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Dingkang Liang

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10 papers

2 author rows

AAAI Conference 2026 Conference Paper

Cook and Clean Together: Teaching Embodied Agents for Parallel Task Execution

Dingkang Liang
Cheng Zhang
Xiaopeng Xu
Jianzhong Ju
Zhenbo Luo
Xiang Bai

Task scheduling has become increasingly critical for embodied AI, where agents need to follow natural language instructions and execute actions efficiently in 3D physical worlds. Existing datasets for task planning in 3D environments often simplify the problem, lacking operations research knowledge for task scheduling and 3D grounding for real-world applications. In this work, we propose Operations Research Knowledge-based 3D Grounded Task Scheduling (OKS3D), a new task that requires synerization of language understanding, 3D grounding, and efficiency optimization for embodied agents. OKS3D reflects real-world demands by requiring agents to generate efficient, step-by-step schedules that are grounded in 3D space. To facilitate research on OKS3D, we construct a large-scale dataset called OKS3D-60K, comprising 60K tasks across 4K real-world scenes. Furthermore, we propose GRANT, an embodied multi-modal large language model equipped with a simple yet effective scheduling token mechanism to generate efficient task schedules and grounded actions. Extensive experiments on the OKS3D-60K dataset validate the effectiveness of GRANT across language understanding, 3D grounding, and scheduling efficiency.

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ICLR Conference 2025 Conference Paper

Mini-Monkey: Alleviating the Semantic Sawtooth Effect for Lightweight MLLMs via Complementary Image Pyramid

Mingxin Huang
Yuliang Liu
Dingkang Liang
Lianwen Jin
Xiang Bai

Recently, scaling images to high resolution has received much attention in multimodal large language models (MLLMs). Most existing practices adopt a sliding-window-style cropping strategy to adapt to resolution increase. Such a cropping strategy, however, can easily cut off objects and connected regions, which introduces semantic discontinuity and therefore impedes MLLMs from recognizing small or irregularly shaped objects or text, leading to a phenomenon we call the semantic sawtooth effect. This effect is particularly evident in lightweight MLLMs. To address this issue, we introduce a Complementary Image Pyramid (CIP), a simple, effective, and plug-and-play solution designed to mitigate semantic discontinuity during high-resolution image processing. In particular, CIP dynamically constructs an image pyramid to provide complementary semantic information for the cropping-based MLLMs, enabling it rich acquire semantics at all levels. Furthermore, we introduce a Scale Compression Mechanism (SCM) to reduce the additional computational overhead by compressing the redundant visual tokens. Our experiments demonstrate that CIP can consistently enhance the performance across diverse architectures (e.g., MiniCPM-V-2, InternVL2, and LLaVA-OneVision), various model capacity (1B$\rightarrow$8B), and different usage configurations (training-free and fine-tuning). Leveraging the proposed CIP and SCM, we introduce a lightweight MLLM, Mini-Monkey, which achieves remarkable performance in both general multimodal understanding and document understanding. On the OCRBench, the 2B-version Mini-Monkey even surpasses the 8B model InternVL2-8B by 12 score. Additionally, training Mini-Monkey is cheap, requiring only eight RTX 3090 GPUs. Code and models are available at https://github.com/Yuliang-Liu/Monkey.

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NeurIPS Conference 2025 Conference Paper

More Than Generation: Unifying Generation and Depth Estimation via Text-to-Image Diffusion Models

Hongkai Lin
Dingkang Liang
Mingyang Du
Xin Zhou
Xiang Bai

Generative depth estimation methods leverage the rich visual priors stored in pretrained text-to-image diffusion models, demonstrating astonishing zero-shot capability. However, parameter updates during training lead to catastrophic degradation in the image generation capability of the pretrained model. We introduce MERGE, a unified model for image generation and depth estimation, starting from a fixed-parameters pretrained text-to-image model. MERGE demonstrates that the pretrained text-to-image model can do more than image generation but also expand to depth estimation effortlessly. Specifically, MERGE introduces a plug-and-play framework that enables seamless switching between image generation and depth estimation modes through simple and pluggable converters. Meanwhile, we propose a Group Reuse Mechanism to encourage parameter reuse and improve the utilization of the additional learnable parameter. MERGE unleashes the powerful depth estimation capability of the pretrained text-to-image model while preserving its original image generation ability. Compared to other unified models for image generation and depth estimation, MERGE achieves state-of-the-art performance across multiple depth estimation benchmarks. The code and model will be made available.

