Author name cluster

Yifeng Shi

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6 papers

2 author rows

IROS Conference 2025 Conference Paper

CRUISE: Cooperative Reconstruction and Editing in V2X Scenarios using Gaussian Splatting

Haoran Xu 0003
Saining Zhang
Peishuo Li
Baijun Ye
Xiaoxue Chen
Huan-ang Gao
Jv Zheng
Xiaowei Song

Vehicle-to-everything (V2X) communication plays a crucial role in autonomous driving, enabling cooperation between vehicles and infrastructure. While simulation has significantly contributed to various autonomous driving tasks, its potential for data generation and augmentation in V2X scenarios remains underexplored. In this paper, we introduce CRUISE, a comprehensive reconstruction-and-synthesis framework designed for V2X driving environments. CRUISE employs decomposed Gaussian Splatting to accurately reconstruct real-world scenes while supporting flexible editing. By decomposing dynamic traffic participants into editable Gaussian representations, CRUISE allows for seamless modification and augmentation of driving scenes. Furthermore, the framework renders images from both ego-vehicle and infrastructure views, enabling large-scale V2X dataset augmentation for training and evaluation. Our experimental results demonstrate that: 1) CRUISE reconstructs real-world V2X driving scenes with high fidelity; 2) using CRUISE improves 3D detection across ego-vehicle, infrastructure, and cooperative views, as well as cooperative 3D tracking on the V2X-Seq benchmark; and 3) CRUISE effectively generates challenging corner cases. The code will be publicly available at https://github.com/SainingZhang/CRUISE.

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ICRA Conference 2025 Conference Paper

Explore the LiDAR-Camera Dynamic Adjustment Fusion for 3D Object Detection

Yiran Yang
Xu Gao
Tong Wang
Xin Hao
Yifeng Shi
Xiao Tan 0001
Xiaoqing Ye

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for fusion. To address this, a robust fusion technique is crucial, particularly for enhancing 3D object detection. In this paper, we introduce a dynamic adjustment technology aimed at aligning modal distributions and learning effective modality representations to enhance the fusion process. Specifically, we propose a triphase domain aligning module. This module adjusts the feature distributions from both the camera and LiDAR, bringing them closer to the ground truth domain and minimizing differences. Additionally, we explore improved representation acquisition methods for dynamic fusion, which includes modal interaction and specialty enhancement. Finally, an adaptive learning technique that merges the semantics and geometry information for dynamical instance optimization. Extensive experiments in the nuScenes dataset present competitive performance with state-of-the-art approaches. Our code will be released in the future.

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ICML Conference 2023 Conference Paper

Continuously Parameterized Mixture Models

Christopher M. Bender
Yifeng Shi
Marc Niethammer
Junier B. Oliva

Mixture models are universal approximators of smooth densities but are difficult to utilize in complicated datasets due to restrictions on typically available modes and challenges with initialiations. We show that by continuously parameterizing a mixture of factor analyzers using a learned ordinary differential equation, we can improve the fit of mixture models over direct methods. Once trained, the mixture components can be extracted and the neural ODE can be discarded, leaving us with an effective, but low-resource model. We additionally explore the use of a training curriculum from an easy-to-model latent space extracted from a normalizing flow to the more complex input space and show that the smooth curriculum helps to stabilize and improve results with and without the continuous parameterization. Finally, we introduce a hierarchical version of the model to enable more flexible, robust classification and clustering, and show substantial improvements against traditional parameterizations of GMMs.

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NeurIPS Conference 2023 Conference Paper

MonoUNI: A Unified Vehicle and Infrastructure-side Monocular 3D Object Detection Network with Sufficient Depth Clues

Jia Jinrang
Zhenjia Li
Yifeng Shi

Monocular 3D detection of vehicle and infrastructure sides are two important topics in autonomous driving. Due to diverse sensor installations and focal lengths, researchers are faced with the challenge of constructing algorithms for the two topics based on different prior knowledge. In this paper, by taking into account the diversity of pitch angles and focal lengths, we propose a unified optimization target named normalized depth, which realizes the unification of 3D detection problems for the two sides. Furthermore, to enhance the accuracy of monocular 3D detection, 3D normalized cube depth of obstacle is developed to promote the learning of depth information. We posit that the richness of depth clues is a pivotal factor impacting the detection performance on both the vehicle and infrastructure sides. A richer set of depth clues facilitates the model to learn better spatial knowledge, and the 3D normalized cube depth offers sufficient depth clues. Extensive experiments demonstrate the effectiveness of our approach. Without introducing any extra information, our method, named MonoUNI, achieves state-of-the-art performance on five widely used monocular 3D detection benchmarks, including Rope3D and DAIR-V2X-I for the infrastructure side, KITTI and Waymo for the vehicle side, and nuScenes for the cross-dataset evaluation.

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AAAI Conference 2020 Conference Paper

Deep Message Passing on Sets

Yifeng Shi
Junier Oliva
Marc Niethammer

Modern methods for learning over graph input data have shown the fruitfulness of accounting for relationships among elements in a collection. However, most methods that learn over set input data use only rudimentary approaches to exploit intra-collection relationships. In this work we introduce Deep Message Passing on Sets (DMPS), a novel method that incorporates relational learning for sets. DMPS not only connects learning on graphs with learning on sets via deep kernel learning, but it also bridges message passing on sets and traditional diffusion dynamics commonly used in denoising models. Based on these connections, we develop two new blocks for relational learning on sets: the set-denoising block and the set-residual block. The former is motivated by the connection between message passing on general graphs and diffusion-based denoising models, whereas the latter is inspired by the well-known residual network. In addition to demonstrating the interpretability of our model by learning the true underlying relational structure experimentally, we also show the effectiveness of our approach on both synthetic and real-world datasets by achieving results that are competitive with or outperform the state-of-the-art. For readers who are interested in the detailed derivations of serveral results that we present in this work, please see the supplementary material at: https: //arxiv. org/abs/1909. 09877.

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ICML Conference 2020 Conference Paper

Defense Through Diverse Directions

Christopher M. Bender
Yang Li 0012
Yifeng Shi
Michael K. Reiter
Junier B. Oliva

In this work we develop a novel Bayesian neural network methodology to achieve strong adversarial robustness without the need for online adversarial training. Unlike previous efforts in this direction, we do not rely solely on the stochasticity of network weights by minimizing the divergence between the learned parameter distribution and a prior. Instead, we additionally require that the model maintain some expected uncertainty with respect to all input covariates. We demonstrate that by encouraging the network to distribute evenly across inputs, the network becomes less susceptible to localized, brittle features which imparts a natural robustness to targeted perturbations. We show empirical robustness on several benchmark datasets.

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