial relationships based on contextual information.

Dengpeng Xing, Jiale Li, Yiming Yang et al.

Acquiring dynamics is an essential topic in robot learning, but up-to-date methods, such as dynamics randomization, need to restart to check nominal parameters, generate simulation data, and train networks whenever they face different robots. To improve it, we novelly investigate general robot dynamics, its inverse models, and Gen2Real, which means transferring to reality. Our motivations are to build a model that learns the intrinsic dynamics of various robots and lower the threshold of dynamics learning by enabling an amateur to obtain robot models without being trapped in details. This paper achieves the "generality" by randomizing dynamics parameters, topology configurations, and model dimensions, which in sequence cover the property, the connection, and the number of robot links. A structure modified from GPT is applied to access the pre-training model of general dynamics. We also study various inverse models of dynamics to facilitate different applications. We step further to investigate a new concept, "Gen2Real", to transfer simulated, general models to physical, specific robots. Simulation and experiment results demonstrate the validity of the proposed models and method.\footnote{ These authors contribute equally.

Jiale Li, Shujie Luo, Ziqi Zhu et al.

Most existing point cloud based 3D object detectors focus on the tasks of classification and box regression. However, another bottleneck in this area is achieving an accurate detection confidence for the Non-Maximum Suppression (NMS) post-processing. In this paper, we add a 3D IoU prediction branch to the regular classification and regression branches. The predicted IoU is used as the detection confidence for NMS. In order to obtain a more accurate IoU prediction, we propose a 3D IoU-Net with IoU sensitive feature learning and an IoU alignment operation. To obtain a perspective-invariant prediction head, we propose an Attentive Corner Aggregation (ACA) module by aggregating a local point cloud feature from each perspective of eight corners and adaptively weighting the contribution of each perspective with different attentions. We propose a Corner Geometry Encoding (CGE) module for geometry information embedding. To the best of our knowledge, this is the first time geometric embedding information has been introduced in proposal feature learning. These two feature parts are then adaptively fused by a multi-layer perceptron (MLP) network as our IoU sensitive feature. The IoU alignment operation is introduced to resolve the mismatching between the bounding box regression head and IoU prediction, thereby further enhancing the accuracy of IoU prediction. The experimental results on the KITTI car detection benchmark show that 3D IoU-Net with IoU perception achieves state-of-the-art performance.