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Xuequan Lu

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14 papers

2 author rows

AAAI Conference 2026 Conference Paper

DAPointMamba: Domain Adaptive Point Mamba for Point Cloud Completion

Yinghui Li
Qianyu Zhou
Di Shao
Hao Yang
Ye Zhu
Richard Dazeley
Xuequan Lu

Domain adaptive point cloud completion (DA PCC) aims to narrow the geometric and semantic discrepancies between the labeled source and unlabeled target domains. Existing methods either suffer from limited receptive fields or quadratic complexity due to using CNNs or vision Transformers. In this paper, we present the first work that studies the adaptability of state space models (SSMs) in DA PCC and find that directly applying SSMs to DA PCC will encounter several challenges: directly serializing 3D point clouds into 1D sequences often disrupts the spatial topology and local geometric features of the target domain. Besides, the overlook of designs in the learning domain-agnostic representations hinders the adaptation performance. To address these issues, we propose a novel framework, DAPointMamba for DA PCC, that exhibits strong adaptability across domains and has the advantages of global receptive fields and efficient linear complexity. It has three novel modules. In particular, Cross-Domain Patch-Level Scanning introduces patch-level geometric correspondences, enabling effective local alignment. Cross-Domain Spatial SSM Alignment further strengthens spatial consistency by modulating patch features based on cross-domain similarity, effectively mitigating fine-grained structural discrepancies. Cross-Domain Channel SSM Alignment actively addresses global semantic gaps by interleaving and aligning feature channels. Extensive experiments on both synthetic and real-world benchmarks demonstrate that our DAPointMamba outperforms state-of-the-art methods with less computational complexity and inference latency.

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AAAI Conference 2026 Conference Paper

PointDGRWKV: Generalizing RWKV-like Architecture to Unseen Domains for Point Cloud Classification

Hao Yang
Qianyu Zhou
Haijia Sun
Xiangtai Li
Xuequan Lu
Lizhuang Ma
Shuicheng Yan

Domain Generalization (DG) has been recently explored to enhance the generalizability of Point Cloud Classification (PCC) models toward unseen domains. Prior works are based on convolutional networks, Transformer or Mamba architectures, either suffering from limited receptive fields or high computational cost, or insufficient long-range dependency modeling. RWKV, as an emerging architecture, possesses superior linear complexity, global receptive fields, and long-range dependency. In this paper, we present the first work that studies the generalizability of RWKV models in DG PCC. We find that directly applying RWKV to DG PCC encounters two significant challenges: RWKV's fixed direction token shift methods, like Q-Shift, introduce spatial distortions when applied to unstructured point clouds, weakening local geometric modeling and reducing robustness. In addition, the Bi-WKV attention in RWKV amplifies slight cross-domain differences in key distributions through exponential weighting, leading to attention shifts and degraded generalization. To this end, we propose PointDGRWKV, the first RWKV-based framework tailored for DG PCC. It introduces two core modules to enhance spatial modeling and cross-domain robustness, while maintaining RWKV's linear efficiency. In particular, we present Adaptive Geometric Token Shift to model local neighborhood structures to improve geometric context awareness. In addition, Cross-Domain key feature Distribution Alignment is designed to mitigate attention drift by aligning key feature distributions across domains. Extensive experiments on multiple benchmarks demonstrate that PointDGRWKV achieves state-of-the-art performance on DG PCC.

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IJCAI Conference 2025 Conference Paper

Adversarial Attacks on Both Face Recognition and Face Anti-spoofing Models

Fengfan Zhou
Qianyu Zhou
Heifei Ling
Xuequan Lu

Adversarial attacks on Face Recognition (FR) systems have demonstrated significant effectiveness against standalone FR models. However, their practicality diminishes in complete FR systems that incorporate Face Anti-Spoofing (FAS) models, as these models can detect and mitigate a substantial number of adversarial examples. To address this critical yet under-explored challenge, we introduce a novel attack setting that targets both FR and FAS models simultaneously, thereby enhancing the practicability of adversarial attacks on integrated FR systems. Specifically, we propose a new attack method, termed Reference-free Multi-level Alignment (RMA), designed to improve the capacity of black-box attacks on both FR and FAS models. The RMA framework is built upon three key components. Firstly, we propose an Adaptive Gradient Maintenance module to address the imbalances in gradient contributions between FR and FAS models. Secondly, we develop a Reference-free Intermediate Biasing module to improve the transferability of adversarial examples against FAS models. In addition, we introduce a Multi-level Feature Alignment module to reduce feature discrepancies at various levels of representation. Extensive experiments showcase the superiority of our proposed attack method to state-of-the-art adversarial attacks.

