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Lu Sheng

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15 papers

2 author rows

AAAI Conference 2026 Conference Paper

InterMoE: Individual-Specific 3D Human Interaction Generation via Dynamic Temporal-Selective MoE

Lipeng Wang
Hongxing Fan
Haohua Chen
Zehuan Huang
Lu Sheng

Generating high-quality human interactions holds significant value for applications like virtual reality and robotics. However, existing methods often fail to preserve unique individual characteristics or fully adhere to textual descriptions. To address these challenges, we introduce InterMoE, a novel framework built on a Dynamic Temporal-Selective Mixture of Experts. The core of InterMoE is a routing mechanism that synergistically uses both high-level text semantics and low-level motion context to dispatch temporal motion features to specialized experts. This allows experts to dynamically determine the selection capacity and focus on critical temporal features, thereby preserving specific individual characteristic identities while ensuring high semantic fidelity. Extensive experiments show that InterMoE achieves state-of-the-art performance in individual-specific high-fidelity 3D human interaction generation, reducing FID scores by 9% on the InterHuman dataset and 22% on InterX.

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AAAI Conference 2026 Conference Paper

IS-Bench: Evaluating Interactive Safety of VLM-Driven Embodied Agents in Daily Household Tasks

Xiaoya Lu
Zeren Chen
Xuhao Hu
Yijin Zhou
Weichen Zhang
Dongrui Liu
Lu Sheng
Jing Shao

Flawed planning from VLM-driven embodied agents poses significant safety hazards, hindering their deployment in real-world household tasks. However, existing static, termination-oriented evaluation paradigms fail to adequately assess risks within these interactive environments, since they cannot simulate dynamic risks that emerge from an agent's actions and rely on unreliable post-hoc evaluations that ignore unsafe intermediate steps. To bridge this critical gap, we propose evaluating an agent's interactive safety: its ability to perceive emergent risks and execute mitigation steps in the correct procedural order. We thus present IS-Bench, the first multi-modal benchmark designed for interactive safety, featuring 161 challenging scenarios with 388 unique safety risks instantiated in a high-fidelity simulator. Crucially, it facilitates a novel process-oriented evaluation that verifies whether risk mitigation actions are performed before/after specific risk-prone steps. Extensive experiments on leading VLMs, including the GPT-4o and Gemini-2.5 series, reveal that current agents lack interactive safety awareness and that while safety-aware Chain-of-Thought can improve performance, it often compromises task completion. By highlighting these critical limitations, IS-Bench provides a foundation for developing safer and more reliable embodied AI systems.

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AAAI Conference 2026 Conference Paper

Personalize Anything for Free with Diffusion Transformer

Haoran Feng
Zehuan Huang
Lin Li
Lu Sheng

Personalized image generation aims to produce images of user-specified concepts while enabling flexible editing. Recent training-free approaches, while exhibiting higher computational efficiency than training-based methods, struggle with identity preservation, applicability, and compatibility with diffusion transformers (DiTs). In this paper, we uncover the untapped potential of DiT, where simply replacing denoising tokens with those of a reference subject achieves zero-shot subject reconstruction. This simple yet effective feature injection technique unlocks diverse scenarios, from personalization to image editing. Building upon this observation, we propose Personalize Anything, a training-free framework that achieves personalized image generation in DiT through:1) timestep-adaptive token replacement that enforces subject consistency via early-stage injection and enhances flexibility through late-stage regularization, and 2) patch perturbation strategies to boost structural diversity. Our method seamlessly supports layout-guided generation, multi-subject personalization, and mask-controlled editing. Evaluations demonstrate that our method, without requiring any training, achieves state-of-the-art performance in identity preservation and versatility. Our work establishes new insights into DiTs while delivering a practical paradigm for efficient personalization.

