arXiv subjects

Kuiyuan Yang

Publications and source records attributed to Kuiyuan Yang.

At least 19 recordsLinked to original sources

arXiv2026

GeoWorldAD: Geometry World Action Model for Autonomous Driving

Autonomous driving requires both safe and efficient planning decisions in dynamic 3D environments. Although recent Vision/Video-Action models learn policies directly from visual observations and scale well with advances in vision transformers and large-scale training data, they often lack explicit geometric grounding and future-aware spatial guidance, limiting their ability to balance collision avoidance and driving progress. In this work, we propose GeoWorldAD, a geometry world action model that grounds trajectory planning in ego-aligned 3D space and anticipates short-horizon scene evolution with latent future geometry tokens. Present geometry provides essential spatial constraints for safe planning, while future geometry reveals how surrounding agents and ego-centric free space may evolve, reducing overly conservative decisions without sacrificing safety. To efficiently exploit these geometric cues, GeoWorldAD progressively aggregates multi-scale present geometry and latent future geometry through iterative trajectory refinement. Experiments on NAVSIM v1 and v2 demonstrate state-of-the-art performance, highlighting the effectiveness of explicit 3D geometry grounding and future geometry world modeling for safe and efficient autonomous driving.

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arXiv2026

Discrete-WAM: Unified Discrete Vision-Action Token Editing for World-Policy Learning

Autonomous driving requires reasoning about how ego actions shape future world evolution, rather than merely mapping observations to actions. However, most end-to-end methods rely on direct state-to-action imitation, while existing world models often remain weakly aligned with downstream policy generation. We introduce Discrete-WAM, a unified discrete vision-action world-policy framework that represents visual observations, future states, high-level decisions, and ego actions within a shared token space. Built on this discrete alignment, Discrete-WAM jointly trains world modeling, world-policy modeling, and policy modeling through multi-task and multi-stage pretraining, allowing action-conditioned future prediction to directly support policy generation. For downstream planning, Discrete-WAM further decomposes policy generation into hierarchical decision prediction and parallel action-token editing, where the decision token provides a high-level planning skeleton and confidence-based scheduling refines dense future actions efficiently. Experiments on large-scale autonomous-driving benchmarks show that Discrete-WAM achieves strong planning performance while supporting controllable future generation, counterfactual evaluation, surprise-based world-model analysis, and efficient parallel policy decoding. These results suggest that discrete representation alignment, unified world-policy training, and hierarchical token editing provide a promising design paradigm for physical AI.

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arXiv2026

Xiaomi OneVL: One-Step Latent Reasoning and Planning with Vision-Language Explanation

Chain-of-Thought (CoT) reasoning has become a powerful driver of trajectory prediction in VLA-based autonomous driving, yet its autoregressive nature imposes a latency cost that is prohibitive for real-time deployment. Latent CoT methods attempt to close this gap by compressing reasoning into continuous hidden states, but consistently fall short of their explicit counterparts. We suggest that this is due to purely linguistic latent representations compressing a symbolic abstraction of the world, rather than the causal dynamics that actually govern driving. Thus, we present OneVL (One-step latent reasoning and planning with Vision-Language explanations), a unified VLA and World Model framework that routes reasoning through compact latent tokens supervised by dual auxiliary decoders. Alongside a language decoder that reconstructs text CoT, we introduce a visual world model decoder that predicts future-frame tokens, forcing the latent space to internalize the causal dynamics of road geometry, agent motion, and environmental change. A three-stage training pipeline progressively aligns these latents with trajectory, language, and visual objectives, ensuring stable joint optimization. In inference, the auxiliary decoders are discarded, and all latent tokens are prefilled in a single parallel pass, matching the speed of answer-only prediction. Across four benchmarks, OneVL becomes the first latent CoT method to surpass explicit CoT, delivering superior accuracy at answer-only latency. These results show that with world model supervision, latent CoT produces more generalizable representations than verbose token-by-token reasoning. Code has been open-sourced to the community. Project Page: https://xiaomi-embodied-intelligence.github.io/OneVL