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AAAI Conference 2025 Conference Paper

DAPoinTr: Domain Adaptive Point Transformer for Point Cloud Completion

Yinghui Li
Qianyu Zhou
Jingyu Gong
Ye Zhu
Richard Dazeley
Xinkui Zhao
Xuequan Lu

Point Transformers (PoinTr) have shown great potential in point cloud completion recently. Nevertheless, effective domain adaptation that improves transferability toward target domains remains unexplored. In this paper, we delve into this topic and empirically discover that direct feature alignment on point Transformer’s CNN backbone only brings limited improvements since it cannot guarantee sequence-wise domain-invariant features in the Transformer. To this end, we propose a pioneering Domain Adaptive Point Transformer (DAPoinTr) framework for point cloud completion. DAPoinTr consists of three novel components: Domain Query-based Feature Alignment (DQFA), Point Token-wise Feature alignment (PTFA), and Voted Prediction Consistency (VPC). In particular, DQFA is presented to narrow the global domain gaps from the sequence via the presented domain proxy and domain query at the Transformer encoder and decoder, respectively. PTFA is proposed to close the local domain shifts by aligning the tokens, i.e., point proxy and dynamic query, at the Transformer encoder and decoder, respectively. VPC is designed to consider different Transformer decoders as multiple of experts (MoE) for ensembled prediction voting and pseudo-label generation. Extensive experiments with visualization on several challenging domain adaptation benchmarks demonstrate the effectiveness and superiority of our DAPoinTr compared with other state-of-the-art methods.

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AAAI Conference 2025 Conference Paper

PointDGMamba: Domain Generalization of Point Cloud Classification via Generalized State Space Model

Hao Yang
Qianyu Zhou
Haijia Sun
Xiangtai Li
Fengqi Liu
Xuequan Lu
Lizhuang Ma
Shuicheng Yan

Domain Generalization (DG) has been recently explored to improve the generalizability of point cloud classification (PCC) models toward unseen domains. However, they often suffer from limited receptive fields or quadratic complexity due to the use of convolution neural networks or vision Transformers. In this paper, we present the first work that studies the generalizability of state space models (SSMs) in DG PCC and find that directly applying SSMs into DG PCC will encounter several challenges: the inherent topology of the point cloud tends to be disrupted and leads to noise accumulation during the serialization stage. Besides, the lack of designs in domain-agnostic feature learning and data scanning will introduce unanticipated domain-specific information into the 3D sequence data. To this end, we propose a novel framework, PointDGMamba, that excels in strong generalizability toward unseen domains and has the advantages of global receptive fields and efficient linear complexity. PointDGMamba consists of three innovative components: Masked Sequence Denoising (MSD), Sequence-wise Cross-domain Feature Aggregation (SCFA), and Dual-level Domain Scanning (DDS). In particular, MSD selectively masks out the noised point tokens of the point cloud sequences, SCFA introduces cross-domain but same-class point cloud features to encourage the model to learn how to extract more generalized features. DDS includes intra-domain scanning and cross-domain scanning to facilitate information exchange between features. In addition, we propose a new and more challenging benchmark PointDG-3to1 for multi-domain generalization. Extensive experiments demonstrate the effectiveness and state-of-the-art performance of PointDGMamba.

