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Runnan Chen

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7 papers

2 author rows

AAAI Conference 2026 Conference Paper

La La LiDAR: Large-Scale Layout Generation from LiDAR Data

Youquan Liu
Lingdong Kong
Weidong Yang
Xin Li
Alan Liang
Runnan Chen
Ben Fei
Tongliang Liu

Controllable generation of realistic LiDAR scenes is crucial for applications such as autonomous driving and robotics. While recent diffusion-based models achieve high-fidelity LiDAR generation, they lack explicit control over foreground objects and spatial relationships, limiting their usefulness for scenario simulation and safety validation. To address these limitations, we propose Large-scale Layout-guided LiDAR generation model ("La La LiDAR"), a novel layout-guided generative framework that introduces semantic-enhanced scene graph diffusion with relation-aware contextual conditioning for structured LiDAR layout generation, followed by foreground-aware control injection for complete scene generation. This enables customizable control over object placement while ensuring spatial and semantic consistency. To support our structured LiDAR generation, we introduce Waymo-SG and nuScenes-SG, two large-scale LiDAR scene graph datasets, along with new evaluation metrics for layout synthesis. Extensive experiments demonstrate that La La LiDAR achieves state-of-the-art performance in both LiDAR generation and downstream perception tasks, establishing a new benchmark for controllable 3D scene generation.

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NeurIPS Conference 2025 Conference Paper

MLLM-For3D: Adapting Multimodal Large Language Model for 3D Reasoning Segmentation

Jiaxin Huang
Runnan Chen
Ziwen Li
Zhengqing Gao
Xiao He
Yandong Guo
Mingming Gong
Tongliang Liu

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation, adapting these capabilities to 3D scenes remains underexplored. In this paper, we introduce MLLM-For3D, a simple yet effective framework that transfers knowledge from 2D MLLMs to 3D scene understanding. Specifically, we utilize MLLMs to generate multi-view pseudo-segmentation masks and corresponding text embeddings, then unproject 2D masks into 3D space and align them with the text embeddings. The primary challenge lies in the absence of 3D context and spatial consistency across multiple views, causing the model to hallucinate objects that do not exist and fail to target objects consistently. Training the 3D model with such irrelevant objects leads to performance degradation. To address this, we first filter irrelevant views using token attention. With these reliable pseudo-labels, we develop a token-for-Query approach for multimodal semantic alignment, enabling consistent identification of the same object across different views. Moreover, we introduce a spatial consistency strategy to enforce that segmentation masks remain coherent in the 3D space, effectively capturing the geometry of the scene. Extensive evaluations of various challenging indoor scene benchmarks demonstrate that, even without labeled 3D training data, MLLM-For3D outperforms existing 3D reasoning segmentation methods, effectively interpreting user intent, understanding 3D scenes, and reasoning about spatial relationships.

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NeurIPS Conference 2025 Conference Paper

Surprise3D: A Dataset for Spatial Understanding and Reasoning in Complex 3D Scenes

Jiaxin Huang
Ziwen Li
Hanlue Zhang
Runnan Chen
Zhengqing Gao
Xiao He
Yandong Guo
Wenping Wang

The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between objects, remains underexplored in current 3D vision-language research. Existing datasets often mix semantic cues (e. g. , object name) with spatial context, leading models to rely on superficial shortcuts rather than genuinely interpreting spatial relationships. To address this gap, we introduce Surprise3D, a novel dataset designed to evaluate language-guided spatial reasoning segmentation in complex 3D scenes. Surprise3D consists of more than 200k vision language pairs across 900+ detailed indoor scenes from ScanNet++ v2, including more than 2. 8k unique object classes. The dataset contains 89k+ human-annotated spatial queries deliberately crafted without object name, thereby mitigating shortcut biases in spatial understanding. These queries comprehensively cover various spatial reasoning skills, such as relative position, narrative perspective, parametric perspective, and absolute distance reasoning. Initial benchmarks demonstrate significant challenges for current state-of-the-art expert 3D visual grounding methods and 3D-LLMs, underscoring the necessity of our dataset and the accompanying 3D Spatial Reasoning Segmentation (3D-SRS) benchmark suite. Surprise3D and 3D-SRS aim to facilitate advancements in spatially aware AI, paving the way for effective embodied interaction and robotic planning.

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ICML Conference 2025 Conference Paper

When Data-Free Knowledge Distillation Meets Non-Transferable Teacher: Escaping Out-of-Distribution Trap is All You Need

Ziming Hong
Runnan Chen
Zengmao Wang
Bo Han 0003
Bo Du 0001
Tongliang Liu

Data-free knowledge distillation (DFKD) transfers knowledge from a teacher to a student without access the real in-distribution (ID) data. Its common solution is to use a generator to synthesize fake data and use them as a substitute for real ID data. However, existing works typically assume teachers are trustworthy, leaving the robustness and security of DFKD from untrusted teachers largely unexplored. In this work, we conduct the first investigation into distilling non-transferable learning (NTL) teachers using DFKD, where the transferability from an ID domain to an out-of-distribution (OOD) domain is prohibited. We find that NTL teachers fool DFKD through divert the generator’s attention from the useful ID knowledge to the misleading OOD knowledge. This hinders ID knowledge transfer but prioritizes OOD knowledge transfer. To mitigate this issue, we propose Adversarial Trap Escaping (ATEsc) to benefit DFKD by identifying and filtering out OOD-like synthetic samples. Specifically, inspired by the evidence that NTL teachers show stronger adversarial robustness on OOD samples than ID samples, we split synthetic samples into two groups according to their robustness. The fragile group is treated as ID-like data and used for normal knowledge distillation, while the robust group is seen as OOD-like data and utilized for forgetting OOD knowledge. Extensive experiments demonstrate the effectiveness of ATEsc for improving DFKD against NTL teachers.

