Yunpeng Zhang

Yuanhui Huang, Wenzhao Zheng, Yunpeng Zhang et al. · tsinghua

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the fine-grained 3D structure of a scene with a single plane. To address this, we propose a tri-perspective view (TPV) representation which accompanies BEV with two additional perpendicular planes. We model each point in the 3D space by summing its projected features on the three planes. To lift image features to the 3D TPV space, we further propose a transformer-based TPV encoder (TPVFormer) to obtain the TPV features effectively. We employ the attention mechanism to aggregate the image features corresponding to each query in each TPV plane. Experiments show that our model trained with sparse supervision effectively predicts the semantic occupancy for all voxels. We demonstrate for the first time that using only camera inputs can achieve comparable performance with LiDAR-based methods on the LiDAR segmentation task on nuScenes. Code: https://github.com/wzzheng/TPVFormer.

Yunpeng Zhang, Zheng Zhu, Wenzhao Zheng et al. · tsinghua

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing spatio-temporal Birds-Eye-View (BEV) representations from multi-camera videos and jointly reasoning about multiple tasks for vision-centric autonomous driving. Specifically, BEVerse first performs shared feature extraction and lifting to generate 4D BEV representations from multi-timestamp and multi-view images. After the ego-motion alignment, the spatio-temporal encoder is utilized for further feature extraction in BEV. Finally, multiple task decoders are attached for joint reasoning and prediction. Within the decoders, we propose the grid sampler to generate BEV features with different ranges and granularities for different tasks. Also, we design the method of iterative flow for memory-efficient future prediction. We show that the temporal information improves 3D object detection and semantic map construction, while the multi-task learning can implicitly benefit motion prediction. With extensive experiments on the nuScenes dataset, we show that the multi-task BEVerse outperforms existing single-task methods on 3D object detection, semantic map construction, and motion prediction. Compared with the sequential paradigm, BEVerse also favors in significantly improved efficiency. The code and trained models will be released at https://github.com/zhangyp15/BEVerse.

Yunpeng Zhang, Wenzhao Zheng, Zheng Zhu et al. · tsinghua

3D object detection with surrounding cameras has been a promising direction for autonomous driving. In this paper, we present SimMOD, a Simple baseline for Multi-camera Object Detection, to solve the problem. To incorporate multi-view information as well as build upon previous efforts on monocular 3D object detection, the framework is built on sample-wise object proposals and designed to work in a two-stage manner. First, we extract multi-scale features and generate the perspective object proposals on each monocular image. Second, the multi-view proposals are aggregated and then iteratively refined with multi-view and multi-scale visual features in the DETR3D-style. The refined proposals are end-to-end decoded into the detection results. To further boost the performance, we incorporate the auxiliary branches alongside the proposal generation to enhance the feature learning. Also, we design the methods of target filtering and teacher forcing to promote the consistency of two-stage training. We conduct extensive experiments on the 3D object detection benchmark of nuScenes to demonstrate the effectiveness of SimMOD and achieve new state-of-the-art performance. Code will be available at https://github.com/zhangyp15/SimMOD.

Yunpeng Zhang, Zheng Zhu, Dalong Du

The vision-based perception for autonomous driving has undergone a transformation from the bird-eye-view (BEV) representations to the 3D semantic occupancy. Compared with the BEV planes, the 3D semantic occupancy further provides structural information along the vertical direction. This paper presents OccFormer, a dual-path transformer network to effectively process the 3D volume for semantic occupancy prediction. OccFormer achieves a long-range, dynamic, and efficient encoding of the camera-generated 3D voxel features. It is obtained by decomposing the heavy 3D processing into the local and global transformer pathways along the horizontal plane. For the occupancy decoder, we adapt the vanilla Mask2Former for 3D semantic occupancy by proposing preserve-pooling and class-guided sampling, which notably mitigate the sparsity and class imbalance. Experimental results demonstrate that OccFormer significantly outperforms existing methods for semantic scene completion on SemanticKITTI dataset and for LiDAR semantic segmentation on nuScenes dataset. Code is available at \url{https://github.com/zhangyp15/OccFormer}.