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ICLR Conference 2025 Conference Paper

Rethinking Multiple-Instance Learning From Feature Space to Probability Space

Zhaolong Du
Shasha Mao
Xuequan Lu
Mengnan Qi
Yimeng Zhang
Jing Gu
Licheng Jiao

Multiple-instance learning (MIL) was initially proposed to identify key instances within a set (bag) of instances when only one bag-level label is provided. Current deep MIL models mostly solve multi-instance problem in feature space. Nevertheless, with the increasing complexity of data, we found this paradigm faces significant risks in representation learning stage, which could lead to algorithm degradation in deep MIL models. We speculate that the degradation issue stems from the persistent drift of instances in feature space during learning. In this paper, we propose a novel Probability-Space MIL network (PSMIL) as a countermeasure. In PSMIL, a self-training alignment strategy is introduced in probability space to cope with the drift problem in feature space, and the alignment target objective is proven mathematically optimal. Furthermore, we reveal that the widely-used attention-based pooling mechanism in current deep MIL models is easily affected by the perturbation in feature space and further introduce an alternative called probability-space attention pooling. It effectively captures the key instance in each bag from feature space to probability space, and further eliminates the impact of selection drift in the pooling stage. To summarize, PSMIL seeks to solve a MIL problem in probability space rather than feature space. Experimental results illustrate that PSMIL could potentially achieve performance close to supervised learning level in complex tasks (gap within 5\%), with the incremental alignment in propability space bring more than 19\% accuracy improvements for current existing mainstream models in simulated CIFAR datasets. For existing publicly available MIL benchmarks/datasets, attention in probability space also achieves competitive performance to the state-of-the-art deep MIL models. Codes are available at \url{https://github.com/LMBDA-design/PSAMIL}.

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AAAI Conference 2025 Conference Paper

RI-MAE: Rotation-Invariant Masked AutoEncoders for Self-Supervised Point Cloud Representation Learning

Kunming Su
Qiuxia Wu
Panpan Cai
Xiaogang Zhu
Xuequan Lu
Zhiyong Wang
Kun Hu

Masked point modeling methods have recently achieved great success in self-supervised learning for point cloud data. However, these methods are sensitive to rotations and often exhibit sharp performance drops when encountering rotational variations. In this paper, we propose a novel Rotation-Invariant Masked AutoEncoders (RI-MAE) to address two major challenges: 1) achieving rotation-invariant latent representations, and 2) facilitating self-supervised reconstruction in a rotation-invariant manner. For the first challenge, we introduce RI-Transformer, which features disentangled geometry content, rotation-invariant relative orientation and position embedding mechanisms for constructing rotation-invariant point cloud latent space. For the second challenge, a novel dual-branch student-teacher architecture is devised. It enables the self-supervised learning via the reconstruction of masked patches within the learned rotation-invariant latent space. Each branch is based on an RI-Transformer, and they are connected with an additional RI-Transformer predictor. The teacher encodes all point patches, while the student solely encodes unmasked ones. Finally, the predictor predicts the latent features of the masked patches using the output latent embeddings from the student, supervised by the outputs from the teacher. Extensive experiments demonstrate that our method is robust to rotations, achieving the state-of-the-art performance on various downstream tasks.

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NeurIPS Conference 2025 Conference Paper

Walking the Schrödinger Bridge: A Direct Trajectory for Text-to-3D Generation

Ziying Li
Xuequan Lu
Xinkui Zhao
Guanjie Cheng
Shuiguang Deng
Jianwei Yin

Recent advancements in optimization-based text-to-3D generation heavily rely on distilling knowledge from pre-trained text-to-image diffusion models using techniques like Score Distillation Sampling (SDS), which often introduce artifacts such as over-saturation and over-smoothing into the generated 3D assets. In this paper, we address this essential problem by formulating the generation process as learning an optimal, direct transport trajectory between the distribution of the current rendering and the desired target distribution, thereby enabling high-quality generation with smaller Classifier-free Guidance (CFG) values. At first, we theoretically establish SDS as a simplified instance of the Schrödinger Bridge framework. We prove that SDS employs the reverse process of an Schrödinger Bridge, which, under specific conditions (e. g. , a Gaussian noise as one end), collapses to SDS's score function of the pre-trained diffusion model. Based upon this, we introduce Trajectory-Centric Distillation (TraCe), a novel text-to-3D generation framework, which reformulates the mathematically trackable framework of Schrödinger Bridge to explicitly construct a diffusion bridge from the current rendering to its text-conditioned, denoised target, and trains a LoRA-adapted model on this trajectory's score dynamics for robust 3D optimization. Comprehensive experiments demonstrate that TraCe consistently achieves superior quality and fidelity to state-of-the-art techniques. Our code will be released to the community.

