Haoyu Cheng

Siqi Li, Xiaoxue Chen, Haoyu Cheng et al.

Detecting the openable parts of articulated objects is crucial for downstream applications in intelligent robotics, such as pulling a drawer. This task poses a multitasking challenge due to the necessity of understanding object categories and motion. Most existing methods are either category-specific or trained on specific datasets, lacking generalization to unseen environments and objects. In this paper, we propose a Transformer-based Openable Part Detection (OPD) framework named Multi-feature Openable Part Detection (MOPD) that incorporates perceptual grouping and geometric priors, outperforming previous methods in performance. In the first stage of the framework, we introduce a perceptual grouping feature model that provides perceptual grouping feature priors for openable part detection, enhancing detection results through a cross-attention mechanism. In the second stage, a geometric understanding feature model offers geometric feature priors for predicting motion parameters. Compared to existing methods, our proposed approach shows better performance in both detection and motion parameter prediction. Codes and models are publicly available at https://github.com/lisiqi-zju/MOPD

Ruoran Xu, Haoyu Cheng, Bin Dong et al.

Geometric problem solving, as a typical multimodal reasoning problem, has attracted much attention and made great progress recently, however most of works focus on plane geometry while usually fail in solid geometry due to 3D spatial diagrams and complex reasoning. To bridge this gap, we introduce Hilbert-Geo, the first unified formal language framework for solid geometry, including an extensive predicate library and a dedicated theorem bank. Based on this framework, we propose a Parse2Reason method containing two steps of first parsing then reasoning. In the parsing step, we utilize conditional description language (CDL), a formalized language composed of predicates specifically designed to construct geometric conditions, to represent both problem description (natural text) and solid diagrams (visual image). In the reasoning step, we leverage those formal CDL and the theorem bank to perform relational inference and algebraic computation, generating strictly correct, verifiable, and human-readable reasoning processes. Notably, our proposed Hilbert-Geo is also applicable to plane geometry. To advance geometric reasoning, we curate two expert-annotated dataset SolidFGeo2k and PlaneFGeo3k, which are furnished with geometric formal language annotations, solutions and answers. Extensive experiments show that our proposed method achieves the state-of-the-art (SOTA) performance 77.3% in SolidFGeo2k and 84.1% in MathVerse-Solid (one small subset in MathVerse dedicated to solid geometry), substantially outperforming leading MLLMs, such as Gemini-2.5-pro (54.2% on SolidFGeo2k) and GPT-5 (62.9% on MathVerse-Solid). In addition, our method achieves the SOTA accuracy 80.2% in PlaneFGeo3k, demonstrating the generality of the Hilbert-Geo in geometric reasoning. Our code and datasets will be publicly available.

Ming Wu, Pengcheng Wang, Kangqi Yin et al.

To detect large-variance code clones (i.e. clones with relatively more differences) in large-scale code repositories is difficult because most current tools can only detect almost identical or very similar clones. It will make promotion and changes to some software applications such as bug detection, code completion, software analysis, etc. Recently, CCAligner made an attempt to detect clones with relatively concentrated modifications called large-gap clones. Our contribution is to develop a novel and effective detection approach of large-variance clones to more general cases for not only the concentrated code modifications but also the scattered code modifications. A detector named LVMapper is proposed, borrowing and changing the approach of sequencing alignment in bioinformatics which can find two similar sequences with more differences. The ability of LVMapper was tested on both self-synthetic datasets and real cases, and the results show substantial improvement in detecting large-variance clones compared with other state-of-the-art tools including CCAligner. Furthermore, our new tool also presents good recall and precision for general Type-1, Type-2 and Type-3 clones on the widely used benchmarking dataset, BigCloneBench.