Zhijie Yang

Ekim Yurtsever, Emeç Erçelik, Mingyu Liu et al.

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of trained models. Self-supervised training strategies can alleviate these issues by learning a general point cloud backbone model for downstream 3D vision tasks. Against this backdrop, we show the relationship between self-supervised multi-frame flow representations and single-frame 3D detection hypotheses. Our main contribution leverages learned flow and motion representations and combines a self-supervised backbone with a supervised 3D detection head. First, a self-supervised scene flow estimation model is trained with cycle consistency. Then, the point cloud encoder of this model is used as the backbone of a single-frame 3D object detection head model. This second 3D object detection model learns to utilize motion representations to distinguish dynamic objects exhibiting different movement patterns. Experiments on KITTI and nuScenes benchmarks show that the proposed self-supervised pre-training increases 3D detection performance significantly. https://github.com/emecercelik/ssl-3d-detection.git

Ziqin Gao, Zhijie Yang, Qiang Zou

Deep learning in computer-aided design (CAD) remains fundamentally constrained by the data scarcity challenge: authentic CAD data is difficult to collect at scale, while synthetic data may not faithfully reflect real design practice. Rather than pursuing ever-larger CAD datasets, this paper alternatively treats CAD learning as a knowledge completion and calibration problem. It introduces KDH-CAD, a knowledge-data hybrid framework that integrates pretrained knowledge in foundation models, structured domain knowledge from textbooks/tutorials, and a very small amount of labeled CAD data. Domain knowledge is used to elicit and complete CAD-relevant concepts that are weakly expressed or under-represented in pretrained foundation models, while labeled CAD data calibrates these concepts in the latent space to account for task-specific geometric variability, without fine-tuning the foundation model. Experiments on real-world mechanical part classification show that KDH-CAD achieves strong performance in low-data regimes, reaching 92.6\% accuracy with only 250 training samples, 95.8\% with 1,000 samples, and continuing to improve with additional data. This matches or exceeds state-of-the-art performance that typically requires an order of magnitude more data. These results suggest that combining pretrained foundation models with structured domain knowledge can substantially reduce reliance on large-scale CAD datasets, providing a principled and practical direction for data-efficient CAD learning.

Tao Yuan, Xuefei Ning, Dong Zhou et al.

State-of-the-art large language models (LLMs) are now claiming remarkable supported context lengths of 256k or even more. In contrast, the average context lengths of mainstream benchmarks are insufficient (5k-21k), and they suffer from potential knowledge leakage and inaccurate metrics, resulting in biased evaluation. This paper introduces LV-Eval, a challenging long-context benchmark with five length levels (16k, 32k, 64k, 128k, and 256k) reaching up to 256k words. LV-Eval features two main tasks, single-hop QA and multi-hop QA, comprising 11 bilingual datasets. The design of LV-Eval has incorporated three key techniques, namely confusing facts insertion, keyword and phrase replacement, and keyword-recall-based metric design. The advantages of LV-Eval include controllable evaluation across different context lengths, challenging test instances with confusing facts, mitigated knowledge leakage, and more objective evaluations. We evaluate 15 LLMs on LV-Eval and conduct ablation studies on the benchmarking techniques. The results reveal that: (i) Moonshot-v1 and recent large-scale open-source models, such as Qwen-2.5-72B and Llama-3.1-70B, achieve the highest performance on LV-Eval, particularly at lengths below 64k. (ii) Models exhibit distinct score trends. For example, GLM-4-9B-128k, Yi-6B-200k, and Llama3-8B-1M exhibit a relatively gentle degradation of performance, but their absolute performances may not necessarily be higher than those of LLMs with shorter context lengths. (iii) LLMs' performances can significantly degrade in the presence of confusing information, especially in the pressure test of "needle in a haystack". (iv) Issues related to knowledge leakage and inaccurate metrics introduce bias in evaluation, and these concerns are alleviated in LV-Eval. All datasets and evaluation codes are released at: https://github.com/infinigence/LVEval.

Zhijie Yang, Min Tang, Qiang Zou

Airfoil shape design is a fundamental task in aerospace engineering, with a direct impact on flight stability and fuel consumption. Deep learning has recently emerged as a promising tool for this task, but existing deep generative approaches remain limited in both geometric validity and physical controllability. They offer little control over the generated shapes, yielding invalid geometries, and they typically do not condition effectively on aerodynamic performance. To address these issues, this paper proposes AirfoilGen, a valid-by-construction and performance-aware latent diffusion model for airfoil. It first introduces a novel airfoil representation scheme, the circle sweeping representation, to constrain the generative process so that output shapes respect essential airfoil characteristics. It then enables explicit control over aerodynamic performance (e.g., lift and drag coefficients) by operating in a learned latent space: a transformer model encodes airfoil shapes into vector embeddings, and a conditional diffusion model denoises Gaussian noise into these latent embeddings while incorporating target aerodynamic performance. In addition, this paper presents a new dataset of over 200,000 airfoils, which is substantially larger than the widely used UIUC airfoil dataset (1,650 airfoils) and more suitable for training modern deep generative models. Experiments demonstrate that AirfoilGen enables airfoil generation with far greater geometric validity and aerodynamic performance controllability than previously achievable, with an average performance-conditioning accuracy of 98.41%.

Hongyu Chen, Zhijie Yang, Xiting Zhao et al.

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used along with a professional, static 3D scanner for ground truth map collection. With all the sensors calibrated on the mapping robot, three datasets are collected to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. We provide the datasets for download and the mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. We have also conducted a survey on available robotics-related datasets and compiled a big table with those datasets and a number of properties of them.

Xiting Zhao, Zhijie Yang, Sören Schwertfeger

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point cloud, including intensity peak detection, dual return detection, plane fitting, and finding the boundaries. These approaches can classify the point cloud and detect the reflection in it. By mirroring the reflection points on the detected window pane and adding classification labels on the points, we can improve the map quality in a Simultaneous Localization and Mapping (SLAM) framework. Experiments using real scan data and ground truth data showcase the effectiveness of our method.

Hongyu Chen, Xiting Zhao, Jianwen Luo et al.

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth map collection. Three datasets are generated to evaluate the performance of mapping algorithms within a room and between rooms. Based on these datasets we generate maps and trajectory data, which is then fed into evaluation algorithms. The mapping and evaluation procedures are made in a very easily reproducible manner for maximum comparability. In the end we can draw a couple of conclusions about the tested SLAM algorithms.