Author name cluster

Yiming Ren

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers

2 author rows

AAAI Conference 2025 Conference Paper

FreeCap: Hybrid Calibration-Free Motion Capture in Open Environments

Aoru Xue
Yiming Ren
Zining Song
Mao Ye
Xinge Zhu
Yuexin Ma

We propose a novel hybrid calibration-free method FreeCap to accurately capture global multi-person motions in open environments. Our system combines a single LiDAR with expandable moving cameras, allowing for flexible and precise motion estimation in a unified world coordinate. In particular, We introduce a local-to-global pose-aware cross-sensor human-matching module that predicts the alignment among each sensor, even in the absence of calibration. Additionally, our coarse-to-fine sensor-expandable pose optimizer further optimizes the 3D human key points and the alignments, it is also capable of incorporating additional cameras to enhance accuracy. Extensive experiments on Human-M3 and FreeMotion datasets demonstrate that our method significantly outperforms state-of-the-art single-modal methods, offering an expandable and efficient solution for multi-person motion capture across various applications.

PDF Details DOI

NeurIPS Conference 2024 Conference Paper

Needle In A Multimodal Haystack

Weiyun Wang
Shuibo Zhang
Yiming Ren
Yuchen Duan
Tiantong Li
Shuo Liu
Mengkang Hu
Zhe Chen

With the rapid advancement of multimodal large language models (MLLMs), their evaluation has become increasingly comprehensive. However, understanding long multimodal content, as a foundational ability for real-world applications, remains underexplored. In this work, we present Needle In A Multimodal Haystack (MM-NIAH), the first benchmark specifically designed to systematically evaluate the capability of existing MLLMs to comprehend long multimodal documents. Our benchmark includes three types of evaluation tasks: multimodal retrieval, counting, and reasoning. In each task, the model is required to answer the questions according to different key information scattered throughout the given multimodal document. Evaluating the leading MLLMs on MM-NIAH, we observe that existing models still have significant room for improvement on these tasks, especially on vision-centric evaluation. We hope this work can provide a platform for further research on long multimodal document comprehension and contribute to the advancement of MLLMs. Code and benchmark are released at https: //github. com/OpenGVLab/MM-NIAH.

PDF Details DOI

ICRA Conference 2024 Conference Paper

NPC: Neural Predictive Control for Fuel-Efficient Autonomous Trucks

Jiaping Ren
Jiahao Xiang
Hongfei Gao
Jinchuan Zhang
Yiming Ren
Yuexin Ma
Yi Wu
Ruigang Yang

Fuel efficiency is a crucial aspect of long-distance cargo transportation by oil-powered trucks that economize on costs and decrease carbon emissions. Current predictive control methods depend on an accurate model of vehicle dynamics and engine, including weight, drag coefficient, and the Brake-specific Fuel Consumption (BSFC) map of the engine. We propose a pure data-driven method, Neural Predictive Control (NPC), which does not use any physical model for the vehicle. After training with over 20, 000 km of historical data, the novel proposed NVFormer implicitly models the relationship between vehicle dynamics, road slope, fuel consumption, and control commands using the attention mechanism. Based on the online sampled primitives from the past of the current freight trip and anchor-based future data synthesis, the NVFormer can infer optimal control command for reasonable fuel consumption. The physical model-free NPC outperforms the base PCC method with 2. 41% and 3. 45% more significant fuel saving in simulation and open-road highway testing, respectively.

Details

AAAI Conference 2023 Conference Paper

Weakly Supervised 3D Multi-Person Pose Estimation for Large-Scale Scenes Based on Monocular Camera and Single LiDAR

Peishan Cong
Yiteng Xu
Yiming Ren
Juze Zhang
Lan Xu
Jingya Wang
Jingyi Yu
Yuexin Ma

Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of individuals and the 3D pose estimation by providing rich geometry features. Motivated by this, we propose a monocular camera and single LiDAR-based method for 3D multi-person pose estimation in large-scale scenes, which is easy to deploy and insensitive to light. Specifically, we design an effective fusion strategy to take advantage of multi-modal input data, including images and point cloud, and make full use of temporal information to guide the network to learn natural and coherent human motions. Without relying on any 3D pose annotations, our method exploits the inherent geometry constraints of point cloud for self-supervision and utilizes 2D keypoints on images for weak supervision. Extensive experiments on public datasets and our newly collected dataset demonstrate the superiority and generalization capability of our proposed method. Project homepage is at \url{https://github.com/4DVLab/FusionPose.git}.

PDF Details DOI