arXiv subjects

Haidong Zhu

Publications and source records attributed to Haidong Zhu.

16 recordsLinked to original sources

arXiv2026

FFVO: A Feedforward Pose Decoder for Long-Horizon Visual Odometry

Stable and reliable 4D spatial understanding is fundamental for autonomous driving systems. While feedforward reconstruction networks can estimate camera motion and 3D structure in one pass, pose estimation over long videos remains challenged by computational cost, long-context ambiguity, and temporal instability. To address these challenges, we propose Feedforward Visual Odometry (FFVO), a pose-specialized adaptation of joint reconstruction architectures for efficient and temporally stable camera-pose estimation. FFVO uses (i) a compact camera-token representation for computationally efficient temporal aggregation, (ii) a hierarchical local-to-global temporal decoder that mitigates geometric ambiguity by separating short-range motion aggregation from sequence-level integration, and (iii) intermediate trajectory supervision that promotes temporal stability. Extensive evaluation on the Waymo Open Dataset (WOD), KITTI, and a large-scale proprietary benchmark demonstrates that our method performs favorably against existing feedforward approaches, and greatly reduces jitter and drift. These results support FFVO as an effective feedforward camera-pose decoder in long-horizon visual odometry settings.

cs.CV↗

arXiv2024

CaesarNeRF: Calibrated Semantic Representation for Few-shot Generalizable Neural Rendering

Generalizability and few-shot learning are key challenges in Neural Radiance Fields (NeRF), often due to the lack of a holistic understanding in pixel-level rendering. We introduce CaesarNeRF, an end-to-end approach that leverages scene-level CAlibratEd SemAntic Representation along with pixel-level representations to advance few-shot, generalizable neural rendering, facilitating a holistic understanding without compromising high-quality details. CaesarNeRF explicitly models pose differences of reference views to combine scene-level semantic representations, providing a calibrated holistic understanding. This calibration process aligns various viewpoints with precise location and is further enhanced by sequential refinement to capture varying details. Extensive experiments on public datasets, including LLFF, Shiny, mip-NeRF 360, and MVImgNet, show that CaesarNeRF delivers state-of-the-art performance across varying numbers of reference views, proving effective even with a single reference image.

cs.CV↗

arXiv2024

The Efficiency Spectrum of Large Language Models: An Algorithmic Survey

The rapid growth of Large Language Models (LLMs) has been a driving force in transforming various domains, reshaping the artificial general intelligence landscape. However, the increasing computational and memory demands of these models present substantial challenges, hindering both academic research and practical applications. To address these issues, a wide array of methods, including both algorithmic and hardware solutions, have been developed to enhance the efficiency of LLMs. This survey delivers a comprehensive review of algorithmic advancements aimed at improving LLM efficiency. Unlike other surveys that typically focus on specific areas such as training or model compression, this paper examines the multi-faceted dimensions of efficiency essential for the end-to-end algorithmic development of LLMs. Specifically, it covers various topics related to efficiency, including scaling laws, data utilization, architectural innovations, training and tuning strategies, and inference techniques. This paper aims to serve as a valuable resource for researchers and practitioners, laying the groundwork for future innovations in this critical research area. Our repository of relevant references is maintained at url{https://github.com/tding1/Efficient-LLM-Survey}.

cs.CL↗

arXiv2024

Large Language Models are Good Prompt Learners for Low-Shot Image Classification

Low-shot image classification, where training images are limited or inaccessible, has benefited from recent progress on pre-trained vision-language (VL) models with strong generalizability, e.g. CLIP. Prompt learning methods built with VL models generate text features from the class names that only have confined class-specific information. Large Language Models (LLMs), with their vast encyclopedic knowledge, emerge as the complement. Thus, in this paper, we discuss the integration of LLMs to enhance pre-trained VL models, specifically on low-shot classification. However, the domain gap between language and vision blocks the direct application of LLMs. Thus, we propose LLaMP, Large Language Models as Prompt learners, that produces adaptive prompts for the CLIP text encoder, establishing it as the connecting bridge. Experiments show that, compared with other state-of-the-art prompt learning methods, LLaMP yields better performance on both zero-shot generalization and few-shot image classification, over a spectrum of 11 datasets. Code will be made available at: https://github.com/zhaohengz/LLaMP.