Xiaofeng Wang, Zheng Zhu, Wenbo Xu et al.

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only evaluate front-view predictions. Towards a comprehensive benchmarking of surrounding perception algorithms, we propose OpenOccupancy, which is the first surrounding semantic occupancy perception benchmark. In the OpenOccupancy benchmark, we extend the large-scale nuScenes dataset with dense semantic occupancy annotations. Previous annotations rely on LiDAR points superimposition, where some occupancy labels are missed due to sparse LiDAR channels. To mitigate the problem, we introduce the Augmenting And Purifying (AAP) pipeline to ~2x densify the annotations, where ~4000 human hours are involved in the labeling process. Besides, camera-based, LiDAR-based and multi-modal baselines are established for the OpenOccupancy benchmark. Furthermore, considering the complexity of surrounding occupancy perception lies in the computational burden of high-resolution 3D predictions, we propose the Cascade Occupancy Network (CONet) to refine the coarse prediction, which relatively enhances the performance by ~30% than the baseline. We hope the OpenOccupancy benchmark will boost the development of surrounding occupancy perception algorithms.

Xiaofeng Wang, Zheng Zhu, Yunpeng Zhang et al.

In recent years, vision-centric perception has flourished in various autonomous driving tasks, including 3D detection, semantic map construction, motion forecasting, and depth estimation. Nevertheless, the latency of vision-centric approaches is too high for practical deployment (e.g., most camera-based 3D detectors have a runtime greater than 300ms). To bridge the gap between ideal research and real-world applications, it is necessary to quantify the trade-off between performance and efficiency. Traditionally, autonomous-driving perception benchmarks perform the offline evaluation, neglecting the inference time delay. To mitigate the problem, we propose the Autonomous-driving StreAming Perception (ASAP) benchmark, which is the first benchmark to evaluate the online performance of vision-centric perception in autonomous driving. On the basis of the 2Hz annotated nuScenes dataset, we first propose an annotation-extending pipeline to generate high-frame-rate labels for the 12Hz raw images. Referring to the practical deployment, the Streaming Perception Under constRained-computation (SPUR) evaluation protocol is further constructed, where the 12Hz inputs are utilized for streaming evaluation under the constraints of different computational resources. In the ASAP benchmark, comprehensive experiment results reveal that the model rank alters under different constraints, suggesting that the model latency and computation budget should be considered as design choices to optimize the practical deployment. To facilitate further research, we establish baselines for camera-based streaming 3D detection, which consistently enhance the streaming performance across various hardware. ASAP project page: https://github.com/JeffWang987/ASAP.

Zhongyu Zhao, Menghang Dong, Rongyu Zhang et al.

Recent research has demonstrated that Feed-Forward Networks (FFNs) in Large Language Models (LLMs) play a pivotal role in storing diverse linguistic and factual knowledge. Conventional methods frequently face challenges due to knowledge confusion stemming from their monolithic and redundant architectures, which calls for more efficient solutions with minimal computational overhead, particularly for LLMs. In this paper, we explore the FFN computation paradigm in LLMs and introduce FactorLLM, a novel approach that decomposes well-trained dense FFNs into sparse sub-networks without requiring any further modifications, while maintaining the same level of performance. Furthermore, we embed a router from the Mixture-of-Experts (MoE), combined with our devised Prior-Approximate (PA) loss term that facilitates the dynamic activation of experts and knowledge adaptation, thereby accelerating computational processes and enhancing performance using minimal training data and fine-tuning steps. FactorLLM thus enables efficient knowledge factorization and activates select groups of experts specifically tailored to designated tasks, emulating the interactive functional segmentation of the human brain. Extensive experiments across various benchmarks demonstrate the effectiveness of our proposed FactorLLM which achieves comparable performance to the source model securing up to 85% model performance while obtaining over a 30% increase in inference speed. Code: https://github.com/zhenwuweihe/FactorLLM.

Xianda Guo, Wenjie Yuan, Yunpeng Zhang et al.

