Qianpu Sun

Qianpu Sun, Xiaowei Chi, Yuhan Rui et al.

Artificial intelligence is increasingly catalyzing scientific automation, with multimodal large language model (MLLM) agents evolving from lab assistants into self-driving lab operators. This transition imposes stringent safety requirements on laboratory environments, where fragile glassware, hazardous substances, and high-precision laboratory equipment render planning errors or misinterpreted risks potentially irreversible. However, the safety awareness and decision-making reliability of embodied agents in such high-stakes settings remain insufficiently defined and evaluated. To bridge this gap, we introduce LABSHIELD, a realistic multi-view benchmark designed to assess MLLMs in hazard identification and safety-critical reasoning. Grounded in U.S. Occupational Safety and Health Administration (OSHA) standards and the Globally Harmonized System (GHS), LABSHIELD establishes a rigorous safety taxonomy spanning 164 operational tasks with diverse manipulation complexities and risk profiles. We evaluate 20 proprietary models, 9 open-source models, and 3 embodied models under a dual-track evaluation framework. Our results reveal a systematic gap between general-domain MCQ accuracy and Semi-open QA safety performance, with models exhibiting an average drop of 32.0% in professional laboratory scenarios, particularly in hazard interpretation and safety-aware planning. These findings underscore the urgent necessity for safety-centric reasoning frameworks to ensure reliable autonomous scientific experimentation in embodied laboratory contexts. The full dataset will be released soon.

Shaocong Xu, Pengfei Li, Qianpu Sun et al.

LiDAR-based semantic scene understanding is an important module in the modern autonomous driving perception stack. However, identifying outlier points in a LiDAR point cloud is challenging as LiDAR point clouds lack semantically-rich information. While former SOTA methods adopt heuristic architectures, we revisit this problem from the perspective of Selective Classification, which introduces a selective function into the standard closed-set classification setup. Our solution is built upon the basic idea of abstaining from choosing any inlier categories but learns a point-wise abstaining penalty with a margin-based loss. Apart from learning paradigms, synthesizing outliers to approximate unlimited real outliers is also critical, so we propose a strong synthesis pipeline that generates outliers originated from various factors: object categories, sampling patterns and sizes. We demonstrate that learning different abstaining penalties, apart from point-wise penalty, for different types of (synthesized) outliers can further improve the performance. We benchmark our method on SemanticKITTI and nuScenes and achieve SOTA results. Codes are available at https://github.com/Daniellli/LiON/.

Runxi Cheng, Yuchen Guan, Yongxian Wei et al.

Scaling conditional memory offers a promising way to increase language-model capacity, but existing methods such as Engram learn large memory tables from scratch during pre-training, making memory scaling expensive and sometimes ineffective. We propose Memory Grafting, a conditional memory scaling method that utilizes frozen hidden states from a grafting model as conditional n-gram memory. Given frequent local n-grams, we run the grafting model offline, store final-token hidden representations as memory values, and let the recipient model retrieve them through exact longest-match suffix lookup. Retrieved memories are adapted by lightweight projections and gates, while a hash-based Engram fallback preserves coverage for unmatched contexts. Since the grafting model is only run offline and exact lookup has expected O(1) complexity with respect to memory-bank size, Memory Grafting expands external latent capacity with limited training and inference overhead. Experiments under matched recipient architectures and pre-training budgets show that Memory Grafting improves over both MoE and vanilla Engram baselines. In the 2.8B-scale setting, it improves the average benchmark score from 51.95 for MoE and 52.43 for vanilla Engram to 53.86. In the 0.92B-scale setting, all grafting-model variants improve over the baselines, with Qwen3.5-35B-A3B giving the strongest gains. These results suggest that pretrained models can serve as reusable constructors of external latent memory, providing a practical step toward scaling future language models beyond trainable parameters alone.

Qianpu Sun, Changyong Shu, Sifan Zhou et al.

3D occupancy perception is gaining increasing attention due to its capability to offer detailed and precise environment representations. Previous weakly-supervised NeRF methods balance efficiency and accuracy, with mIoU varying by 5-10 points due to sampling count along camera rays. Recently, real-time Gaussian splatting has gained widespread popularity in 3D reconstruction, and the occupancy prediction task can also be viewed as a reconstruction task. Consequently, we propose GSRender, which naturally employs 3D Gaussian Splatting for occupancy prediction, simplifying the sampling process. In addition, the limitations of 2D supervision result in duplicate predictions along the same camera ray. We implemented the Ray Compensation (RC) module, which mitigates this issue by compensating for features from adjacent frames. Finally, we redesigned the loss to eliminate the impact of dynamic objects from adjacent frames. Extensive experiments demonstrate that our approach achieves SOTA (state-of-the-art) results in RayIoU (+6.0), while narrowing the gap with 3D supervision methods. Our code will be released soon.