cs.CV↗

arXiv2024

GaitSTR: Gait Recognition with Sequential Two-stream Refinement

Gait recognition aims to identify a person based on their walking sequences, serving as a useful biometric modality as it can be observed from long distances without requiring cooperation from the subject. In representing a person's walking sequence, silhouettes and skeletons are the two primary modalities used. Silhouette sequences lack detailed part information when overlapping occurs between different body segments and are affected by carried objects and clothing. Skeletons, comprising joints and bones connecting the joints, provide more accurate part information for different segments; however, they are sensitive to occlusions and low-quality images, causing inconsistencies in frame-wise results within a sequence. In this paper, we explore the use of a two-stream representation of skeletons for gait recognition, alongside silhouettes. By fusing the combined data of silhouettes and skeletons, we refine the two-stream skeletons, joints, and bones through self-correction in graph convolution, along with cross-modal correction with temporal consistency from silhouettes. We demonstrate that with refined skeletons, the performance of the gait recognition model can achieve further improvement on public gait recognition datasets compared with state-of-the-art methods without extra annotations.

cs.CV↗

arXiv2023

CAILA: Concept-Aware Intra-Layer Adapters for Compositional Zero-Shot Learning

In this paper, we study the problem of Compositional Zero-Shot Learning (CZSL), which is to recognize novel attribute-object combinations with pre-existing concepts. Recent researchers focus on applying large-scale Vision-Language Pre-trained (VLP) models like CLIP with strong generalization ability. However, these methods treat the pre-trained model as a black box and focus on pre- and post-CLIP operations, which do not inherently mine the semantic concept between the layers inside CLIP. We propose to dive deep into the architecture and insert adapters, a parameter-efficient technique proven to be effective among large language models, into each CLIP encoder layer. We further equip adapters with concept awareness so that concept-specific features of "object", "attribute", and "composition" can be extracted. We assess our method on four popular CZSL datasets, MIT-States, C-GQA, UT-Zappos, and VAW-CZSL, which shows state-of-the-art performance compared to existing methods on all of them.

cs.CV↗

arXiv2023

ShARc: Shape and Appearance Recognition for Person Identification In-the-wild

Identifying individuals in unconstrained video settings is a valuable yet challenging task in biometric analysis due to variations in appearances, environments, degradations, and occlusions. In this paper, we present ShARc, a multimodal approach for video-based person identification in uncontrolled environments that emphasizes 3-D body shape, pose, and appearance. We introduce two encoders: a Pose and Shape Encoder (PSE) and an Aggregated Appearance Encoder (AAE). PSE encodes the body shape via binarized silhouettes, skeleton motions, and 3-D body shape, while AAE provides two levels of temporal appearance feature aggregation: attention-based feature aggregation and averaging aggregation. For attention-based feature aggregation, we employ spatial and temporal attention to focus on key areas for person distinction. For averaging aggregation, we introduce a novel flattening layer after averaging to extract more distinguishable information and reduce overfitting of attention. We utilize centroid feature averaging for gallery registration. We demonstrate significant improvements over existing state-of-the-art methods on public datasets, including CCVID, MEVID, and BRIAR.

