Lili Chen

Shikhar Bahl, Russell Mendonca, Lili Chen et al.

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot directly. In this paper, we aim to bridge this gap by leveraging videos of human interactions in an environment centric manner. Utilizing internet videos of human behavior, we train a visual affordance model that estimates where and how in the scene a human is likely to interact. The structure of these behavioral affordances directly enables the robot to perform many complex tasks. We show how to seamlessly integrate our affordance model with four robot learning paradigms including offline imitation learning, exploration, goal-conditioned learning, and action parameterization for reinforcement learning. We show the efficacy of our approach, which we call VRB, across 4 real world environments, over 10 different tasks, and 2 robotic platforms operating in the wild. Results, visualizations and videos at https://robo-affordances.github.io/

Yuda Song, Lili Chen, Fahim Tajwar et al.

The success of RL for LLM post-training stems from an unreasonably uninformative source: a single bit of information per rollout as binary reward or preference label. At the other extreme, distillation offers dense supervision but requires demonstrations, which are costly and difficult to scale. We study text feedback as an intermediate signal: richer than scalar rewards, yet cheaper than complete demonstrations. Textual feedback is a natural mode of human interaction and is already abundant in many real-world settings, where users, annotators, and automated judges routinely critique LLM outputs. Towards leveraging text feedback at scale, we formalize a multi-turn RL setup, RL from Text Feedback (RLTF), where text feedback is available during training but not at inference. Therefore, models must learn to internalize the feedback in order to improve their test-time single-turn performance. To do this, we propose two methods: Self Distillation (RLTF-SD), which trains the single-turn policy to match its own feedback-conditioned second-turn generations; and Feedback Modeling (RLTF-FM), which predicts the feedback as an auxiliary objective. We provide theoretical analysis on both methods, and empirically evaluate on reasoning puzzles, competition math, and creative writing tasks. Our results show that both methods consistently outperform strong baselines across benchmarks, highlighting the potential of RL with an additional source of rich supervision at scale.

Lili Chen, Wensheng Gan, Shuang Liang et al.

Temporal point processes (TPPs) are crucial for analyzing events over time and are widely used in fields such as finance, healthcare, and social systems. These processes are particularly valuable for understanding how events unfold over time, accounting for their irregularity and dependencies. Despite the success of large language models (LLMs) in sequence modeling, applying them to temporal point processes remains challenging. A key issue is that current methods struggle to effectively capture the complex interaction between temporal information and semantic context, which is vital for accurate event modeling. In this context, we introduce TPP-TAL (Temporal Point Processes with Enhanced Temporal Awareness in LLMs), a novel plug-and-play framework designed to enhance temporal reasoning within LLMs. Rather than using the conventional method of simply concatenating event time and type embeddings, TPP-TAL explicitly aligns temporal dynamics with contextual semantics before feeding this information into the LLM. This alignment allows the model to better perceive temporal dependencies and long-range interactions between events and their surrounding contexts. Through comprehensive experiments on several benchmark datasets, it is shown that TPP-TAL delivers substantial improvements in temporal likelihood estimation and event prediction accuracy, highlighting the importance of enhancing temporal awareness in LLMs for continuous-time event modeling. The code is made available at https://github.com/chenlilil/TPP-TAL

Lili Chen, Jingge Zhu, Jamie Evans

Due to mutual interference between users, power allocation problems in wireless networks are often non-convex and computationally challenging. Graph neural networks (GNNs) have recently emerged as a promising approach to tackling these problems and an approach that exploits the underlying topology of wireless networks. In this paper, we propose a novel graph representation method for wireless networks that include full-duplex (FD) nodes. We then design a corresponding FD Graph Neural Network (F-GNN) with the aim of allocating transmit powers to maximise the network throughput. Our results show that our F-GNN achieves state-of-art performance with significantly less computation time. Besides, F-GNN offers an excellent trade-off between performance and complexity compared to classical approaches. We further refine this trade-off by introducing a distance-based threshold for inclusion or exclusion of edges in the network. We show that an appropriately chosen threshold reduces required training time by roughly 20% with a relatively minor loss in performance.