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arXiv2024

SurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance Field

Vision-centric 3D environment understanding is both vital and challenging for autonomous driving systems. Recently, object-free methods have attracted considerable attention. Such methods perceive the world by predicting the semantics of discrete voxel grids but fail to construct continuous and accurate obstacle surfaces. To this end, in this paper, we propose SurroundSDF to implicitly predict the signed distance field (SDF) and semantic field for the continuous perception from surround images. Specifically, we introduce a query-based approach and utilize SDF constrained by the Eikonal formulation to accurately describe the surfaces of obstacles. Furthermore, considering the absence of precise SDF ground truth, we propose a novel weakly supervised paradigm for SDF, referred to as the Sandwich Eikonal formulation, which emphasizes applying correct and dense constraints on both sides of the surface, thereby enhancing the perceptual accuracy of the surface. Experiments suggest that our method achieves SOTA for both occupancy prediction and 3D scene reconstruction tasks on the nuScenes dataset.

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arXiv2023

SFNet: Faster and Accurate Semantic Segmentation via Semantic Flow

In this paper, we focus on exploring effective methods for faster and accurate semantic segmentation. A common practice to improve the performance is to attain high-resolution feature maps with strong semantic representation. Two strategies are widely used: atrous convolutions and feature pyramid fusion, while both are either computationally intensive or ineffective. Inspired by the Optical Flow for motion alignment between adjacent video frames, we propose a Flow Alignment Module (FAM) to learn \textit{Semantic Flow} between feature maps of adjacent levels and broadcast high-level features to high-resolution features effectively and efficiently. Furthermore, integrating our FAM to a standard feature pyramid structure exhibits superior performance over other real-time methods, even on lightweight backbone networks, such as ResNet-18 and DFNet. Then to further speed up the inference procedure, we also present a novel Gated Dual Flow Alignment Module to directly align high-resolution feature maps and low-resolution feature maps where we term the improved version network as SFNet-Lite. Extensive experiments are conducted on several challenging datasets, where results show the effectiveness of both SFNet and SFNet-Lite. In particular, when using Cityscapes test set, the SFNet-Lite series achieve 80.1 mIoU while running at 60 FPS using ResNet-18 backbone and 78.8 mIoU while running at 120 FPS using STDC backbone on RTX-3090. Moreover, we unify four challenging driving datasets into one large dataset, which we named Unified Driving Segmentation (UDS) dataset. It contains diverse domain and style information. We benchmark several representative works on UDS. Both SFNet and SFNet-Lite still achieve the best speed and accuracy trade-off on UDS, which serves as a strong baseline in such a challenging setting. The code and models are publicly available at https://github.com/lxtGH/SFSegNets.

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arXiv2023

UniOcc: Unifying Vision-Centric 3D Occupancy Prediction with Geometric and Semantic Rendering

In this technical report, we present our solution, named UniOCC, for the Vision-Centric 3D occupancy prediction track in the nuScenes Open Dataset Challenge at CVPR 2023. Existing methods for occupancy prediction primarily focus on optimizing projected features on 3D volume space using 3D occupancy labels. However, the generation process of these labels is complex and expensive (relying on 3D semantic annotations), and limited by voxel resolution, they cannot provide fine-grained spatial semantics. To address this limitation, we propose a novel Unifying Occupancy (UniOcc) prediction method, explicitly imposing spatial geometry constraint and complementing fine-grained semantic supervision through volume ray rendering. Our method significantly enhances model performance and demonstrates promising potential in reducing human annotation costs. Given the laborious nature of annotating 3D occupancy, we further introduce a Depth-aware Teacher Student (DTS) framework to enhance prediction accuracy using unlabeled data. Our solution achieves 51.27\% mIoU on the official leaderboard with single model, placing 3rd in this challenge.