Shaocong Xu, Songlin Wei, Qizhe Wei et al.

Transparent objects remain notoriously hard for perception systems: refraction, reflection and transmission break the assumptions behind stereo, ToF and purely discriminative monocular depth, causing holes and temporally unstable estimates. Our key observation is that modern video diffusion models already synthesize convincing transparent phenomena, suggesting they have internalized the optical rules. We build TransPhy3D, a synthetic video corpus of transparent/reflective scenes: 11k sequences rendered with Blender/Cycles. Scenes are assembled from a curated bank of category-rich static assets and shape-rich procedural assets paired with glass/plastic/metal materials. We render RGB + depth + normals with physically based ray tracing and OptiX denoising. Starting from a large video diffusion model, we learn a video-to-video translator for depth (and normals) via lightweight LoRA adapters. During training we concatenate RGB and (noisy) depth latents in the DiT backbone and co-train on TransPhy3D and existing frame-wise synthetic datasets, yielding temporally consistent predictions for arbitrary-length input videos. The resulting model, DKT, achieves zero-shot SOTA on real and synthetic video benchmarks involving transparency: ClearPose, DREDS (CatKnown/CatNovel), and TransPhy3D-Test. It improves accuracy and temporal consistency over strong image/video baselines, and a normal variant sets the best video normal estimation results on ClearPose. A compact 1.3B version runs at ~0.17 s/frame. Integrated into a grasping stack, DKT's depth boosts success rates across translucent, reflective and diffuse surfaces, outperforming prior estimators. Together, these results support a broader claim: "Diffusion knows transparency." Generative video priors can be repurposed, efficiently and label-free, into robust, temporally coherent perception for challenging real-world manipulation.

Zichen Yu, Changyong Shu, Qianpu Sun et al.

Panoptic occupancy poses a novel challenge by aiming to integrate instance occupancy and semantic occupancy within a unified framework. However, there is still a lack of efficient solutions for panoptic occupancy. In this paper, we propose Panoptic-FlashOcc, a straightforward yet robust 2D feature framework that enables realtime panoptic occupancy. Building upon the lightweight design of FlashOcc, our approach simultaneously learns semantic occupancy and class-aware instance clustering in a single network, these outputs are jointly incorporated through panoptic occupancy procession for panoptic occupancy. This approach effectively addresses the drawbacks of high memory and computation requirements associated with three-dimensional voxel-level representations. With its straightforward and efficient design that facilitates easy deployment, Panoptic-FlashOcc demonstrates remarkable achievements in panoptic occupancy prediction. On the Occ3D-nuScenes benchmark, it achieves exceptional performance, with 38.5 RayIoU and 29.1 mIoU for semantic occupancy, operating at a rapid speed of 43.9 FPS. Furthermore, it attains a notable score of 16.0 RayPQ for panoptic occupancy, accompanied by a fast inference speed of 30.2 FPS. These results surpass the performance of existing methodologies in terms of both speed and accuracy. The source code and trained models can be found at the following github repository: https://github.com/Yzichen/FlashOCC.

Naifu Zhang, Wei Tao, Xi Xiao et al.

In recent years, Vision-Language-Action (VLA) models in embodied intelligence have developed rapidly. However, existing adversarial attack methods require costly end-to-end training and often generate noticeable perturbation patches. To address these limitations, we propose ADVLA, a framework that directly applies adversarial perturbations on features projected from the visual encoder into the textual feature space. ADVLA efficiently disrupts downstream action predictions under low-amplitude constraints, and attention guidance allows the perturbations to be both focused and sparse. We introduce three strategies that enhance sensitivity, enforce sparsity, and concentrate perturbations. Experiments demonstrate that under an $L_{\infty}=4/255$ constraint, ADVLA combined with Top-K masking modifies less than 10% of the patches while achieving an attack success rate of nearly 100%. The perturbations are concentrated on critical regions, remain almost imperceptible in the overall image, and a single-step iteration takes only about 0.06 seconds, significantly outperforming conventional patch-based attacks. In summary, ADVLA effectively weakens downstream action predictions of VLA models under low-amplitude and locally sparse conditions, avoiding the high training costs and conspicuous perturbations of traditional patch attacks, and demonstrates unique effectiveness and practical value for attacking VLA feature spaces.