Lili Chen, Wensheng Gan, Chien-Ming Chen

The goal of high-utility sequential pattern mining (HUSPM) is to efficiently discover profitable or useful sequential patterns in a large number of sequences. However, simply being aware of utility-eligible patterns is insufficient for making predictions. To compensate for this deficiency, high-utility sequential rule mining (HUSRM) is designed to explore the confidence or probability of predicting the occurrence of consequence sequential patterns based on the appearance of premise sequential patterns. It has numerous applications, such as product recommendation and weather prediction. However, the existing algorithm, known as HUSRM, is limited to extracting all eligible rules while neglecting the correlation between the generated sequential rules. To address this issue, we propose a novel algorithm called correlated high-utility sequential rule miner (CoUSR) to integrate the concept of correlation into HUSRM. The proposed algorithm requires not only that each rule be correlated but also that the patterns in the antecedent and consequent of the high-utility sequential rule be correlated. The algorithm adopts a utility-list structure to avoid multiple database scans. Additionally, several pruning strategies are used to improve the algorithm's efficiency and performance. Based on several real-world datasets, subsequent experiments demonstrated that CoUSR is effective and efficient in terms of operation time and memory consumption.

Xian Zhong, Zohaib Salahuddin, Yi Chen et al.

Artificial intelligence (AI)-based decision support systems have demonstrated value in predicting post-hepatectomy liver failure (PHLF) in hepatocellular carcinoma (HCC). However, they often lack transparency, and the impact of model explanations on clinicians' decisions has not been thoroughly evaluated. Building on prior research, we developed a variational autoencoder-multilayer perceptron (VAE-MLP) model for preoperative PHLF prediction. This model integrated counterfactuals and layerwise relevance propagation (LRP) to provide insights into its decision-making mechanism. Additionally, we proposed a methodological framework for evaluating the explainability of AI systems. This framework includes qualitative and quantitative assessments of explanations against recognized biomarkers, usability evaluations, and an in silico clinical trial. Our evaluations demonstrated that the model's explanation correlated with established biomarkers and exhibited high usability at both the case and system levels. Furthermore, results from the three-track in silico clinical trial showed that clinicians' prediction accuracy and confidence increased when AI explanations were provided.

Lili Chen, Jingge Zhu, Jamie Evans

The optimal allocation of channels and power resources plays a crucial role in ensuring minimal interference, maximal data rates, and efficient energy utilisation. As a successful approach for tackling resource management problems in wireless networks, Graph Neural Networks (GNNs) have attracted a lot of attention. This article proposes a GNN-based algorithm to address the joint resource allocation problem in heterogeneous wireless networks. Concretely, we model the heterogeneous wireless network as a heterogeneous graph and then propose a graph neural network structure intending to allocate the available channels and transmit power to maximise the network throughput. Our proposed joint channel and power allocation graph neural network (JCPGNN) comprises a shared message computation layer and two task-specific layers, with a dedicated focus on channel and power allocation tasks, respectively. Comprehensive experiments demonstrate that the proposed algorithm achieves satisfactory performance but with higher computational efficiency compared to traditional optimisation algorithms.

Lili Chen, Shikhar Bahl, Deepak Pathak

Learning from unstructured and uncurated data has become the dominant paradigm for generative approaches in language and vision. Such unstructured and unguided behavior data, commonly known as play, is also easier to collect in robotics but much more difficult to learn from due to its inherently multimodal, noisy, and suboptimal nature. In this paper, we study this problem of learning goal-directed skill policies from unstructured play data which is labeled with language in hindsight. Specifically, we leverage advances in diffusion models to learn a multi-task diffusion model to extract robotic skills from play data. Using a conditional denoising diffusion process in the space of states and actions, we can gracefully handle the complexity and multimodality of play data and generate diverse and interesting robot behaviors. To make diffusion models more useful for skill learning, we encourage robotic agents to acquire a vocabulary of skills by introducing discrete bottlenecks into the conditional behavior generation process. In our experiments, we demonstrate the effectiveness of our approach across a wide variety of environments in both simulation and the real world. Results visualizations and videos at https://play-fusion.github.io

Mihir Prabhudesai, Lili Chen, Alex Ippoliti et al.

Reinforcement learning (RL) has enabled machine learning models to achieve significant advances in many fields. Most recently, RL has empowered frontier language models to solve challenging math, science, and coding problems. However, central to any RL algorithm is the reward function, and reward engineering is a notoriously difficult problem in any domain. In this paper, we propose RENT: Reinforcement Learning via Entropy Minimization -- a fully unsupervised RL method that requires no external reward or ground-truth answers, and instead uses the model's entropy of its underlying distribution as an intrinsic reward. We find that by reinforcing the chains of thought that yield high model confidence on its generated answers, the model improves its reasoning ability. In our experiments, we showcase these improvements on an extensive suite of commonly-used reasoning benchmarks, including GSM8K, MATH500, AMC, AIME, and GPQA, and models of varying sizes from the Qwen, Mistral, and Llama families. The generality of our unsupervised learning method lends itself to applicability in a wide range of domains where external supervision is unavailable.