Depth estimation has been widely studied and serves as the fundamental step of 3D perception for robotics and autonomous driving. Though significant progress has been made in monocular depth estimation in the past decades, these attempts are mainly conducted on the KITTI benchmark with only front-view cameras, which ignores the correlations across surround-view cameras. In this paper, we propose an Adjacent-View Transformer for Supervised Surround-view Depth estimation (AVT-SSDepth), to jointly predict the depth maps across multiple surrounding cameras. Specifically, we employ a global-to-local feature extraction module that combines CNN with transformer layers for enriched representations. Further, the adjacent-view attention mechanism is proposed to enable the intra-view and inter-view feature propagation. The former is achieved by the self-attention module within each view, while the latter is realized by the adjacent attention module, which computes the attention across multi-cameras to exchange the multi-scale representations across surroundview feature maps. In addition, AVT-SSDepth has strong crossdataset generalization. Extensive experiments show that our method achieves superior performance over existing state-ofthe-art methods on both DDAD and nuScenes datasets. Code is available at https://github.com/XiandaGuo/SSDepth.

Hao Lu, Yunpeng Zhang, Qing Lian et al.

Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with unfamiliar testing environments due to the lack of diverse training data encompassing various viewpoints and environments. To address this, we propose a novel method that aligns 3D detection with 2D camera plane results, ensuring consistent and accurate detections. Our framework, anchored in perspective debiasing, helps the learning of features resilient to domain shifts. In our approach, we render diverse view maps from BEV features and rectify the perspective bias of these maps, leveraging implicit foreground volumes to bridge the camera and BEV planes. This two-step process promotes the learning of perspective- and context-independent features, crucial for accurate object detection across varying viewpoints, camera parameters, and environmental conditions. Notably, our model-agnostic approach preserves the original network structure without incurring additional inference costs, facilitating seamless integration across various models and simplifying deployment. Furthermore, we also show our approach achieves satisfactory results in real data when trained only with virtual datasets, eliminating the need for real scene annotations. Experimental results on both Domain Generalization (DG) and Unsupervised Domain Adaptation (UDA) clearly demonstrate its effectiveness. The codes are available at https://github.com/EnVision-Research/Generalizable-BEV.

Yuanhui Huang, Amonnut Thammatadatrakoon, Wenzhao Zheng et al.

3D semantic occupancy prediction is an important task for robust vision-centric autonomous driving, which predicts fine-grained geometry and semantics of the surrounding scene. Most existing methods leverage dense grid-based scene representations, overlooking the spatial sparsity of the driving scenes. Although 3D semantic Gaussian serves as an object-centric sparse alternative, most of the Gaussians still describe the empty region with low efficiency. To address this, we propose a probabilistic Gaussian superposition model which interprets each Gaussian as a probability distribution of its neighborhood being occupied and conforms to probabilistic multiplication to derive the overall geometry. Furthermore, we adopt the exact Gaussian mixture model for semantics calculation to avoid unnecessary overlapping of Gaussians. To effectively initialize Gaussians in non-empty region, we design a distribution-based initialization module which learns the pixel-aligned occupancy distribution instead of the depth of surfaces. We conduct extensive experiments on nuScenes and KITTI-360 datasets and our GaussianFormer-2 achieves state-of-the-art performance with high efficiency. Code: https://github.com/huang-yh/GaussianFormer.

Yunpeng Zhang, Deheng Qian, Ding Li et al.

Modeling complicated interactions among the ego-vehicle, road agents, and map elements has been a crucial part for safety-critical autonomous driving. Previous works on end-to-end autonomous driving rely on the attention mechanism for handling heterogeneous interactions, which fails to capture the geometric priors and is also computationally intensive. In this paper, we propose the Interaction Scene Graph (ISG) as a unified method to model the interactions among the ego-vehicle, road agents, and map elements. With the representation of the ISG, the driving agents aggregate essential information from the most influential elements, including the road agents with potential collisions and the map elements to follow. Since a mass of unnecessary interactions are omitted, the more efficient scene-graph-based framework is able to focus on indispensable connections and leads to better performance. We evaluate the proposed method for end-to-end autonomous driving on the nuScenes dataset. Compared with strong baselines, our method significantly outperforms in the full-stack driving tasks, including perception, prediction, and planning. Code will be released at https://github.com/zhangyp15/GraphAD.