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arXiv2023

Learning cross space mapping via DNN using large scale click-through logs

The gap between low-level visual signals and high-level semantics has been progressively bridged by continuous development of deep neural network (DNN). With recent progress of DNN, almost all image classification tasks have achieved new records of accuracy. To extend the ability of DNN to image retrieval tasks, we proposed a unified DNN model for image-query similarity calculation by simultaneously modeling image and query in one network. The unified DNN is named the cross space mapping (CSM) model, which contains two parts, a convolutional part and a query-embedding part. The image and query are mapped to a common vector space via these two parts respectively, and image-query similarity is naturally defined as an inner product of their mappings in the space. To ensure good generalization ability of the DNN, we learn weights of the DNN from a large number of click-through logs which consists of 23 million clicked image-query pairs between 1 million images and 11.7 million queries. Both the qualitative results and quantitative results on an image retrieval evaluation task with 1000 queries demonstrate the superiority of the proposed method.

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arXiv2022

Improving Video Instance Segmentation via Temporal Pyramid Routing

Video Instance Segmentation (VIS) is a new and inherently multi-task problem, which aims to detect, segment, and track each instance in a video sequence. Existing approaches are mainly based on single-frame features or single-scale features of multiple frames, where either temporal information or multi-scale information is ignored. To incorporate both temporal and scale information, we propose a Temporal Pyramid Routing (TPR) strategy to conditionally align and conduct pixel-level aggregation from a feature pyramid pair of two adjacent frames. Specifically, TPR contains two novel components, including Dynamic Aligned Cell Routing (DACR) and Cross Pyramid Routing (CPR), where DACR is designed for aligning and gating pyramid features across temporal dimension, while CPR transfers temporally aggregated features across scale dimension. Moreover, our approach is a light-weight and plug-and-play module and can be easily applied to existing instance segmentation methods. Extensive experiments on three datasets including YouTube-VIS (2019, 2021) and Cityscapes-VPS demonstrate the effectiveness and efficiency of the proposed approach on several state-of-the-art video instance and panoptic segmentation methods. Codes will be publicly available at \url{https://github.com/lxtGH/TemporalPyramidRouting}.

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arXiv2021

Global Aggregation then Local Distribution for Scene Parsing

Modelling long-range contextual relationships is critical for pixel-wise prediction tasks such as semantic segmentation. However, convolutional neural networks (CNNs) are inherently limited to model such dependencies due to the naive structure in its building modules (\eg, local convolution kernel). While recent global aggregation methods are beneficial for long-range structure information modelling, they would oversmooth and bring noise to the regions containing fine details (\eg,~boundaries and small objects), which are very much cared for the semantic segmentation task. To alleviate this problem, we propose to explore the local context for making the aggregated long-range relationship being distributed more accurately in local regions. In particular, we design a novel local distribution module which models the affinity map between global and local relationship for each pixel adaptively. Integrating existing global aggregation modules, we show that our approach can be modularized as an end-to-end trainable block and easily plugged into existing semantic segmentation networks, giving rise to the \emph{GALD} networks. Despite its simplicity and versatility, our approach allows us to build new state of the art on major semantic segmentation benchmarks including Cityscapes, ADE20K, Pascal Context, Camvid and COCO-stuff. Code and trained models are released at \url{https://github.com/lxtGH/GALD-DGCNet} to foster further research.

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arXiv2021

Towards Efficient Scene Understanding via Squeeze Reasoning

Graph-based convolutional model such as non-local block has shown to be effective for strengthening the context modeling ability in convolutional neural networks (CNNs). However, its pixel-wise computational overhead is prohibitive which renders it unsuitable for high resolution imagery. In this paper, we explore the efficiency of context graph reasoning and propose a novel framework called Squeeze Reasoning. Instead of propagating information on the spatial map, we first learn to squeeze the input feature into a channel-wise global vector and perform reasoning within the single vector where the computation cost can be significantly reduced. Specifically, we build the node graph in the vector where each node represents an abstract semantic concept. The refined feature within the same semantic category results to be consistent, which is thus beneficial for downstream tasks. We show that our approach can be modularized as an end-to-end trained block and can be easily plugged into existing networks. {Despite its simplicity and being lightweight, the proposed strategy allows us to establish the considerable results on different semantic segmentation datasets and shows significant improvements with respect to strong baselines on various other scene understanding tasks including object detection, instance segmentation and panoptic segmentation.} Code is available at \url{https://github.com/lxtGH/SFSegNets}.