Lili Chen, Winn Wing-Yiu Chow, Stella Peng et al.

PURPOSE OR GOAL: This study investigates how GenAI can be integrated with a criterion-referenced grading framework to improve the efficiency and quality of grading for mathematical assessments in engineering. It specifically explores the challenges demonstrators face with manual, model solution-based grading and how a GenAI-supported system can be designed to reliably identify student errors, provide high-quality feedback, and support human graders. The research also examines human graders' perceptions of the effectiveness of this GenAI-assisted approach. ACTUAL OR ANTICIPATED OUTCOMES: The study found that GenAI achieved an overall grading accuracy of 92.5%, comparable to two experienced human graders. The two researchers, who also served as subject demonstrators, perceived the GenAI as a helpful second reviewer that improved accuracy by catching small errors and provided more complete feedback than they could manually. A central outcome was the significant enhancement of formative feedback. However, they noted the GenAI tool is not yet reliable enough for autonomous use, especially with unconventional solutions. CONCLUSIONS/RECOMMENDATIONS/SUMMARY: This study demonstrates that GenAI, when paired with a structured, criterion-referenced framework using binary questions, can grade engineering mathematical assessments with an accuracy comparable to human experts. Its primary contribution is a novel methodological approach that embeds the generation of high-quality, scalable formative feedback directly into the assessment workflow. Future work should investigate student perceptions of GenAI grading and feedback.

Lili Chen, Mihir Prabhudesai, Katerina Fragkiadaki et al.

Can large language models improve without external data -- by generating their own questions and answers? We hypothesize that a pre-trained language model can improve its reasoning skills given only a single prompt specifying the topic (e.g., algebra word problems) and asking the model to generate its own questions. To do this, we propose Self-Questioning Language Models (SQLM): an asymmetric self-play framework where a proposer is given the topic and generates a question for a solver, who tries to answer it. Both the proposer and solver are trained via reinforcement learning. The proposer receives a reward if the problem is not too easy or too difficult, and the solver receives a reward based on majority voting, a proxy for correctness in the absence of ground-truth answers. For coding, the proposer can instead generate unit tests which are used for verification. We study this asymmetric self-play framework on three benchmarks: three-digit multiplication, algebra problems from the OMEGA benchmark, and programming problems from Codeforces. By continually generating more interesting problems and attempting to solve them, language models can improve on downstream benchmarks without access to any curated training datasets.

Hanzhang Tu, Ruizhi Shao, Xue Dong et al.

In this paper, we present a low-budget and high-authenticity bidirectional telepresence system, Tele-Aloha, targeting peer-to-peer communication scenarios. Compared to previous systems, Tele-Aloha utilizes only four sparse RGB cameras, one consumer-grade GPU, and one autostereoscopic screen to achieve high-resolution (2048x2048), real-time (30 fps), low-latency (less than 150ms) and robust distant communication. As the core of Tele-Aloha, we propose an efficient novel view synthesis algorithm for upper-body. Firstly, we design a cascaded disparity estimator for obtaining a robust geometry cue. Additionally a neural rasterizer via Gaussian Splatting is introduced to project latent features onto target view and to decode them into a reduced resolution. Further, given the high-quality captured data, we leverage weighted blending mechanism to refine the decoded image into the final resolution of 2K. Exploiting world-leading autostereoscopic display and low-latency iris tracking, users are able to experience a strong three-dimensional sense even without any wearable head-mounted display device. Altogether, our telepresence system demonstrates the sense of co-presence in real-life experiments, inspiring the next generation of communication.

Huazhen Wang, Huimin Yang, Hainbin Lin et al.

Interdisciplinary teaching is a cornerstone of modern curriculum reform, but its implementation is hindered by challenges in knowledge integration and time-consuming lesson planning. Existing tools often lack the required pedagogical and domain-specific depth.We introduce TriQuest, an AI-copilot platform designed to solve these problems. TriQuest uses large language models and knowledge graphs via an intuitive GUI to help teachers efficiently generate high-quality interdisciplinary lesson plans. Its core features include intelligent knowledge integration from various disciplines and a human-computer collaborative review process to ensure quality and innovation.In a study with 43 teachers, TriQuest increased curriculum design efficiency and improved lesson plan quality. It also significantly lowered design barriers and cognitive load. Our work presents a new paradigm for empowering teacher professional development with intelligent technologies.