Lening Wang, Wenzhao Zheng, Dalong Du et al.

4D driving simulation is essential for developing realistic autonomous driving simulators. Despite advancements in existing methods for generating driving scenes, significant challenges remain in view transformation and spatial-temporal dynamic modeling. To address these limitations, we propose a Spatial-Temporal simulAtion for drivinG (Stag-1) model to reconstruct real-world scenes and design a controllable generative network to achieve 4D simulation. Stag-1 constructs continuous 4D point cloud scenes using surround-view data from autonomous vehicles. It decouples spatial-temporal relationships and produces coherent keyframe videos. Additionally, Stag-1 leverages video generation models to obtain photo-realistic and controllable 4D driving simulation videos from any perspective. To expand the range of view generation, we train vehicle motion videos based on decomposed camera poses, enhancing modeling capabilities for distant scenes. Furthermore, we reconstruct vehicle camera trajectories to integrate 3D points across consecutive views, enabling comprehensive scene understanding along the temporal dimension. Following extensive multi-level scene training, Stag-1 can simulate from any desired viewpoint and achieve a deep understanding of scene evolution under static spatial-temporal conditions. Compared to existing methods, our approach shows promising performance in multi-view scene consistency, background coherence, and accuracy, and contributes to the ongoing advancements in realistic autonomous driving simulation. Code: https://github.com/wzzheng/Stag.

Hao Lu, Tianshuo Xu, Wenzhao Zheng et al.

Photorealistic 4D reconstruction of street scenes is essential for developing real-world simulators in autonomous driving. However, most existing methods perform this task offline and rely on time-consuming iterative processes, limiting their practical applications. To this end, we introduce the Large 4D Gaussian Reconstruction Model (DrivingRecon), a generalizable driving scene reconstruction model, which directly predicts 4D Gaussian from surround view videos. To better integrate the surround-view images, the Prune and Dilate Block (PD-Block) is proposed to eliminate overlapping Gaussian points between adjacent views and remove redundant background points. To enhance cross-temporal information, dynamic and static decoupling is tailored to better learn geometry and motion features. Experimental results demonstrate that DrivingRecon significantly improves scene reconstruction quality and novel view synthesis compared to existing methods. Furthermore, we explore applications of DrivingRecon in model pre-training, vehicle adaptation, and scene editing. Our code is available at https://github.com/EnVision-Research/DriveRecon.

Hao Lu, Jiaqi Tang, Xinli Xu et al.

The emergence of Multi-Camera 3D Object Detection (MC3D-Det), facilitated by bird's-eye view (BEV) representation, signifies a notable progression in 3D object detection. Scaling MC3D-Det training effectively accommodates varied camera parameters and urban landscapes, paving the way for the MC3D-Det foundation model. However, the multi-view fusion stage of the MC3D-Det method relies on the ill-posed monocular perception during training rather than surround refinement ability, leading to what we term "surround refinement degradation". To this end, our study presents a weak-to-strong eliciting framework aimed at enhancing surround refinement while maintaining robust monocular perception. Specifically, our framework employs weakly tuned experts trained on distinct subsets, and each is inherently biased toward specific camera configurations and scenarios. These biased experts can learn the perception of monocular degeneration, which can help the multi-view fusion stage to enhance surround refinement abilities. Moreover, a composite distillation strategy is proposed to integrate the universal knowledge of 2D foundation models and task-specific information. Finally, for MC3D-Det joint training, the elaborate dataset merge strategy is designed to solve the problem of inconsistent camera numbers and camera parameters. We set up a multiple dataset joint training benchmark for MC3D-Det and adequately evaluated existing methods. Further, we demonstrate the proposed framework brings a generalized and significant boost over multiple baselines. Our code is at \url{https://github.com/EnVision-Research/Scale-BEV}.

