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Kai Huang

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15 papers
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15

NeurIPS Conference 2025 Conference Paper

GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving

  • Shuai Liu
  • Quanmin Liang
  • Zefeng Li
  • Boyang Li
  • Kai Huang

Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird’s eye view fusion through geometric transformations. However, these approaches often suffer from limited interpretability or dense computational overhead. In this paper, we introduce GaussianFusion, a Gaussian-based multi-sensor fusion framework for end-to-end autonomous driving. Our method employs intuitive and compact Gaussian representations as intermediate carriers to aggregate information from diverse sensors. Specifically, we initialize a set of 2D Gaussians uniformly across the driving scene, where each Gaussian is parameterized by physical attributes and equipped with explicit and implicit features. These Gaussians are progressively refined by integrating multi-modal features. The explicit features capture rich semantic and spatial information about the traffic scene, while the implicit features provide complementary cues beneficial for trajectory planning. To fully exploit rich spatial and semantic information in Gaussians, we design a cascade planning head that iteratively refines trajectory predictions through interactions with Gaussians. Extensive experiments on the NAVSIM and Bench2Drive benchmarks demonstrate the effectiveness and robustness of the proposed GaussianFusion framework. The source code is included in the supplementary material and will be released publicly.

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ICML Conference 2025 Conference Paper

Latent Score-Based Reweighting for Robust Classification on Imbalanced Tabular Data

  • Yunze Tong
  • Fengda Zhang
  • Zihao Tang
  • Kaifeng Gao
  • Kai Huang
  • Pengfei Lyu
  • Jun Xiao 0001
  • Kun Kuang 0001

Machine learning models often perform well on tabular data by optimizing average prediction accuracy. However, they may underperform on specific subsets due to inherent biases and spurious correlations in the training data, such as associations with non-causal features like demographic information. These biases lead to critical robustness issues as models may inherit or amplify them, resulting in poor performance where such misleading correlations do not hold. Existing mitigation methods have significant limitations: some require prior group labels, which are often unavailable, while others focus solely on the conditional distribution $P(Y|X)$, upweighting misclassified samples without effectively balancing the overall data distribution $P(X)$. To address these shortcomings, we propose a latent score-based reweighting framework. It leverages score-based models to capture the joint data distribution $P(X, Y)$ without relying on additional prior information. By estimating sample density through the similarity of score vectors with neighboring data points, our method identifies underrepresented regions and upweights samples accordingly. This approach directly tackles inherent data imbalances, enhancing robustness by ensuring a more uniform dataset representation. Experiments on various tabular datasets under distribution shifts demonstrate that our method effectively improves performance on imbalanced data.

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IJCAI Conference 2024 Conference Paper

DCDet: Dynamic Cross-based 3D Object Detector

  • Shuai Liu
  • Boyang Li
  • Zhiyu Fang
  • Kai Huang

Recently, significant progress has been made in the research of 3D object detection. However, most prior studies have focused on the utilization of center-based or anchor-based label assignment schemes. Alternative label assignment strategies remain unexplored in 3D object detection. We find that the center-based label assignment often fails to generate sufficient positive samples for training, while the anchor-based label assignment tends to encounter an imbalanced issue when handling objects with different scales. To solve these issues, we introduce a dynamic cross label assignment (DCLA) scheme, which dynamically assigns positive samples for each object from a cross-shaped region, thus providing sufficient and balanced positive samples for training. Furthermore, to address the challenge of accurately regressing objects with varying scales, we put forth a rotation-weighted Intersection over Union (RWIoU) metric to replace the widely used L1 metric in regression loss. Extensive experiments demonstrate the generality and effectiveness of our DCLA and RWIoU-based regression loss. The Code is available at https: //github. com/Say2L/DCDet. git.

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IJCAI Conference 2024 Conference Paper

Efficient Event Stream Super-Resolution with Recursive Multi-Branch Fusion

  • Quanmin Liang
  • Zhilin Huang
  • Xiawu Zheng
  • Feidiao Yang
  • Jun Peng
  • Kai Huang
  • Yonghong Tian

Current Event Stream Super-Resolution (ESR) methods overlook the redundant and complementary information present in positive and negative events within the event stream, employing a direct mixing approach for super-resolution, which may lead to detail loss and inefficiency. To address these issues, we propose an efficient Recursive Multi-Branch Information Fusion Network (RMFNet) that separates positive and negative events for complementary information extraction, followed by mutual supplementation and refinement. Particularly, we introduce Feature Fusion Modules (FFM) and Feature Exchange Modules (FEM). FFM is designed for the fusion of contextual information within neighboring event streams, leveraging the coupling relationship between positive and negative events to alleviate the misleading of noises in the respective branches. FEM efficiently promotes the fusion and exchange of information between positive and negative branches, enabling superior local information enhancement and global information complementation. Experimental results demonstrate that our approach achieves over 17% and 31% improvement on synthetic and real datasets, accompanied by a 2. 3x acceleration. Furthermore, we evaluate our method on two downstream event-driven applications, i. e. , object recognition and video reconstruction, achieving remarkable results that outperform existing methods. Our code and Supplementary Material are available at https: //github. com/Lqm26/RMFNet.