Lili Chen, Changyang She, Jingge Zhu et al.

Meeting minimum data rate constraints is a significant challenge in wireless communication systems, particularly as network complexity grows. Traditional deep learning approaches often address these constraints by incorporating penalty terms into the loss function and tuning hyperparameters empirically. However, this heuristic treatment offers no theoretical convergence guarantees and frequently fails to satisfy QoS requirements in practical scenarios. Building upon the structure of the WMMSE algorithm, we first extend it to a multi-channel setting with QoS constraints, resulting in the enhanced WMMSE (eWMMSE) algorithm, which is provably convergent to a locally optimal solution when the problem is feasible. To further reduce computational complexity and improve scalability, we develop a GNN-based algorithm, JCPGNN-M, capable of supporting simultaneous multi-channel allocation per user. To overcome the limitations of traditional deep learning methods, we propose a principled framework that integrates GNN with a Lagrangian-based primal-dual optimization method. By training the GNN within the Lagrangian framework, we ensure satisfaction of QoS constraints and convergence to a stationary point. Extensive simulations demonstrate that JCPGNN-M matches the performance of eWMMSE while offering significant gains in inference speed, generalization to larger networks, and robustness under imperfect channel state information. This work presents a scalable and theoretically grounded solution for constrained resource allocation in future wireless networks.

Jingkai Xu, De Cheng, Xiangqian Zhao et al.

Skin diseases impose a substantial burden on global healthcare systems, driven by their high prevalence (affecting up to 70% of the population), complex diagnostic processes, and a critical shortage of dermatologists in resource-limited areas. While artificial intelligence(AI) tools have demonstrated promise in dermatological image analysis, current models face limitations-they often rely on large, manually labeled datasets and are built for narrow, specific tasks, making them less effective in real-world settings. To tackle these limitations, we present DermNIO, a versatile foundation model for dermatology. Trained on a curated dataset of 432,776 images from three sources (public repositories, web-sourced images, and proprietary collections), DermNIO incorporates a novel hybrid pretraining framework that augments the self-supervised learning paradigm through semi-supervised learning and knowledge-guided prototype initialization. This integrated method not only deepens the understanding of complex dermatological conditions, but also substantially enhances the generalization capability across various clinical tasks. Evaluated across 20 datasets, DermNIO consistently outperforms state-of-the-art models across a wide range of tasks. It excels in high-level clinical applications including malignancy classification, disease severity grading, multi-category diagnosis, and dermatological image caption, while also achieving state-of-the-art performance in low-level tasks such as skin lesion segmentation. Furthermore, DermNIO demonstrates strong robustness in privacy-preserving federated learning scenarios and across diverse skin types and sexes. In a blinded reader study with 23 dermatologists, DermNIO achieved 95.79% diagnostic accuracy (versus clinicians' 73.66%), and AI assistance improved clinician performance by 17.21%.

Lili Chen, Changyang She, Jingge Zhu et al.

As the number of mobile devices continues to grow, interference has become a major bottleneck in improving data rates in wireless networks. Efficient joint channel and power allocation (JCPA) is crucial for managing interference. In this paper, we first propose an enhanced WMMSE (eWMMSE) algorithm to solve the JCPA problem in multi-channel wireless networks. To reduce the computational complexity of iterative optimization, we further introduce JCPGNN-M, a graph neural network-based solution that enables simultaneous multi-channel allocation for each user. We reformulate the problem as a Lagrangian function, which allows us to enforce the total power constraints systematically. Our solution involves combining this Lagrangian framework with GNNs and iteratively updating the Lagrange multipliers and resource allocation scheme. Unlike existing GNN-based methods that limit each user to a single channel, JCPGNN-M supports efficient spectrum reuse and scales well in dense network scenarios. Simulation results show that JCPGNN-M achieves better data rate compared to eWMMSE. Meanwhile, the inference time of JCPGNN-M is much lower than eWMMS, and it can generalize well to larger networks.

Lili Chen, Jingge Zhu, Jamie Evans

Graph Neural Networks (GNNs) have recently emerged as a promising approach to tackling power allocation problems in wireless networks. Since unpaired transmitters and receivers are often spatially distant, the distance-based threshold is proposed to reduce the computation time by excluding or including the channel state information in GNNs. In this paper, we are the first to introduce a neighbour-based threshold approach to GNNs to reduce the time complexity. Furthermore, we conduct a comprehensive analysis of both distance-based and neighbour-based thresholds and provide recommendations for selecting the appropriate value in different communication channel scenarios. We design the corresponding neighbour-based Graph Neural Networks (N-GNN) with the aim of allocating transmit powers to maximise the network throughput. Our results show that our proposed N-GNN offer significant advantages in terms of reducing time complexity while preserving strong performance and generalisation capacity. Besides, we show that by choosing a suitable threshold, the time complexity is reduced from O(|V|^2) to O(|V|), where |V| is the total number of transceiver pairs.

