Yuan Zhang

Mu Chen, Wenyu Chen, Mingchuan Yang et al.

3D semantic occupancy has rapidly become a research focus in the fields of robotics and autonomous driving environment perception due to its ability to provide more realistic geometric perception and its closer integration with downstream tasks. By performing occupancy prediction of the 3D space in the environment, the ability and robustness of scene understanding can be effectively improved. However, existing occupancy prediction tasks are primarily modeled using voxel or point cloud-based approaches: voxel-based network structures often suffer from the loss of spatial information due to the voxelization process, while point cloud-based methods, although better at retaining spatial location information, face limitations in representing volumetric structural details. To address this issue, we propose a dual-modal prediction method based on 3D Gaussian sets and sparse points, which balances both spatial location and volumetric structural information, achieving higher accuracy in semantic occupancy prediction. Specifically, our method adopts a Transformer-based architecture, taking 3D Gaussian sets, sparse points, and queries as inputs. Through the multi-layer structure of the Transformer, the enhanced queries and 3D Gaussian sets jointly contribute to the semantic occupancy prediction, and an adaptive fusion mechanism integrates the semantic outputs of both modalities to generate the final prediction results. Additionally, to further improve accuracy, we dynamically refine the point cloud at each layer, allowing for more precise location information during occupancy prediction. We conducted experiments on the Occ3DnuScenes dataset, and the experimental results demonstrate superior performance of the proposed method on IoU based metrics.

Meijia Shao, Yuan Zhang

This paper studies the open problem of conformalized entry prediction in a row/column-exchangeable matrix. The matrix setting presents novel and unique challenges, but there exists little work on this interesting topic. We meticulously define the problem, differentiate it from closely related problems, and rigorously delineate the boundary between achievable and impossible goals. We then propose two practical algorithms. The first method provides a fast emulation of the full conformal prediction, while the second method leverages the technique of algorithmic stability for acceleration. Both methods are computationally efficient and can effectively safeguard coverage validity in presence of arbitrary missing pattern. Further, we quantify the impact of missingness on prediction accuracy and establish fundamental limit results. Empirical evidence from synthetic and real-world data sets corroborates the superior performance of our proposed methods.