Yunpeng Zhang, Zhengyou Wang, Shanna Zhuang et al.

Gait recognition, which can realize long-distance and contactless identification, is an important biometric technology. Recent gait recognition methods focus on learning the pattern of human movement or appearance during walking, and construct the corresponding spatio-temporal representations. However, different individuals have their own laws of movement patterns, simple spatial-temporal features are difficult to describe changes in motion of human parts, especially when confounding variables such as clothing and carrying are included, thus distinguishability of features is reduced. In this paper, we propose the Motion Excitation Module (MEM) to guide spatio-temporal features to focus on human parts with large dynamic changes, MEM learns the difference information between frames and intervals, so as to obtain the representation of temporal motion changes, it is worth mentioning that MEM can adapt to frame sequences with uncertain length, and it does not add any additional parameters. Furthermore, we present the Fine Feature Extractor (FFE), which independently learns the spatio-temporal representations of human body according to different horizontal parts of individuals. Benefiting from MEM and FFE, our method innovatively combines motion change information, significantly improving the performance of the model under cross appearance conditions. On the popular dataset CASIA-B, our proposed Motion Gait is better than the existing gait recognition methods.

Zixun Xie, Sicheng Zuo, Wenzhao Zheng et al.

Modeling the evolutions of driving scenarios is important for the evaluation and decision-making of autonomous driving systems. Most existing methods focus on one aspect of scene evolution such as map generation, motion prediction, and trajectory planning. In this paper, we propose a unified Generative Pre-training for Driving (GPD-1) model to accomplish all these tasks altogether without additional fine-tuning. We represent each scene with ego, agent, and map tokens and formulate autonomous driving as a unified token generation problem. We adopt the autoregressive transformer architecture and use a scene-level attention mask to enable intra-scene bi-directional interactions. For the ego and agent tokens, we propose a hierarchical positional tokenizer to effectively encode both 2D positions and headings. For the map tokens, we train a map vector-quantized autoencoder to efficiently compress ego-centric semantic maps into discrete tokens. We pre-train our GPD-1 on the large-scale nuPlan dataset and conduct extensive experiments to evaluate its effectiveness. With different prompts, our GPD-1 successfully generalizes to various tasks without finetuning, including scene generation, traffic simulation, closed-loop simulation, map prediction, and motion planning. Code: https://github.com/wzzheng/GPD.

Yunpeng Zhang, Jiwen Lu, Jie Zhou

The precise localization of 3D objects from a single image without depth information is a highly challenging problem. Most existing methods adopt the same approach for all objects regardless of their diverse distributions, leading to limited performance for truncated objects. In this paper, we propose a flexible framework for monocular 3D object detection which explicitly decouples the truncated objects and adaptively combines multiple approaches for object depth estimation. Specifically, we decouple the edge of the feature map for predicting long-tail truncated objects so that the optimization of normal objects is not influenced. Furthermore, we formulate the object depth estimation as an uncertainty-guided ensemble of directly regressed object depth and solved depths from different groups of keypoints. Experiments demonstrate that our method outperforms the state-of-the-art method by relatively 27\% for the moderate level and 30\% for the hard level in the test set of KITTI benchmark while maintaining real-time efficiency. Code will be available at \url{https://github.com/zhangyp15/MonoFlex}.

Eljose E Sajan, Yunpeng Zhang, Liang-Chieh Cheng

Static analyzers are tool sets which are proving to be indispensable to modern programmers. These enable the programmers to detect possible errors and security defects present in the current code base within the implementation phase of the development cycle, rather than relying on a standalone testing phase. Static analyzers typically highlight possible defects within the 'static' source code and thus does not require the source code to be compiled or executed. The Scala programming language has been gaining wider adoption across various industries in recent years. With such a wide adoption of tools of this nature, this paper presents an overview on the static analysis tools available, both commercial and open-source, for the Scala programming language. This paper discusses in detail about the types of defects that each of these tools can detect, limitations of these tools and also provide potential research direction that can improve the current state of static analyzers for the Scala programming language.