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NeurIPS Conference 2025 Conference Paper

NAUTILUS: A Large Multimodal Model for Underwater Scene Understanding

Wei Xu
Cheng Wang
Dingkang Liang
Zongchuang Zhao
Xingyu Jiang
Peng Zhang
Xiang Bai

Underwater exploration offers critical insights into our planet and attracts increasing attention for its broader applications in resource exploration, national security, etc. We study the underwater scene understanding methods, which aim to achieve automated underwater exploration. The underwater scene understanding task demands multi-task perceptions from multiple granularities. However, the absence of large-scale underwater multi-task instruction-tuning datasets hinders the progress of this research. To bridge this gap, we construct NautData, a dataset containing 1. 45 M image-text pairs supporting eight underwater scene understanding tasks. It enables the development and thorough evaluation of the underwater scene understanding models. Underwater image degradation is a widely recognized challenge that interferes with underwater tasks. To improve the robustness of underwater scene understanding, we introduce physical priors derived from underwater imaging models and propose a plug-and-play vision feature enhancement (VFE) module, which explicitly restores clear underwater information. We integrate this module into renowned baselines LLaVA-1. 5 and Qwen2. 5-VL and build our underwater LMM, NAUTILUS. Experiments conducted on the NautData and public underwater datasets demonstrate the effectiveness of the VFE module, consistently improving the performance of both baselines on the majority of supported tasks, thus ensuring the superiority of NAUTILUS in the underwater scene understanding area. Data and models are available at https: //github. com/H-EmbodVis/NAUTILUS.

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NeurIPS Conference 2024 Conference Paper

A Unified Framework for 3D Scene Understanding

Wei Xu
Chunsheng Shi
Sifan Tu
Xin Zhou
Dingkang Liang
Xiang Bai

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are typically tailored to a specific task, limiting their understanding of 3D scenes to a task-specific perspective. In contrast, the proposed method unifies six tasks into unified representations processed by the same Transformer. It facilitates inter-task knowledge sharing, thereby promoting comprehensive 3D scene understanding. To take advantage of multi-task unification, we enhance performance by establishing explicit inter-task associations. Specifically, we design knowledge distillation and contrastive learning to transfer task-specific knowledge across different tasks. Experiments on three benchmarks, including ScanNet20, ScanRefer, and ScanNet200, demonstrate that the UniSeg3D consistently outperforms current SOTA methods, even those specialized for individual tasks. We hope UniSeg3D can serve as a solid unified baseline and inspire future work. Code and models are available at \url{https: //dk-liang. github. io/UniSeg3D/}.

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NeurIPS Conference 2024 Conference Paper

MoE Jetpack: From Dense Checkpoints to Adaptive Mixture of Experts for Vision Tasks

Xingkui Zhu
Yiran Guan
Dingkang Liang
Yuchao Chen
Yuliang Liu
Xiang Bai

The sparsely activated mixture of experts (MoE) model presents an effective alternative to densely activated (dense) models, combining improved accuracy with computational efficiency. However, training MoE models from scratch requires extensive data and computational resources, a challenge that limits their widespread adoption. To address this, we introduce MoE Jetpack, a framework designed to fine-tune the abundant and easily accessible dense checkpoints into MoE models. MoE Jetpack incorporates two key techniques: (1) checkpoint recycling, which initializes MoE models with dense checkpoints to accelerate convergence and enhance accuracy, minimizing the need for extensive pre-training; (2) the hyperspherical adaptive MoE (SpheroMoE) layer, which optimizes the MoE architecture to enhance fine-tuning performance and efficiency. Experimental results indicate that MoE Jetpack doubles the convergence speed and enhances accuracy by 2. 8% on ImageNet-1K. On smaller datasets, it achieves up to 8-fold faster convergence and over 30% accuracy gains, highlighting its efficiency. The code is available at https: //github. com/Adlith/MoE-Jetpack.

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NeurIPS Conference 2024 Conference Paper

PointMamba: A Simple State Space Model for Point Cloud Analysis

Dingkang Liang
Xin Zhou
Wei Xu
Xingkui Zhu
Zhikang Zou
Xiaoqing Ye
Xiao Tan
Xiang Bai

Transformers have become one of the foundational architectures in point cloud analysis tasks due to their excellent global modeling ability. However, the attention mechanism has quadratic complexity, making the design of a linear complexity method with global modeling appealing. In this paper, we propose PointMamba, transferring the success of Mamba, a recent representative state space model (SSM), from NLP to point cloud analysis tasks. Unlike traditional Transformers, PointMamba employs a linear complexity algorithm, presenting global modeling capacity while significantly reducing computational costs. Specifically, our method leverages space-filling curves for effective point tokenization and adopts an extremely simple, non-hierarchical Mamba encoder as the backbone. Comprehensive evaluations demonstrate that PointMamba achieves superior performance across multiple datasets while significantly reducing GPU memory usage and FLOPs. This work underscores the potential of SSMs in 3D vision-related tasks and presents a simple yet effective Mamba-based baseline for future research. The code is available at https: //github. com/LMD0311/PointMamba.