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NeurIPS Conference 2023 Conference Paper

Segment Any Point Cloud Sequences by Distilling Vision Foundation Models

Youquan Liu
Lingdong Kong
Jun CEN
Runnan Chen
Wenwei Zhang
Liang Pan
Kai Chen
Ziwei Liu

Recent advancements in vision foundation models (VFMs) have opened up new possibilities for versatile and efficient visual perception. In this work, we introduce Seal, a novel framework that harnesses VFMs for segmenting diverse automotive point cloud sequences. Seal exhibits three appealing properties: i) Scalability: VFMs are directly distilled into point clouds, obviating the need for annotations in either 2D or 3D during pretraining. ii) Consistency: Spatial and temporal relationships are enforced at both the camera-to-LiDAR and point-to-segment regularization stages, facilitating cross-modal representation learning. iii) Generalizability: Seal enables knowledge transfer in an off-the-shelf manner to downstream tasks involving diverse point clouds, including those from real/synthetic, low/high-resolution, large/small-scale, and clean/corrupted datasets. Extensive experiments conducted on eleven different point cloud datasets showcase the effectiveness and superiority of Seal. Notably, Seal achieves a remarkable 45. 0% mIoU on nuScenes after linear probing, surpassing random initialization by 36. 9% mIoU and outperforming prior arts by 6. 1% mIoU. Moreover, Seal demonstrates significant performance gains over existing methods across 20 different few-shot fine-tuning tasks on all eleven tested point cloud datasets. The code is available at this link.

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NeurIPS Conference 2023 Conference Paper

Towards Label-free Scene Understanding by Vision Foundation Models

Runnan Chen
Youquan Liu
Lingdong Kong
Nenglun Chen
Xinge Zhu
Yuexin Ma
Tongliang Liu
Wenping Wang

Vision foundation models such as Contrastive Vision-Language Pre-training (CLIP) and Segment Anything (SAM) have demonstrated impressive zero-shot performance on image classification and segmentation tasks. However, the incorporation of CLIP and SAM for label-free scene understanding has yet to be explored. In this paper, we investigate the potential of vision foundation models in enabling networks to comprehend 2D and 3D worlds without labelled data. The primary challenge lies in effectively supervising networks under extremely noisy pseudo labels, which are generated by CLIP and further exacerbated during the propagation from the 2D to the 3D domain. To tackle these challenges, we propose a novel Cross-modality Noisy Supervision (CNS) method that leverages the strengths of CLIP and SAM to supervise 2D and 3D networks simultaneously. In particular, we introduce a prediction consistency regularization to co-train 2D and 3D networks, then further impose the networks' latent space consistency using the SAM's robust feature representation. Experiments conducted on diverse indoor and outdoor datasets demonstrate the superior performance of our method in understanding 2D and 3D open environments. Our 2D and 3D network achieves label-free semantic segmentation with 28. 4\% and 33. 5\% mIoU on ScanNet, improving 4. 7\% and 7. 9\%, respectively. For nuImages and nuScenes datasets, the performance is 22. 1\% and 26. 8\% with improvements of 3. 5\% and 6. 0\%, respectively. Code is available. (https: //github. com/runnanchen/Label-Free-Scene-Understanding)

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IJCAI Conference 2021 Conference Paper

Dig into Multi-modal Cues for Video Retrieval with Hierarchical Alignment

Wenzhe Wang
Mengdan Zhang
Runnan Chen
Guanyu Cai
Penghao Zhou
Pai Peng
Xiaowei Guo
Jian Wu

Multi-modal cues presented in videos are usually beneficial for the challenging video-text retrieval task on internet-scale datasets. Recent video retrieval methods take advantage of multi-modal cues by aggregating them to holistic high-level semantics for matching with text representations in a global view. In contrast to this global alignment, the local alignment of detailed semantics encoded within both multi-modal cues and distinct phrases is still not well conducted. Thus, in this paper, we leverage the hierarchical video-text alignment to fully explore the detailed diverse characteristics in multi-modal cues for fine-grained alignment with local semantics from phrases, as well as to capture a high-level semantic correspondence. Specifically, multi-step attention is learned for progressively comprehensive local alignment and a holistic transformer is utilized to summarize multi-modal cues for global alignment. With hierarchical alignment, our model outperforms state-of-the-art methods on three public video retrieval datasets.

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