Yunpeng Zhang, Xuqing Wu

Cheating is a real problem in the Internet of Things. The fundamental question that needs to be answered is how we can trust the validity of the data being generated in the first place. The problem, however, isn't inherent in whether or not to embrace the idea of an open platform and open-source software, but to establish a methodology to verify the trustworthiness and control any access. This paper focuses on building an access control model and system based on trust computing. This is a new field of access control techniques which includes Access Control, Trust Computing, Internet of Things, network attacks, and cheating technologies. Nevertheless, the target access control systems can be very complex to manage. This paper presents an overview of the existing work on trust computing, access control models and systems in IoT. It not only summarizes the latest research progress, but also provides an understanding of the limitations and open issues of the existing work. It is expected to provide useful guidelines for future research.

Mengmeng Liu, Jiuming Liu, Yunpeng Zhang et al.

Remarkable advances in recent 2D image and 3D shape generation have induced a significant focus on dynamic 4D content generation. However, previous 4D generation methods commonly struggle to maintain spatial-temporal consistency and adapt poorly to rapid temporal variations, due to the lack of effective spatial-temporal modeling. To address these problems, we propose a novel 4D generation network called 4DSTR, which modulates generative 4D Gaussian Splatting with spatial-temporal rectification. Specifically, temporal correlation across generated 4D sequences is designed to rectify deformable scales and rotations and guarantee temporal consistency. Furthermore, an adaptive spatial densification and pruning strategy is proposed to address significant temporal variations by dynamically adding or deleting Gaussian points with the awareness of their pre-frame movements. Extensive experiments demonstrate that our 4DSTR achieves state-of-the-art performance in video-to-4D generation, excelling in reconstruction quality, spatial-temporal consistency, and adaptation to rapid temporal movements.

Mengchao Wang, Qiang Wang, Fan Jiang et al.

Creating a realistic animatable avatar from a single static portrait remains challenging. Existing approaches often struggle to capture subtle facial expressions, the associated global body movements, and the dynamic background. To address these limitations, we propose a novel framework that leverages a pretrained video diffusion transformer model to generate high-fidelity, coherent talking portraits with controllable motion dynamics. At the core of our work is a dual-stage audio-visual alignment strategy. In the first stage, we employ a clip-level training scheme to establish coherent global motion by aligning audio-driven dynamics across the entire scene, including the reference portrait, contextual objects, and background. In the second stage, we refine lip movements at the frame level using a lip-tracing mask, ensuring precise synchronization with audio signals. To preserve identity without compromising motion flexibility, we replace the commonly used reference network with a facial-focused cross-attention module that effectively maintains facial consistency throughout the video. Furthermore, we integrate a motion intensity modulation module that explicitly controls expression and body motion intensity, enabling controllable manipulation of portrait movements beyond mere lip motion. Extensive experimental results show that our proposed approach achieves higher quality with better realism, coherence, motion intensity, and identity preservation. Ours project page: https://fantasy-amap.github.io/fantasy-talking/.

Yunpeng Zhang, Qiang Wang, Fan Jiang et al.

Tuning-free approaches adapting large-scale pre-trained video diffusion models for identity-preserving text-to-video generation (IPT2V) have gained popularity recently due to their efficacy and scalability. However, significant challenges remain to achieve satisfied facial dynamics while keeping the identity unchanged. In this work, we present a novel tuning-free IPT2V framework by enhancing face knowledge of the pre-trained video model built on diffusion transformers (DiT), dubbed FantasyID. Essentially, 3D facial geometry prior is incorporated to ensure plausible facial structures during video synthesis. To prevent the model from learning copy-paste shortcuts that simply replicate reference face across frames, a multi-view face augmentation strategy is devised to capture diverse 2D facial appearance features, hence increasing the dynamics over the facial expressions and head poses. Additionally, after blending the 2D and 3D features as guidance, instead of naively employing cross-attention to inject guidance cues into DiT layers, a learnable layer-aware adaptive mechanism is employed to selectively inject the fused features into each individual DiT layers, facilitating balanced modeling of identity preservation and motion dynamics. Experimental results validate our model's superiority over the current tuning-free IPT2V methods.