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IROS Conference 2025 Conference Paper

Chain-of-Imagination for Reliable Instruction Following in Decision Making

Enshen Zhou
Yiran Qin
Zhenfei Yin
Zhelun Shi
Yuzhou Huang
Ruimao Zhang
Lu Sheng
Jing Shao

Enabling the embodied agent to imagine step-by-step the future states and sequentially approach these situation-aware states can enhance its capability to make reliable action decisions from textual instructions. In this work, we introduce a simple but effective mechanism called Chain-of-Imagination (CoI), which repeatedly employs a Multimodal Large Language Model (MLLM) equipped with diffusion model to facilitate imagining and acting upon the series of intermediate situation-aware visual sub-goals one by one, resulting in more reliable instruction-following capability. Based on the CoI mechanism, we propose an embodied agent DecisionDreamer as the low-level controller that can be adapted to different open-world scenarios. Extensive experiments demonstrate that Decision-Dreamer can achieve more reliable and accurate decision-making and significantly outperform the state-of-the-art generalist agents in the Minecraft and CALVIN sandbox simulators, regarding the instruction-following capability. For more demos, please see https://sites.google.com/view/decisiondreamer.

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IROS Conference 2025 Conference Paper

RH20T-P: A Primitive-Level Robotic Manipulation Dataset towards Composable Generalization Agents in Real-world Scenarios

Zeren Chen
Zhelun Shi
Xiaoya Lu
Lehan He
Sucheng Qian
Enshen Zhou
Zhenfei Yin
Wanli Ouyang

Achieving generalizability in solving out-of-distribution tasks is one of the ultimate goals of learning robotic manipulation. Recent progress of Vision-Language Models (VLMs) has shown that VLM-based task planners can alleviate the difficulty of solving novel tasks, by decomposing the compounded tasks as a plan of sequentially executing primitive-level skills that have been already mastered. It is also promising for robotic manipulation to adapt such composable generalization ability, in the form of composable generalization agents (CGAs). However, the community lacks of reliable design of primitive skills and a sufficient amount of primitive-level data annotations. Therefore, we propose RH20T-P, a primitive-level robotic manipulation dataset, which contains about 38k video clips covering 67 diverse manipulation tasks in real-world scenarios. Each clip is manually annotated according to a set of meticulously designed primitive skills that are common in robotic manipulation. Furthermore, we standardize a plan-execute CGA paradigm and implement an exemplar baseline called RA-P on our RH20T-P, whose positive performance on solving unseen tasks validates that the proposed dataset can offer composable generalization ability to robotic manipulation agents. Project homepage: https://sites.google.com/view/rh20t-primitive/main.

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NeurIPS Conference 2025 Conference Paper

RoboRefer: Towards Spatial Referring with Reasoning in Vision-Language Models for Robotics

Enshen Zhou
Jingkun An
Cheng Chi
Yi Han
Shanyu Rong
Chi Zhang
Pengwei Wang
Zhongyuan Wang

Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained VLMs, recent approaches are still not qualified to accurately understand the complex 3D scenes and dynamically reason about the instruction-indicated locations for interaction. To this end, we propose RoboRefer, a 3D-aware vision language model (VLM) that can first achieve precise spatial understanding by integrating a disentangled but dedicated depth encoder via supervised fine-tuning (SFT). Moreover, RoboRefer advances generalized multi-step spatial reasoning via reinforcement fine-tuning (RFT), with metric-sensitive process reward functions tailored for spatial referring tasks. To support SFT and RFT training, we introduce RefSpatial, a large-scale dataset of 20M QA pairs (2x prior), covering 31 spatial relations (vs. 15 prior) and supporting complex reasoning processes (up to 5 steps). In addition, we introduce RefSpatial-Bench, a challenging benchmark filling the gap in evaluating spatial referring with multi-step reasoning. Experiments show that SFT-trained RoboRefer achieves state-of-the-art spatial understanding, with an average success rate of 89. 6%. RFT-trained RoboRefer further outperforms all other baselines by a large margin, even surpassing Gemini-2. 5-Pro by 12. 4% in average accuracy on RefSpatial-Bench. Notably, RoboRefer can be integrated with various control policies to execute long-horizon, dynamic tasks across diverse robots (e, g. , UR5, G1 humanoid) in cluttered real-world scenes.