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NeurIPS Conference 2024 Conference Paper

FFAM: Feature Factorization Activation Map for Explanation of 3D Detectors

  • Shuai Liu
  • Boyang Li
  • Zhiyu Fang
  • Mingyue Cui
  • Kai Huang

LiDAR-based 3D object detection has made impressive progress recently, yet most existing models are black-box, lacking interpretability. Previous explanation approaches primarily focus on analyzing image-based models and are not readily applicable to LiDAR-based 3D detectors. In this paper, we propose a feature factorization activation map (FFAM) to generate high-quality visual explanations for 3D detectors. FFAM employs non-negative matrix factorization to generate concept activation maps and subsequently aggregates these maps to obtain a global visual explanation. To achieve object-specific visual explanations, we refine the global visual explanation using the feature gradient of a target object. Additionally, we introduce a voxel upsampling strategy to align the scale between the activation map and input point cloud. We qualitatively and quantitatively analyze FFAM with multiple detectors on several datasets. Experimental results validate the high-quality visual explanations produced by FFAM. The code is available at \url{https: //anonymous. 4open. science/r/FFAM-B9AF}.

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AAAI Conference 2022 Conference Paper

Adaptive Logit Adjustment Loss for Long-Tailed Visual Recognition

  • Yan Zhao
  • Weicong Chen
  • Xu Tan
  • Kai Huang
  • Jihong Zhu

Data in the real world tends to exhibit a long-tailed label distribution, which poses great challenges for the training of neural networks in visual recognition. Existing methods tackle this problem mainly from the perspective of data quantity, i. e. , the number of samples in each class. To be specific, they pay more attention to tail classes, like applying larger adjustments to the logit. However, in the training process, the quantity and difficulty of data are two intertwined and equally crucial problems. For some tail classes, the features of their instances are distinct and discriminative, which can also bring satisfactory accuracy; for some head classes, although with sufficient samples, the high semantic similarity with other classes and lack of discriminative features will bring bad accuracy. Based on these observations, we propose Adaptive Logit Adjustment Loss (ALA Loss) to apply an adaptive adjusting term to the logit. The adaptive adjusting term is composed of two complementary factors: 1) quantity factor, which pays more attention to tail classes, and 2) difficulty factor, which adaptively pays more attention to hard instances in the training process. The difficulty factor can alleviate the over-optimization on tail yet easy instances and under-optimization on head yet hard instances. The synergy of the two factors can not only advance the performance on tail classes even further, but also promote the accuracy on head classes. Unlike previous logit adjusting methods that only concerned about data quantity, ALA Loss tackles the long-tailed problem from a more comprehensive, finegrained and adaptive perspective. Extensive experimental results show that our method achieves the state-of-the-art performance on challenging recognition benchmarks, including ImageNet-LT, iNaturalist 2018, and Places-LT.

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IJCAI Conference 2019 Conference Paper

Energy-Efficient Slithering Gait Exploration for a Snake-Like Robot Based on Reinforcement Learning

  • Zhenshan Bing
  • Christian Lemke
  • Zhuangyi Jiang
  • Kai Huang
  • Alois Knoll

Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly redundant degrees of freedom, where traditional model-based methods usually fail to propel the robots energy-efficiently. In this work, we present a novel approach for designing an energy-efficient slithering gait for a snake-like robot using a model-free reinforcement learning (RL) algorithm. Specifically, we present an RL-based controller for generating locomotion gaits at a wide range of velocities, which is trained using the proximal policy optimization (PPO) algorithm. Meanwhile, a traditional parameterized gait controller is presented and the parameter sets are optimized using the grid search and Bayesian optimization algorithms for the purposes of reasonable comparisons. Based on the analysis of the simulation results, we demonstrate that this RL-based controller exhibits very natural and adaptive movements, which are also substantially more energy-efficient than the gaits generated by the parameterized controller. Videos are shown at https: //videoviewsite. wixsite. com/rlsnake.

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