cs.CV↗

arXiv2023

GaitRef: Gait Recognition with Refined Sequential Skeletons

Identifying humans with their walking sequences, known as gait recognition, is a useful biometric understanding task as it can be observed from a long distance and does not require cooperation from the subject. Two common modalities used for representing the walking sequence of a person are silhouettes and joint skeletons. Silhouette sequences, which record the boundary of the walking person in each frame, may suffer from the variant appearances from carried-on objects and clothes of the person. Framewise joint detections are noisy and introduce some jitters that are not consistent with sequential detections. In this paper, we combine the silhouettes and skeletons and refine the framewise joint predictions for gait recognition. With temporal information from the silhouette sequences, we show that the refined skeletons can improve gait recognition performance without extra annotations. We compare our methods on four public datasets, CASIA-B, OUMVLP, Gait3D and GREW, and show state-of-the-art performance.

cs.CV↗

arXiv2023

CAT-NeRF: Constancy-Aware Tx$^2$Former for Dynamic Body Modeling

This paper addresses the problem of human rendering in the video with temporal appearance constancy. Reconstructing dynamic body shapes with volumetric neural rendering methods, such as NeRF, requires finding the correspondence of the points in the canonical and observation space, which demands understanding human body shape and motion. Some methods use rigid transformation, such as SE(3), which cannot precisely model each frame's unique motion and muscle movements. Others generate the transformation for each frame with a trainable network, such as neural blend weight field or translation vector field, which does not consider the appearance constancy of general body shape. In this paper, we propose CAT-NeRF for self-awareness of appearance constancy with Tx$^2$Former, a novel way to combine two Transformer layers, to separate appearance constancy and uniqueness. Appearance constancy models the general shape across the video, and uniqueness models the unique patterns for each frame. We further introduce a novel Covariance Loss to limit the correlation between each pair of appearance uniquenesses to ensure the frame-unique pattern is maximally captured in appearance uniqueness. We assess our method on H36M and ZJU-MoCap and show state-of-the-art performance.

cs.CV↗

arXiv2022

Gait Recognition Using 3-D Human Body Shape Inference

Gait recognition, which identifies individuals based on their walking patterns, is an important biometric technique since it can be observed from a distance and does not require the subject's cooperation. Recognizing a person's gait is difficult because of the appearance variants in human silhouette sequences produced by varying viewing angles, carrying objects, and clothing. Recent research has produced a number of ways for coping with these variants. In this paper, we present the usage of inferring 3-D body shapes distilled from limited images, which are, in principle, invariant to the specified variants. Inference of 3-D shape is a difficult task, especially when only silhouettes are provided in a dataset. We provide a method for learning 3-D body inference from silhouettes by transferring knowledge from 3-D shape prior from RGB photos. We use our method on multiple existing state-of-the-art gait baselines and obtain consistent improvements for gait identification on two public datasets, CASIA-B and OUMVLP, on several variants and settings, including a new setting of novel views not seen during training.

cs.CV↗

arXiv2020

Utilizing Every Image Object for Semi-supervised Phrase Grounding

Phrase grounding models localize an object in the image given a referring expression. The annotated language queries available during training are limited, which also limits the variations of language combinations that a model can see during training. In this paper, we study the case applying objects without labeled queries for training the semi-supervised phrase grounding. We propose to use learned location and subject embedding predictors (LSEP) to generate the corresponding language embeddings for objects lacking annotated queries in the training set. With the assistance of the detector, we also apply LSEP to train a grounding model on images without any annotation. We evaluate our method based on MAttNet on three public datasets: RefCOCO, RefCOCO+, and RefCOCOg. We show that our predictors allow the grounding system to learn from the objects without labeled queries and improve accuracy by 34.9\% relatively with the detection results.

cs.CV↗

arXiv2020

Curriculum DeepSDF

When learning to sketch, beginners start with simple and flexible shapes, and then gradually strive for more complex and accurate ones in the subsequent training sessions. In this paper, we design a "shape curriculum" for learning continuous Signed Distance Function (SDF) on shapes, namely Curriculum DeepSDF. Inspired by how humans learn, Curriculum DeepSDF organizes the learning task in ascending order of difficulty according to the following two criteria: surface accuracy and sample difficulty. The former considers stringency in supervising with ground truth, while the latter regards the weights of hard training samples near complex geometry and fine structure. More specifically, Curriculum DeepSDF learns to reconstruct coarse shapes at first, and then gradually increases the accuracy and focuses more on complex local details. Experimental results show that a carefully-designed curriculum leads to significantly better shape reconstructions with the same training data, training epochs and network architecture as DeepSDF. We believe that the application of shape curricula can benefit the training process of a wide variety of 3D shape representation learning methods.