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arXiv2021

Semantic Flow for Fast and Accurate Scene Parsing

In this paper, we focus on designing effective method for fast and accurate scene parsing. A common practice to improve the performance is to attain high resolution feature maps with strong semantic representation. Two strategies are widely used -- atrous convolutions and feature pyramid fusion, are either computation intensive or ineffective. Inspired by the Optical Flow for motion alignment between adjacent video frames, we propose a Flow Alignment Module (FAM) to learn Semantic Flow between feature maps of adjacent levels, and broadcast high-level features to high resolution features effectively and efficiently. Furthermore, integrating our module to a common feature pyramid structure exhibits superior performance over other real-time methods even on light-weight backbone networks, such as ResNet-18. Extensive experiments are conducted on several challenging datasets, including Cityscapes, PASCAL Context, ADE20K and CamVid. Especially, our network is the first to achieve 80.4\% mIoU on Cityscapes with a frame rate of 26 FPS. The code is available at \url{https://github.com/lxtGH/SFSegNets}.

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arXiv2020

Dual Graph Convolutional Network for Semantic Segmentation

Exploiting long-range contextual information is key for pixel-wise prediction tasks such as semantic segmentation. In contrast to previous work that uses multi-scale feature fusion or dilated convolutions, we propose a novel graph-convolutional network (GCN) to address this problem. Our Dual Graph Convolutional Network (DGCNet) models the global context of the input feature by modelling two orthogonal graphs in a single framework. The first component models spatial relationships between pixels in the image, whilst the second models interdependencies along the channel dimensions of the network's feature map. This is done efficiently by projecting the feature into a new, lower-dimensional space where all pairwise interactions can be modelled, before reprojecting into the original space. Our simple method provides substantial benefits over a strong baseline and achieves state-of-the-art results on both Cityscapes (82.0% mean IoU) and Pascal Context (53.7% mean IoU) datasets. Code and models are made available to foster any further research (\url{https://github.com/lxtGH/GALD-DGCNet}).

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arXiv2020

Feature-metric Loss for Self-supervised Learning of Depth and Egomotion

Photometric loss is widely used for self-supervised depth and egomotion estimation. However, the loss landscapes induced by photometric differences are often problematic for optimization, caused by plateau landscapes for pixels in textureless regions or multiple local minima for less discriminative pixels. In this work, feature-metric loss is proposed and defined on feature representation, where the feature representation is also learned in a self-supervised manner and regularized by both first-order and second-order derivatives to constrain the loss landscapes to form proper convergence basins. Comprehensive experiments and detailed analysis via visualization demonstrate the effectiveness of the proposed feature-metric loss. In particular, our method improves state-of-the-art methods on KITTI from 0.885 to 0.925 measured by $δ_1$ for depth estimation, and significantly outperforms previous method for visual odometry.

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arXiv2020

GFF: Gated Fully Fusion for Semantic Segmentation

Semantic segmentation generates comprehensive understanding of scenes through densely predicting the category for each pixel. High-level features from Deep Convolutional Neural Networks already demonstrate their effectiveness in semantic segmentation tasks, however the coarse resolution of high-level features often leads to inferior results for small/thin objects where detailed information is important. It is natural to consider importing low level features to compensate for the lost detailed information in high-level features.Unfortunately, simply combining multi-level features suffers from the semantic gap among them. In this paper, we propose a new architecture, named Gated Fully Fusion (GFF), to selectively fuse features from multiple levels using gates in a fully connected way. Specifically, features at each level are enhanced by higher-level features with stronger semantics and lower-level features with more details, and gates are used to control the propagation of useful information which significantly reduces the noises during fusion. We achieve the state of the art results on four challenging scene parsing datasets including Cityscapes, Pascal Context, COCO-stuff and ADE20K.