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NeurIPS Conference 2025 Conference Paper

Systematic Reward Gap Optimization for Mitigating VLM Hallucinations

Lehan He
Zeren Chen
Zhelun Shi
Tianyu Yu
Jing Shao
Lu Sheng

The success of Direct Preference Optimization (DPO) in mitigating hallucinations in Vision Language Models (VLMs) critically hinges on the true reward gaps within preference pairs. However, current methods, typically relying on ranking or rewriting strategies, often struggle to optimize these reward gaps in a systematic way during data curation. A core difficulty lies in precisely characterizing and strategically manipulating the overall reward gap configuration, that is, the deliberate design of how to shape these reward gaps within each preference pair across the data. To address this, we introduce Topic-level Preference Rewriting (TPR), a novel framework designed for the systematic optimization of reward gap configuration. Through selectively replacing semantic topics within VLM responses with model’s own resampled candidates for targeted rewriting, TPR can provide topic-level control over fine-grained semantic details. This precise control enables advanced data curation strategies, such as progressively adjusting the difficulty of rejected responses, thereby sculpting an effective reward gap configuration that guides the model to overcome challenging hallucinations. Comprehensive experiments demonstrate TPR achieves state-of-the-art performance on multiple hallucination benchmarks, outperforming previous methods by an average of $\sim$20%. Notably, it significantly reduces hallucinations by up to 93% on ObjectHal-Bench, and also exhibits superior data efficiency towards robust and cost-effective VLM alignment.

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ICML Conference 2025 Conference Paper

WorldSimBench: Towards Video Generation Models as World Simulators

Yiran Qin
Zhelun Shi
Jiwen Yu
Xijun Wang
Enshen Zhou
Lijun Li
Zhenfei Yin
Xihui Liu

Recent advancements in predictive models have demonstrated exceptional capabilities in predicting the future state of objects and scenes. However, the lack of categorization based on inherent characteristics continues to hinder the progress of predictive model development. Additionally, existing benchmarks are unable to effectively evaluate higher-capability, highly embodied predictive models from an embodied perspective. In this work, we classify the functionalities of predictive models into a hierarchy and take the first step in evaluating World Simulators by proposing a dual evaluation framework called WorldSimBench. WorldSimBench includes Explicit Perceptual Evaluation and Implicit Manipulative Evaluation, encompassing human preference assessments from the visual perspective and action-level evaluations in embodied tasks, covering three representative embodied scenarios: Open-Ended Embodied Environment, Autonomous, Driving, and Robot Manipulation. In the Explicit Perceptual Evaluation, we introduce the HF-Embodied Dataset, a video assessment dataset based on fine-grained human feedback, which we use to train a Human Preference Evaluator that aligns with human perception and explicitly assesses the visual fidelity of World Simulater. In the Implicit Manipulative Evaluation, we assess the video-action consistency of World Simulators by evaluating whether the generated situation-aware video can be accurately translated into the correct control signals in dynamic environments. Our comprehensive evaluation offers key insights that can drive further innovation in video generation models, positioning World Simulators as a pivotal advancement toward embodied artificial intelligence.

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AAAI Conference 2024 Conference Paper

Data-Free Generalized Zero-Shot Learning

Bowen Tang
Jing Zhang
Long Yan
Qian Yu
Lu Sheng
Dong Xu

Deep learning models have the ability to extract rich knowledge from large-scale datasets. However, the sharing of data has become increasingly challenging due to concerns regarding data copyright and privacy. Consequently, this hampers the effective transfer of knowledge from existing data to novel downstream tasks and concepts. Zero-shot learning (ZSL) approaches aim to recognize new classes by transferring semantic knowledge learned from base classes. However, traditional generative ZSL methods often require access to real images from base classes and rely on manually annotated attributes, which presents challenges in terms of data restrictions and model scalability. To this end, this paper tackles a challenging and practical problem dubbed as data-free zero-shot learning (DFZSL), where only the CLIP-based base classes data pre-trained classifier is available for zero-shot classification. Specifically, we propose a generic framework for DFZSL, which consists of three main components. Firstly, to recover the virtual features of the base data, we model the CLIP features of base class images as samples from a von Mises-Fisher (vMF) distribution based on the pre-trained classifier. Secondly, we leverage the text features of CLIP as low-cost semantic information and propose a feature-language prompt tuning (FLPT) method to further align the virtual image features and textual features. Thirdly, we train a conditional generative model using the well-aligned virtual image features and corresponding semantic text features, enabling the generation of new classes features and achieve better zero-shot generalization. Our framework has been evaluated on five commonly used benchmarks for generalized ZSL, as well as 11 benchmarks for the base-to-new ZSL. The results demonstrate the superiority and effectiveness of our approach. Our code is available in https://github.com/ylong4/DFZSL.