Soumya Madireddy, Lu Gao, Zia Din et al.

This research addresses the time-consuming and error-prone nature of manual code compliance checking in Building Information Modeling (BIM) by introducing a Large Language Model (LLM)-driven approach to semi-automate this critical process. The developed system integrates LLMs such as GPT, Claude, Gemini, and Llama, with Revit software to interpret building codes, generate Python scripts, and perform semi-automated compliance checks within the BIM environment. Case studies on a single-family residential project and an office building project demonstrated the system's ability to reduce the time and effort required for compliance checks while improving accuracy. It streamlined the identification of violations, such as non-compliant room dimensions, material usage, and object placements, by automatically assessing relationships and generating actionable reports. Compared to manual methods, the system eliminated repetitive tasks, simplified complex regulations, and ensured reliable adherence to standards. By offering a comprehensive, adaptable, and cost-effective solution, this proposed approach offers a promising advancement in BIM-based compliance checking, with potential applications across diverse regulatory documents in construction projects.

Prathyush Kumar Reddy Lebaku, Lu Gao, Yunpeng Zhang et al.

Anomaly detection in connected autonomous vehicles (CAVs) is crucial for maintaining safe and reliable transportation networks, as CAVs can be susceptible to sensor malfunctions, cyber-attacks, and unexpected environmental disruptions. This study explores an anomaly detection approach by simulating vehicle behavior, generating a dataset that represents typical and atypical vehicular interactions. The dataset includes time-series data of position, speed, and acceleration for multiple connected autonomous vehicles. We utilized machine learning models to effectively identify abnormal driving patterns. First, we applied a stacked Long Short-Term Memory (LSTM) model to capture temporal dependencies and sequence-based anomalies. The stacked LSTM model processed the sequential data to learn standard driving behaviors. Additionally, we deployed a Random Forest model to support anomaly detection by offering ensemble-based predictions, which enhanced model interpretability and performance. The Random Forest model achieved an R2 of 0.9830, MAE of 5.746, and a 95th percentile anomaly threshold of 14.18, while the stacked LSTM model attained an R2 of 0.9998, MAE of 82.425, and a 95th percentile anomaly threshold of 265.63. These results demonstrate the models' effectiveness in accurately predicting vehicle trajectories and detecting anomalies in autonomous driving scenarios.

Hao Lu, Zhuang Ma, Guangfeng Jiang et al.

Current generative models struggle to synthesize dynamic 4D driving scenes that simultaneously support temporal extrapolation and spatial novel view synthesis (NVS) without per-scene optimization. Bridging generation and novel view synthesis remains a major challenge. We present PhiGenesis, a unified framework for 4D scene generation that extends video generation techniques with geometric and temporal consistency. Given multi-view image sequences and camera parameters, PhiGenesis produces temporally continuous 4D Gaussian splatting representations along target 3D trajectories. In its first stage, PhiGenesis leverages a pre-trained video VAE with a novel range-view adapter to enable feed-forward 4D reconstruction from multi-view images. This architecture supports single-frame or video inputs and outputs complete 4D scenes including geometry, semantics, and motion. In the second stage, PhiGenesis introduces a geometric-guided video diffusion model, using rendered historical 4D scenes as priors to generate future views conditioned on trajectories. To address geometric exposure bias in novel views, we propose Stereo Forcing, a novel conditioning strategy that integrates geometric uncertainty during denoising. This method enhances temporal coherence by dynamically adjusting generative influence based on uncertainty-aware perturbations. Our experimental results demonstrate that our method achieves state-of-the-art performance in both appearance and geometric reconstruction, temporal generation and novel view synthesis (NVS) tasks, while simultaneously delivering competitive performance in downstream evaluations. Homepage is at \href{https://jiangxb98.github.io/PhiGensis}{PhiGensis}.

Mengmeng Liu, Michael Ying Yang, Jiuming Liu et al.

Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully leverage temporal information, and require extensive manual tuning to handle diverse sensor configurations. To address these problems, we introduce DVLO4D, a novel visual-LiDAR odometry framework that leverages sparse spatial-temporal fusion to enhance accuracy and robustness. Our approach proposes three key innovations: (1) Sparse Query Fusion, which utilizes sparse LiDAR queries for effective multi-modal data fusion; (2) a Temporal Interaction and Update module that integrates temporally-predicted positions with current frame data, providing better initialization values for pose estimation and enhancing model's robustness against accumulative errors; and (3) a Temporal Clip Training strategy combined with a Collective Average Loss mechanism that aggregates losses across multiple frames, enabling global optimization and reducing the scale drift over long sequences. Extensive experiments on the KITTI and Argoverse Odometry dataset demonstrate the superiority of our proposed DVLO4D, which achieves state-of-the-art performance in terms of both pose accuracy and robustness. Additionally, our method has high efficiency, with an inference time of 82 ms, possessing the potential for the real-time deployment.

Jayakrishna Duggempudi, Lu Gao, Ahmed Senouci et al.

This paper presents the development of an AI-powered workflow that uses Large Language Models (LLMs) to assist in drafting schematic architectural floor plans from natural language prompts. The proposed system interprets textual input to automatically generate layout options including walls, doors, windows, and furniture arrangements. It combines prompt engineering, a furniture placement refinement algorithm, and Python scripting to produce spatially coherent draft plans compatible with design tools such as Autodesk Revit. A case study of a mid-sized residential layout demonstrates the approach's ability to generate functional and structured outputs with minimal manual effort. The workflow is designed for transparent replication, with all key prompt specifications documented to enable independent implementation by other researchers. In addition, the generated models preserve the full range of Revit-native parametric attributes required for direct integration into professional BIM processes.

Hao Lu, Jiaqi Tang, Jiyao Wang et al.

The intelligent driving cockpit, an important part of intelligent driving, needs to match different users' comfort, interaction, and safety needs. This paper aims to build a Super-Aligned and GEneralist DRiving agent, SAGE DeeR. Sage Deer achieves three highlights: (1) Super alignment: It achieves different reactions according to different people's preferences and biases. (2) Generalist: It can understand the multi-view and multi-mode inputs to reason the user's physiological indicators, facial emotions, hand movements, body movements, driving scenarios, and behavioral decisions. (3) Self-Eliciting: It can elicit implicit thought chains in the language space to further increase generalist and super-aligned abilities. Besides, we collected multiple data sets and built a large-scale benchmark. This benchmark measures the deer's perceptual decision-making ability and the super alignment's accuracy.

Shuai Shen, Wanhua Li, Yunpeng Zhang et al.

Talking head synthesis has emerged as a prominent research topic in computer graphics and multimedia, yet most existing methods often struggle to strike a balance between generation quality and computational efficiency, particularly under real-time constraints. In this paper, we propose a novel framework that integrates Gaussian Splatting with a structured Audio Factorization Plane (Audio-Plane) to enable high-quality, audio-synchronized, and real-time talking head generation. For modeling a dynamic talking head, a 4D volume representation, which consists of three axes in 3D space and one temporal axis aligned with audio progression, is typically required. However, directly storing and processing a dense 4D grid is impractical due to the high memory and computation cost, and lack of scalability for longer durations. We address this challenge by decomposing the 4D volume representation into a set of audio-independent spatial planes and audio-dependent planes, forming a compact and interpretable representation for talking head modeling that we refer to as the Audio-Plane. This factorized design allows for efficient and fine-grained audio-aware spatial encoding, and significantly enhances the model's ability to capture complex lip dynamics driven by speech signals. To further improve region-specific motion modeling, we introduce an audio-guided saliency splatting mechanism based on region-aware modulation, which adaptively emphasizes highly dynamic regions such as the mouth area. This allows the model to focus its learning capacity on where it matters most for accurate speech-driven animation. Extensive experiments on both the self-driven and the cross-driven settings demonstrate that our method achieves state-of-the-art visual quality, precise audio-lip synchronization, and real-time performance, outperforming prior approaches across both 2D- and 3D-based paradigms.