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ICRA Conference 2023 Conference Paper

DDS3D: Dense Pseudo-Labels with Dynamic Threshold for Semi-Supervised 3D Object Detection

Jingyu Li
Zhe Liu 0033
Jinghua Hou
Dingkang Liang

In this paper, we present a simple yet effective semi-supervised 3D object detector named DDS3D. Our main contributions have two-fold. On the one hand, different from previous works using Non-Maximal Suppression (NMS) or its variants for obtaining the sparse pseudo labels, we propose a dense pseudo-label generation strategy to get dense pseudo-labels, which can retain more potential supervision information for the student network. On the other hand, instead of traditional fixed thresholds, we propose a dynamic threshold manner to generate pseudo-labels, which can guarantee the quality and quantity of pseudo-labels during the whole training process. Benefiting from these two components, our DDS3D outperforms the state-of-the-art semi-supervised 3d object detection with mAP of 3. 1% on the pedestrian and 2. 1% on the cyclist under the same configuration of 1% samples. Extensive ablation studies on the KITTI dataset demonstrate the effectiveness of our DDS3D. The code and models will be made publicly available at https://github.com/hust-jy/DDS3D

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NeurIPS Conference 2023 Conference Paper

Query-based Temporal Fusion with Explicit Motion for 3D Object Detection

Jinghua Hou
Zhe Liu
Dingkang Liang
Zhikang Zou
Xiaoqing Ye
Xiang Bai

Effectively utilizing temporal information to improve 3D detection performance is vital for autonomous driving vehicles. Existing methods either conduct temporal fusion based on the dense BEV features or sparse 3D proposal features. However, the former does not pay more attention to foreground objects, leading to more computation costs and sub-optimal performance. The latter implements time-consuming operations to generate sparse 3D proposal features, and the performance is limited by the quality of 3D proposals. In this paper, we propose a simple and effective Query-based Temporal Fusion Network (QTNet). The main idea is to exploit the object queries in previous frames to enhance the representation of current object queries by the proposed Motion-guided Temporal Modeling (MTM) module, which utilizes the spatial position information of object queries along the temporal dimension to construct their relevance between adjacent frames reliably. Experimental results show our proposed QTNet outperforms BEV-based or proposal-based manners on the nuScenes dataset. Besides, the MTM is a plug-and-play module, which can be integrated into some advanced LiDAR-only or multi-modality 3D detectors and even brings new SOTA performance with negligible computation cost and latency on the nuScenes dataset. These experiments powerfully illustrate the superiority and generalization of our method. The code is available at https: //github. com/AlmoonYsl/QTNet.

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JBHI Journal 2022 Journal Article

Cell Localization and Counting Using Direction Field Map

Yajie Chen
Dingkang Liang
Xiang Bai
Yongchao Xu
Xin Yang

Automatic cell counting in pathology images is challenging due to blurred boundaries, low-contrast, and overlapping between cells. In this paper, we train a convolutional neural network (CNN) to predict a two-dimensional direction field map and then use it to localize cell individuals for counting. Specifically, we define a direction field on each pixel in the cell regions (obtained by dilating the original annotation in terms of cell centers) as a two-dimensional unit vector pointing from the pixel to its corresponding cell center. Direction field for adjacent pixels in different cells have opposite directions departing from each other, while those in the same cell region have directions pointing to the same center. Such unique property is used to partition overlapped cells for localization and counting. To deal with those blurred boundaries or low contrast cells, we set the direction field of the background pixels to be zeros in the ground-truth generation. Thus, adjacent pixels belonging to cells and background will have an obvious difference in the predicted direction field. To further deal with cells of varying density and overlapping issues, we adopt geometry adaptive (varying) radius for cells of different densities in the generation of ground-truth direction field map, which guides the CNN model to separate cells of different densities and overlapping cells. Extensive experimental results on three widely used datasets ( i. e. , VGG Cell, CRCHistoPhenotype2016, and MBM datasets) demonstrate the effectiveness of the proposed approach.

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