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AAAI Conference 2024 Conference Paper

Multi-Modality Affinity Inference for Weakly Supervised 3D Semantic Segmentation

Xiawei Li
Qingyuan Xu
Jing Zhang
Tianyi Zhang
Qian Yu
Lu Sheng
Dong Xu

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging scene-level labels. However, these methods have not effectively exploited the rich geometric information (such as shape and scale) and appearance information (such as color and texture) present in RGB-D scans. Furthermore, current approaches fail to fully leverage the point affinity that can be inferred from the feature extraction network, which is crucial for learning from weak scene-level labels. Additionally, previous work overlooks the detrimental effects of the long-tailed distribution of point cloud data in weakly supervised 3D semantic segmentation. To this end, this paper proposes a simple yet effective scene-level weakly supervised point cloud segmentation method with a newly introduced multi-modality point affinity inference module. The point affinity proposed in this paper is characterized by features from multiple modalities (e.g., point cloud and RGB), and is further refined by normalizing the classifier weights to alleviate the detrimental effects of long-tailed distribution without the need of the prior of category distribution. Extensive experiments on the ScanNet and S3DIS benchmarks verify the effectiveness of our proposed method, which outperforms the state-of-the-art by ~4% to ~ 6% mIoU. Codes are released at https://github.com/Sunny599/AAAI24-3DWSSG-MMA.

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ICLR Conference 2024 Conference Paper

Octavius: Mitigating Task Interference in MLLMs via LoRA-MoE

Zeren Chen
Ziqin Wang
Zhen Wang 0003
Huayang Liu
Zhenfei Yin
Si Liu 0001
Lu Sheng
Wanli Ouyang

Recent studies have demonstrated Large Language Models (LLMs) can extend their zero-shot generalization capabilities to multimodal learning through instruction tuning. As more modalities and downstream tasks are introduced, negative conflicts and interference may have a worse impact on performance. While this phenomenon has been overlooked in previous work, we propose a novel and extensible framework, called Octavius, for comprehensive studies and experimentation on multimodal learning with Multimodal Large Language Models (MLLMs). Specifically, to mitigate the interference, we combine the concept of Mixture-of-Experts (MoE) with LoRA and design a multimodal LoRA-MoE decoder for task- and modality-specific learning. To the best of our knowledge, we are one of the pioneering efforts to introduce MoE into MLLMs to address this problem. The experimental results (about 20% improvement) have shown the effectiveness and versatility of our design in various 2D and 3D downstream tasks. Code and corresponding dataset will be available soon.

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IJCAI Conference 2024 Conference Paper

Self-Supervised Monocular Depth Estimation in the Dark: Towards Data Distribution Compensation

Haolin Yang
Chaoqiang Zhao
Lu Sheng
Yang Tang

Nighttime self-supervised monocular depth estimation has received increasing attention in recent years. However, using night images for self-supervision is unreliable because the photometric consistency assumption is usually violated in the videos taken under complex lighting conditions. Even with domain adaptation or photometric loss repair, performance is still limited by the poor supervision of night images on trainable networks. In this paper, we propose a self-supervised nighttime monocular depth estimation method that does not use any night images during training. Our framework utilizes day images as a stable source for self-supervision and applies physical priors (e. g. , wave optics, reflection model and read-shot noise model) to compensate for some key day-night differences. With day-to-night data distribution compensation, our framework can be trained in an efficient one-stage self-supervised manner. Though no nighttime images are considered during training, qualitative and quantitative results demonstrate that our method achieves SoTA depth estimating results on the challenging nuScenes-Night and RobotCar-Night compared with existing methods.