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AAAI Conference 2024 Conference Paper

DHGCN: Dynamic Hop Graph Convolution Network for Self-Supervised Point Cloud Learning

Jincen Jiang
Lizhi Zhao
Xuequan Lu
Wei Hu
Imran Razzak
Meili Wang

Recent works attempt to extend Graph Convolution Networks (GCNs) to point clouds for classification and segmentation tasks. These works tend to sample and group points to create smaller point sets locally and mainly focus on extracting local features through GCNs, while ignoring the relationship between point sets. In this paper, we propose the Dynamic Hop Graph Convolution Network (DHGCN) for explicitly learning the contextual relationships between the voxelized point parts, which are treated as graph nodes. Motivated by the intuition that the contextual information between point parts lies in the pairwise adjacent relationship, which can be depicted by the hop distance of the graph quantitatively, we devise a novel self-supervised part-level hop distance reconstruction task and design a novel loss function accordingly to facilitate training. In addition, we propose the Hop Graph Attention (HGA), which takes the learned hop distance as input for producing attention weights to allow edge features to contribute distinctively in aggregation. Eventually, the proposed DHGCN is a plug-and-play module that is compatible with point-based backbone networks. Comprehensive experiments on different backbones and tasks demonstrate that our self-supervised method achieves state-of-the-art performance. Our source codes are available at: https://github.com/Jinec98/DHGCN.

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JBHI Journal 2024 Journal Article

IIAM: Intra and Inter Attention With Mutual Consistency Learning Network for Medical Image Segmentation

Chen Pang
Xuequan Lu
Xiang Liu
Renfeng Zhang
Lei Lyu

Medical image segmentation provides a reliable basis for diagnosis analysis and disease treatment by capturing the global and local features of the target region. To learn global features, convolutional neural networks are replaced with pure transformers, or transformer layers are stacked at the deepest layers of convolutional neural networks. Nevertheless, they are deficient in exploring local-global cues at each scale and the interaction among consensual regions in multiple scales, hindering the learning about the changes in size, shape, and position of target objects. To cope with these defects, we propose a novel Intra and Inter Attention with Mutual Consistency Learning Network (IIAM). Concretely, we design an intra attention module to aggregate the CNN-based local features and transformer-based global information on each scale. In addition, to capture the interaction among consensual regions in multiple scales, we devise an inter attention module to explore the cross-scale dependency of the object and its surroundings. Moreover, to reduce the impact of blurred regions in medical images on the final segmentation results, we introduce multiple decoders to estimate the model uncertainty, where we adopt a mutual consistency learning strategy to minimize the output discrepancy during the end-to-end training and weight the outputs of the three decoders as the final segmentation result. Extensive experiments on three benchmark datasets verify the efficacy of our method and demonstrate superior performance of our model to state-of-the-art techniques.

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NeurIPS Conference 2024 Conference Paper

PCoTTA: Continual Test-Time Adaptation for Multi-Task Point Cloud Understanding

Jincen Jiang
Qianyu Zhou
Yuhang Li
Xinkui Zhao
Meili Wang
Lizhuang Ma
Jian Chang
Jian J. Zhang

In this paper, we present PCoTTA, an innovative, pioneering framework for Continual Test-Time Adaptation (CoTTA) in multi-task point cloud understanding, enhancing the model's transferability towards the continually changing target domain. We introduce a multi-task setting for PCoTTA, which is practical and realistic, handling multiple tasks within one unified model during the continual adaptation. Our PCoTTA involves three key components: automatic prototype mixture (APM), Gaussian Splatted feature shifting (GSFS), and contrastive prototype repulsion (CPR). Firstly, APM is designed to automatically mix the source prototypes with the learnable prototypes with a similarity balancing factor, avoiding catastrophic forgetting. Then, GSFS dynamically shifts the testing sample toward the source domain, mitigating error accumulation in an online manner. In addition, CPR is proposed to pull the nearest learnable prototype close to the testing feature and push it away from other prototypes, making each prototype distinguishable during the adaptation. Experimental comparisons lead to a new benchmark, demonstrating PCoTTA's superiority in boosting the model's transferability towards the continually changing target domain. Our source code is available at: https: //github. com/Jinec98/PCoTTA.

