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Huapeng Su

Publications and source records attributed to Huapeng Su.

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AdaDINO: Context-Adaptive DINO-Distilled Vision Foundation Models for Efficient Open-Vocabulary Edge Inference

Always-on contextual AI runs language-aligned vision foundation models (VFMs) on edge devices, where the on-device model is the dominant continuous compute cost under strict latency and power limits. Due to an observed low-frequency shift in scene context and its relevant vocabulary, we present AdaDINO, an adaptive framework that makes on-device VFM inference efficient by matching execution to the current scene and task. We build on a known phenomenon, that the accuracy drop of shrinking model sizes depends on the task, and turn it into task-level adaptive execution. AdaDINO integrates neural architecture search (NAS) into a language-aligned VFM backbone distilled from DINOv2, training a single family of subnets for efficient execution during runtime. A multimodal large language model (LLM) on the cloud, invoked at low frequency, refines the candidate class set from scene context, while a learned selector activates the least-cost subnet predicted to retain a target fraction of accuracy. With the backbone and semantic pipeline held fixed, learned selection alone reduces average compute by $37\%$ over the best fixed subnet at equal segmentation accuracy. Across zero-shot classification and open-vocabulary segmentation, AdaDINO establishes a strong accuracy-efficiency frontier, improving over evaluated models of comparable sizes by up to $7.9\%$ in acc@1 on IN1K and $5.2\%$ mIoU on ADE20K, and reducing average FLOPs by up to $74.9\%$ at similar accuracy.

cs.CV

3dDepthNet: Point Cloud Guided Depth Completion Network for Sparse Depth and Single Color Image

In this paper, we propose an end-to-end deep learning network named 3dDepthNet, which produces an accurate dense depth image from a single pair of sparse LiDAR depth and color image for robotics and autonomous driving tasks. Based on the dimensional nature of depth images, our network offers a novel 3D-to-2D coarse-to-fine dual densification design that is both accurate and lightweight. Depth densification is first performed in 3D space via point cloud completion, followed by a specially designed encoder-decoder structure that utilizes the projected dense depth from 3D completion and the original RGB-D images to perform 2D image completion. Experiments on the KITTI dataset show our network achieves state-of-art accuracy while being more efficient. Ablation and generalization tests prove that each module in our network has positive influences on the final results, and furthermore, our network is resilient to even sparser depth.

cs.CV