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NeurIPS Conference 2023 Conference Paper

LAMM: Language-Assisted Multi-Modal Instruction-Tuning Dataset, Framework, and Benchmark

Zhenfei Yin
Jiong Wang
Jianjian Cao
Zhelun Shi
Dingning Liu
Mukai Li
Xiaoshui Huang
Zhiyong Wang

Large language models have emerged as a promising approach towards achieving general-purpose AI agents. The thriving open-source LLM community has greatly accelerated the development of agents that support human-machine dialogue interaction through natural language processing. However, human interaction with the world extends beyond only text as a modality, and other modalities such as vision are also crucial. Recent works on multi-modal large language models, such as GPT-4V and Bard, have demonstrated their effectiveness in handling visual modalities. However, the transparency of these works is limited and insufficient to support academic research. To the best of our knowledge, we present one of the very first open-source endeavors in the field, LAMM, encompassing a Language-Assisted Multi-Modal instruction tuning dataset, framework, and benchmark. Our aim is to establish LAMM as a growing ecosystem for training and evaluating MLLMs, with a specific focus on facilitating AI agents capable of bridging the gap between ideas and execution, thereby enabling seamless human-AI interaction. Our main contribution is three-fold: 1) We present a comprehensive dataset and benchmark, which cover a wide range of vision tasks for 2D and 3D vision. Extensive experiments validate the effectiveness of our dataset and benchmark. 2) We outline the detailed methodology of constructing multi-modal instruction tuning datasets and benchmarks for MLLMs, enabling rapid scaling and extension of MLLM research to diverse domains, tasks, and modalities. 3) We provide a primary but potential MLLM training framework optimized for modality extension. We also provide baseline models, comprehensive experimental observations, and analysis to accelerate future research. Our baseline model is trained within 24 A100 GPU hours, framework supports training with V100 and RTX3090 is available thanks to the open-source society. Codes and data are now available at https: //openlamm. github. io.

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AAAI Conference 2022 Conference Paper

DanceFormer: Music Conditioned 3D Dance Generation with Parametric Motion Transformer

Buyu Li
Yongchi Zhao
Shi Zhelun
Lu Sheng

Generating 3D dances from music is an emerged research task that benefits a lot of applications in vision and graphics. Previous works treat this task as sequence generation, however, it is challenging to render a music-aligned long-term sequence with high kinematic complexity and coherent movements. In this paper, we reformulate it by a two-stage process, i. e. , a key pose generation and then an in-between parametric motion curve prediction, where the key poses are easier to be synchronized with the music beats and the parametric curves can be efficiently regressed to render fluent rhythm-aligned movements. We named the proposed method as Dance- Former, which includes two cascading kinematics-enhanced transformer-guided networks (called DanTrans) that tackle each stage, respectively. Furthermore, we propose a largescale music conditioned 3D dance dataset, called Phantom- Dance, that is accurately labeled by experienced animators rather than reconstruction or motion capture. This dataset also encodes dances as key poses and parametric motion curves apart from pose sequences, thus benefiting the training of our DanceFormer. Extensive experiments demonstrate that the proposed method, even trained by existing datasets, can generate fluent, performative, and music-matched 3D dances that surpass previous works quantitatively and qualitatively. Moreover, the proposed DanceFormer, together with the PhantomDance dataset, are seamlessly compatible with industrial animation software, thus facilitating the adaptation for various downstream applications.

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AAAI Conference 2020 Conference Paper

Morphing and Sampling Network for Dense Point Cloud Completion

Minghua Liu
Lu Sheng
Sheng Yang
Jing Shao
Shi-Min Hu

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high- ﬁdelity dense point clouds and avoiding uneven distribution, blurred details, or structural loss of existing methods’ results, we propose a novel approach to complete the partial point cloud in two stages. Speciﬁcally, in the ﬁrst stage, the approach predicts a complete but coarse-grained point cloud with a collection of parametric surface elements. Then, in the second stage, it merges the coarse-grained prediction with the input point cloud by a novel sampling algorithm. Our method utilizes a joint loss function to guide the distribution of the points. Extensive experiments verify the effectiveness of our method and demonstrate that it outperforms the existing methods in both the Earth Mover’s Distance (EMD) and the Chamfer Distance (CD).

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