Wensheng Gan, Lili Chen, Shicheng Wan et al.

Analyzing sequence data usually leads to the discovery of interesting patterns and then anomaly detection. In recent years, numerous frameworks and methods have been proposed to discover interesting patterns in sequence data as well as detect anomalous behavior. However, existing algorithms mainly focus on frequency-driven analytic, and they are challenging to be applied in real-world settings. In this work, we present a new anomaly detection framework called DUOS that enables Discovery of Utility-aware Outlier Sequential rules from a set of sequences. In this pattern-based anomaly detection algorithm, we incorporate both the anomalousness and utility of a group, and then introduce the concept of utility-aware outlier sequential rule (UOSR). We show that this is a more meaningful way for detecting anomalies. Besides, we propose some efficient pruning strategies w.r.t. upper bounds for mining UOSR, as well as the outlier detection. An extensive experimental study conducted on several real-world datasets shows that the proposed DUOS algorithm has a better effectiveness and efficiency. Finally, DUOS outperforms the baseline algorithm and has a suitable scalability.

Chien-Ming Chen, Lili Chen, Wensheng Gan

Based on the analysis of the proportion of utility in the supporting transactions used in the field of data mining, high utility-occupancy pattern mining (HUOPM) has recently attracted widespread attention. Unlike high-utility pattern mining (HUPM), which involves the enumeration of high-utility (e.g., profitable) patterns, HUOPM aims to find patterns representing a collection of existing transactions. In practical applications, however, not all patterns are used or valuable. For example, a pattern might contain too many items, that is, the pattern might be too specific and therefore lack value for users in real life. To achieve qualified patterns with a flexible length, we constrain the minimum and maximum lengths during the mining process and introduce a novel algorithm for the mining of flexible high utility-occupancy patterns. Our algorithm is referred to as HUOPM+. To ensure the flexibility of the patterns and tighten the upper bound of the utility-occupancy, a strategy called the length upper-bound (LUB) is presented to prune the search space. In addition, a utility-occupancy nested list (UO-nlist) and a frequency-utility-occupancy table (FUO-table) are employed to avoid multiple scans of the database. Evaluation results of the subsequent experiments confirm that the proposed algorithm can effectively control the length of the derived patterns, for both real-world and synthetic datasets. Moreover, it can decrease the execution time and memory consumption.

Yaobin Xu, Weitang Liu, Zhongyi Jiang et al.

Traffic forecasting is a core element of intelligent traffic monitoring system. Approaches based on graph neural networks have been widely used in this task to effectively capture spatial and temporal dependencies of road networks. However, these approaches can not effectively define the complicated network topology. Besides, their cascade network structures have limitations in transmitting distinct features in the time and space dimensions. In this paper, we propose a Multi-adaptive Spatiotemporal-flow Graph Neural Network (MAF-GNN) for traffic speed forecasting. MAF-GNN introduces an effective Multi-adaptive Adjacency Matrices Mechanism to capture multiple latent spatial dependencies between traffic nodes. Additionally, we propose Spatiotemporal-flow Modules aiming to further enhance feature propagation in both time and space dimensions. MAF-GNN achieves better performance than other models on two real-world datasets of public traffic network, METR-LA and PeMS-Bay, demonstrating the effectiveness of the proposed approach.

Lili Chen, Kevin Lu, Aravind Rajeswaran et al.

We introduce a framework that abstracts Reinforcement Learning (RL) as a sequence modeling problem. This allows us to draw upon the simplicity and scalability of the Transformer architecture, and associated advances in language modeling such as GPT-x and BERT. In particular, we present Decision Transformer, an architecture that casts the problem of RL as conditional sequence modeling. Unlike prior approaches to RL that fit value functions or compute policy gradients, Decision Transformer simply outputs the optimal actions by leveraging a causally masked Transformer. By conditioning an autoregressive model on the desired return (reward), past states, and actions, our Decision Transformer model can generate future actions that achieve the desired return. Despite its simplicity, Decision Transformer matches or exceeds the performance of state-of-the-art model-free offline RL baselines on Atari, OpenAI Gym, and Key-to-Door tasks.

