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Jianhao Li

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2 papers

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ICRA Conference 2025 Conference Paper

Efficient 3D Perception on Multi-Sweep Point Cloud with Gumbel Spatial Pruning

Jianhao Li
Tianyu Sun
Xueqian Zhang
Zhongdao Wang
Bailan Feng
Ke Xu 0001

This paper studies point cloud perception within outdoor environments. Existing methods face limitations in recognizing objects located at a distance or occluded, due to the sparse nature of outdoor point clouds. In this work, we observe a significant mitigation of this problem by accumulating multiple temporally consecutive LiDAR sweeps, resulting in a remarkable improvement in perception accuracy. However, the computation cost also increases, hindering previous approaches from utilizing a large number of LiDAR sweeps. To tackle this challenge, we find that a considerable portion of points in the accumulated point cloud is redundant, and discarding these points has minimal impact on perception accuracy. We introduce a simple yet effective Gumbel Spatial Pruning (GSP) layer that dynamically prunes points based on a learned end-toend sampling. The GSP layer is decoupled from other network components and thus can be seamlessly integrated into existing point cloud network architectures. Extensive experiments show that our pruning strategy improves several perception algorithms in multiple tasks.

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IJCAI Conference 2022 Conference Paper

A Simple yet Effective Method for Graph Classification

Junran Wu
Shangzhe Li
Jianhao Li
Yicheng Pan
Ke Xu

In deep neural networks, better results can often be obtained by increasing the complexity of previously developed basic models. However, it is unclear whether there is a way to boost performance by decreasing the complexity of such models. Intuitively, given a problem, a simpler data structure comes with a simpler algorithm. Here, we investigate the feasibility of improving graph classification performance while simplifying the learning process. Inspired by structural entropy on graphs, we transform the data sample from graphs to coding trees, which is a simpler but essential structure for graph data. Furthermore, we propose a novel message passing scheme, termed hierarchical reporting, in which features are transferred from leaf nodes to root nodes by following the hierarchical structure of coding trees. We then present a tree kernel and a convolutional network to implement our scheme for graph classification. With the designed message passing scheme, the tree kernel and convolutional network have a lower runtime complexity of O(n) than Weisfeiler-Lehman subtree kernel and other graph neural networks of at least O(hm). We empirically validate our methods with several graph classification benchmarks and demonstrate that they achieve better performance and lower computational consumption than competing approaches.

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