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arXiv2019

Adaptive Unimodal Cost Volume Filtering for Deep Stereo Matching

State-of-the-art deep learning based stereo matching approaches treat disparity estimation as a regression problem, where loss function is directly defined on true disparities and their estimated ones. However, disparity is just a byproduct of a matching process modeled by cost volume, while indirectly learning cost volume driven by disparity regression is prone to overfitting since the cost volume is under constrained. In this paper, we propose to directly add constraints to the cost volume by filtering cost volume with unimodal distribution peaked at true disparities. In addition, variances of the unimodal distributions for each pixel are estimated to explicitly model matching uncertainty under different contexts. The proposed architecture achieves state-of-the-art performance on Scene Flow and two KITTI stereo benchmarks. In particular, our method ranked the $1^{st}$ place of KITTI 2012 evaluation and the $4^{th}$ place of KITTI 2015 evaluation (recorded on 2019.8.20). The codes of AcfNet are available at: https://github.com/DeepMotionAIResearch/DenseMatchingBenchmark.

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arXiv2019

Global Aggregation then Local Distribution in Fully Convolutional Networks

It has been widely proven that modelling long-range dependencies in fully convolutional networks (FCNs) via global aggregation modules is critical for complex scene understanding tasks such as semantic segmentation and object detection. However, global aggregation is often dominated by features of large patterns and tends to oversmooth regions that contain small patterns (e.g., boundaries and small objects). To resolve this problem, we propose to first use \emph{Global Aggregation} and then \emph{Local Distribution}, which is called GALD, where long-range dependencies are more confidently used inside large pattern regions and vice versa. The size of each pattern at each position is estimated in the network as a per-channel mask map. GALD is end-to-end trainable and can be easily plugged into existing FCNs with various global aggregation modules for a wide range of vision tasks, and consistently improves the performance of state-of-the-art object detection and instance segmentation approaches. In particular, GALD used in semantic segmentation achieves new state-of-the-art performance on Cityscapes test set with mIoU 83.3\%. Code is available at: \url{https://github.com/lxtGH/GALD-Net}

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arXiv2018

Automatic Dataset Augmentation

Large scale image dataset and deep convolutional neural network (DCNN) are two primary driving forces for the rapid progress made in generic object recognition tasks in recent years. While lots of network architectures have been continuously designed to pursue lower error rates, few efforts are devoted to enlarge existing datasets due to high labeling cost and unfair comparison issues. In this paper, we aim to achieve lower error rate by augmenting existing datasets in an automatic manner. Our method leverages both Web and DCNN, where Web provides massive images with rich contextual information, and DCNN replaces human to automatically label images under guidance of Web contextual information. Experiments show our method can automatically scale up existing datasets significantly from billions web pages with high accuracy, and significantly improve the performance on object recognition tasks by using the automatically augmented datasets, which demonstrates that more supervisory information has been automatically gathered from the Web. Both the dataset and models trained on the dataset are made publicly available.

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arXiv2017

Hard-Aware Deeply Cascaded Embedding

Riding on the waves of deep neural networks, deep metric learning has also achieved promising results in various tasks using triplet network or Siamese network. Though the basic goal of making images from the same category closer than the ones from different categories is intuitive, it is hard to directly optimize due to the quadratic or cubic sample size. To solve the problem, hard example mining which only focuses on a subset of samples that are considered hard is widely used. However, hard is defined relative to a model, where complex models treat most samples as easy ones and vice versa for simple models, and both are not good for training. Samples are also with different hard levels, it is hard to define a model with the just right complexity and choose hard examples adequately. This motivates us to ensemble a set of models with different complexities in cascaded manner and mine hard examples adaptively, a sample is judged by a series of models with increasing complexities and only updates models that consider the sample as a hard case. We evaluate our method on CARS196, CUB-200-2011, Stanford Online Products, VehicleID and DeepFashion datasets. Our method outperforms state-of-the-art methods by a large margin.

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