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JBHI Journal 2023 Journal Article

3D Intracranial Aneurysm Classification and Segmentation via Unsupervised Dual-Branch Learning

Di Shao
Xuequan Lu
Xiao Liu

Intracranial aneurysms are common nowadays and how to detect them intelligently is of great significance in digital health. Whereas most existing deep learning research focused on medical images in a supervised way, we introduce an unsupervised method for the detection of intracranial aneurysms based on 3D point cloud data. In particular, our method consists of two stages: unsupervised pre-training and downstream tasks. As for the former, the main idea is to pair each point cloud with its jittering counterpart and maximise their correspondence. Then we design a dual-branch contrastive network with an encoder for each branch and a subsequent common projection head. As for the latter, we design simple networks for supervised classification and segmentation training. Experiments on the public dataset (IntrA) show that our unsupervised method achieves comparable or even better performance than some state-of-the-art supervised techniques, and it is most prominent in the detection of aneurysmal vessels. Experiments on the ModelNet-40 also show that our method achieves the accuracy of 90. 79% which outperforms existing state-of-the-art unsupervised models.

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IJCAI Conference 2022 Conference Paper

TCCNet: Temporally Consistent Context-Free Network for Semi-supervised Video Polyp Segmentation

Xiaotong Li
Jilan Xu
Yuejie Zhang
Rui Feng
Rui-Wei Zhao
Tao Zhang
Xuequan Lu
Shang Gao

Automatic video polyp segmentation (VPS) is highly valued for the early diagnosis of colorectal cancer. However, existing methods are limited in three respects: 1) most of them work on static images, while ignoring the temporal information in consecutive video frames; 2) all of them are fully supervised and easily overfit in presence of limited annotations; 3) the context of polyp (i. e. , lumen, specularity and mucosa tissue) varies in an endoscopic clip, which may affect the predictions of adjacent frames. To resolve these challenges, we propose a novel Temporally Consistent Context-Free Network (TCCNet) for semi-supervised VPS. It contains a segmentation branch and a propagation branch with a co-training scheme to supervise the predictions of unlabeled image. To maintain the temporal consistency of predictions, we design a Sequence-Corrected Reverse Attention module and a Propagation-Corrected Reverse Attention module. A Context-Free Loss is also proposed to mitigate the impact of varying contexts. Extensive experiments show that even trained under 1/15 label ratio, TCCNet is comparable to the state-of-the-art fully supervised methods for VPS. Also, TCCNet surpasses existing semi-supervised methods for natural image and other medical image segmentation tasks.

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AAAI Conference 2018 Conference Paper

Unsupervised Articulated Skeleton Extraction From Point Set Sequences Captured by a Single Depth Camera

Xuequan Lu
Honghua Chen
Sai-Kit Yeung
Zhigang Deng
Wenzhi Chen

How to robustly and accurately extract articulated skeletons from point set sequences captured by a single consumergrade depth camera still remains to be an unresolved challenge to date. To address this issue, we propose a novel, unsupervised approach consisting of three contributions (steps): (i) a non-rigid point set registration algorithm to ﬁrst build one-to-one point correspondences among the frames of a sequence; (ii) a skeletal structure extraction algorithm to generate a skeleton with reasonable numbers of joints and bones; (iii) a skeleton joints estimation algorithm to achieve accurate joints. At the end, our method can produce a quality articulated skeleton from a single 3D point sequence corrupted with noise and outliers. The experimental results show that our approach soundly outperforms state of the art techniques, in terms of both visual quality and accuracy.

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