Lili Chen, Kimin Lee, Aravind Srinivas et al.

Recent advances in off-policy deep reinforcement learning (RL) have led to impressive success in complex tasks from visual observations. Experience replay improves sample-efficiency by reusing experiences from the past, and convolutional neural networks (CNNs) process high-dimensional inputs effectively. However, such techniques demand high memory and computational bandwidth. In this paper, we present Stored Embeddings for Efficient Reinforcement Learning (SEER), a simple modification of existing off-policy RL methods, to address these computational and memory requirements. To reduce the computational overhead of gradient updates in CNNs, we freeze the lower layers of CNN encoders early in training due to early convergence of their parameters. Additionally, we reduce memory requirements by storing the low-dimensional latent vectors for experience replay instead of high-dimensional images, enabling an adaptive increase in the replay buffer capacity, a useful technique in constrained-memory settings. In our experiments, we show that SEER does not degrade the performance of RL agents while significantly saving computation and memory across a diverse set of DeepMind Control environments and Atari games.

Younggyo Seo, Lili Chen, Jinwoo Shin et al.

Recent exploration methods have proven to be a recipe for improving sample-efficiency in deep reinforcement learning (RL). However, efficient exploration in high-dimensional observation spaces still remains a challenge. This paper presents Random Encoders for Efficient Exploration (RE3), an exploration method that utilizes state entropy as an intrinsic reward. In order to estimate state entropy in environments with high-dimensional observations, we utilize a k-nearest neighbor entropy estimator in the low-dimensional representation space of a convolutional encoder. In particular, we find that the state entropy can be estimated in a stable and compute-efficient manner by utilizing a randomly initialized encoder, which is fixed throughout training. Our experiments show that RE3 significantly improves the sample-efficiency of both model-free and model-based RL methods on locomotion and navigation tasks from DeepMind Control Suite and MiniGrid benchmarks. We also show that RE3 allows learning diverse behaviors without extrinsic rewards, effectively improving sample-efficiency in downstream tasks. Source code and videos are available at https://sites.google.com/view/re3-rl.

Jingang Tan, Lili Chen, Kangru Wang et al.

We propose a novel 3D point cloud segmentation framework named SASO, which jointly performs semantic and instance segmentation tasks. For semantic segmentation task, inspired by the inherent correlation among objects in spatial context, we propose a Multi-scale Semantic Association (MSA) module to explore the constructive effects of the semantic context information. For instance segmentation task, different from previous works that utilize clustering only in inference procedure, we propose a Salient Point Clustering Optimization (SPCO) module to introduce a clustering procedure into the training process and impel the network focusing on points that are difficult to be distinguished. In addition, because of the inherent structures of indoor scenes, the imbalance problem of the category distribution is rarely considered but severely limits the performance of 3D scene perception. To address this issue, we introduce an adaptive Water Filling Sampling (WFS) algorithm to balance the category distribution of training data. Extensive experiments demonstrate that our method outperforms the state-of-the-art methods on benchmark datasets in both semantic segmentation and instance segmentation tasks.

Liang Du, Jingang Tan, Xiangyang Xue et al.

We propose a novel fast and robust 3D point clouds segmentation framework via coupled feature selection, named 3DCFS, that jointly performs semantic and instance segmentation. Inspired by the human scene perception process, we design a novel coupled feature selection module, named CFSM, that adaptively selects and fuses the reciprocal semantic and instance features from two tasks in a coupled manner. To further boost the performance of the instance segmentation task in our 3DCFS, we investigate a loss function that helps the model learn to balance the magnitudes of the output embedding dimensions during training, which makes calculating the Euclidean distance more reliable and enhances the generalizability of the model. Extensive experiments demonstrate that our 3DCFS outperforms state-of-the-art methods on benchmark datasets in terms of accuracy, speed and computational cost.

Kangru Wang, Lei Qu, Lili Chen et al.

The detection of road and free space remains challenging for non-flat plane, especially with the varying latitudinal and longitudinal slope or in the case of multi-ground plane. In this paper, we propose a framework of the ground plane detection with stereo vision. The main contribution of this paper is a newly proposed descriptor which is implemented in the disparity image to obtain a disparity texture image. The ground plane regions can be distinguished from their surroundings effectively in the disparity texture image. Because the descriptor is implemented in the local area of the image, it can address well the problem of non-flat plane. And we also present a complete framework to detect the ground plane regions base on the disparity texture image with convolutional neural network architecture.