cs.CV↗

arXiv2020

CPARR: Category-based Proposal Analysis for Referring Relationships

The task of referring relationships is to localize subject and object entities in an image satisfying a relationship query, which is given in the form of \texttt{ }. This requires simultaneous localization of the subject and object entities in a specified relationship. We introduce a simple yet effective proposal-based method for referring relationships. Different from the existing methods such as SSAS, our method can generate a high-resolution result while reducing its complexity and ambiguity. Our method is composed of two modules: a category-based proposal generation module to select the proposals related to the entities and a predicate analysis module to score the compatibility of pairs of selected proposals. We show state-of-the-art performance on the referring relationship task on two public datasets: Visual Relationship Detection and Visual Genome.

cs.CV↗

arXiv2019

Pick-and-Learn: Automatic Quality Evaluation for Noisy-Labeled Image Segmentation

Deep learning methods have achieved promising performance in many areas, but they are still struggling with noisy-labeled images during the training process. Considering that the annotation quality indispensably relies on great expertise, the problem is even more crucial in the medical image domain. How to eliminate the disturbance from noisy labels for segmentation tasks without further annotations is still a significant challenge. In this paper, we introduce our label quality evaluation strategy for deep neural networks automatically assessing the quality of each label, which is not explicitly provided, and training on clean-annotated ones. We propose a solution for network automatically evaluating the relative quality of the labels in the training set and using good ones to tune the network parameters. We also design an overfitting control module to let the network maximally learn from the precise annotations during the training process. Experiments on the public biomedical image segmentation dataset have proved the method outperforms baseline methods and retains both high accuracy and good generalization at different noise levels.

cs.CV↗

arXiv2013

A solution for the differences in the continuity of continuum among mathematicians

There are the longstanding differences in the continuity of continuum among mathematicians. Starting from studies on a mathematical model of contact, we construct a set that is in contact everywhere by using the original idea of Dedekind's cut and weakening Order axioms to violate Order axiom 1. It is proved that the existence of the set constructed can eliminate the differences in the continuity.

math-ph↗

arXiv2011

SISO APP Searches in Lattices with Tanner Graphs

An efficient, low-complexity, soft-output detector for general lattices is presented, based on their Tanner graph (TG) representations. Closest-point searches in lattices can be performed as non-binary belief propagation on associated TGs; soft-information output is naturally generated in the process; the algorithm requires no backtrack (cf. classic sphere decoding), and extracts extrinsic information. A lattice's coding gain enables equivalence relations between lattice points, which can be thereby partitioned in cosets. Total and extrinsic a posteriori probabilities at the detector's output further enable the use of soft detection information in iterative schemes. The algorithm is illustrated via two scenarios that transmit a 32-point, uncoded super-orthogonal (SO) constellation for multiple-input multiple-output (MIMO) channels, carved from an 8-dimensional non-orthogonal lattice (a direct sum of two 4-dimensional checkerboard lattice): it achieves maximum likelihood performance in quasistatic fading; and, performs close to interference-free transmission, and identically to list sphere decoding, in independent fading with coordinate interleaving and iterative equalization and detection. Latter scenario outperforms former despite the absence of forward error correction coding---because the inherent lattice coding gain allows for the refining of extrinsic information. The lattice constellation is the same as the one employed in the SO space-time trellis codes first introduced for 2-by-2 MIMO by Ionescu et al., then independently by Jafarkhani and Seshadri. Complexity is log-linear in lattice dimensionality, vs. cubic in sphere decoders.

cs.IT↗