arXiv subjects

Qingwen Zhang

Publications and source records attributed to Qingwen Zhang.

At least 19 recordsLinked to original sources

arXiv2026

Amortized Anchor Refinement for Deployable Continuous-Time 4D Gaussian Reconstruction

Continuous-time 4D reconstruction remains impractical on standalone XR headsets. Per-scene optimization demands deployment-infeasible compute, and lower budgets cause collapse rather than degrade gradually. Feed-forward prediction is fast, but struggle to recover scene-specific detail. We present Amortized Anchor Refinement, which uses a frozen backbone to predict an initial Gaussian representation and a short optimization to specialize it under a fixed compute budget, with a capacity floor preserving representational density. A training-free stage then applies a persistent-homology constraint to prune unstable Gaussians while preserving topologically persistent structures, and streams the resulting trajectories directly as scene flow. On the Stage-Capture benchmark, Amortized Anchor Refinement achieves 24.31$\pm$2.22dB, while our deployment experiments demonstrate reconstruction within the target budget on a single consumer GPU and playback on a standalone XR headset.

cs.CV↗

arXiv2026

Accelerating Large-scale Bundle Adjustment for LiDAR Mapping via Parallel Computing

LiDAR bundle adjustment is widely utilized in mapping to construct globally consistent point cloud maps. In this paper, we propose the first fully parallel computing framework to accelerate LiDAR bundle adjustment for large-scale mapping, incorporating three key techniques. First, we design an adaptive, asynchronous data loading strategy to efficiently process large-scale point cloud datasets on memory-constrained GPUs. Secondly, we present a novel bottom-up voxelization method for extracting planar features, enabling fully parallelized pre-processing. Thirdly, we build upon a majorization-minimization formulation to accelerate compute-intensive tasks in the optimization via parallel computation, including the computation of residuals, Jacobian and Hessian matrices, and a parallel increment solver. To support our design, we provide both theoretical and experimental analysis of the time complexity of our approach. Extensive benchmarking on large-scale public datasets across various computational platforms validates the robustness and adaptability of our approach, achieving up to a tenfold improvement in computational efficiency while preserving mapping accuracy comparable to state-of-the-art methods. To benefit future research, the implementation code is available on GitHub.

cs.RO↗

arXiv2026

SynFlow: Scaling Up LiDAR Scene Flow Estimation with Synthetic Data

Reliable 3D dynamic perception requires models that can anticipate motion beyond predefined categories, yet progress is hindered by the scarcity of dense, high-quality motion annotations. While self-supervision on unlabeled real data offers a path forward, empirical evidence suggests that scaling unlabeled data fails to close the performance gap due to noisy proxy signals. In this paper, we propose learning robust real-world motion priors entirely from scalable simulation. We introduce SynFlow, a data generation pipeline for large-scale synthetic LiDAR scene flow. Unlike prior works that prioritize sensor-specific realism, SynFlow employs a motion-oriented strategy to synthesize diverse kinematic patterns across 4,000 sequences ($\sim$940k frames), termed SynFlow-4k. This represents a $34\times$ scale-up in annotated volume over existing real-world benchmarks. Our experiments demonstrate that SynFlow-4k provides a highly domain-invariant motion prior. In a zero-shot regime, models trained only on our synthetic data generalize across multiple real-world benchmarks, comparable to in-domain supervised baselines on nuScenes and outperforming state-of-the-art methods on TruckScenes by 31.8%. Furthermore, SynFlow-4k serves as a label-efficient foundation: fine-tuning with only 5% of real-world labels surpasses models trained from scratch on the full available budget. We open-source the pipeline and dataset to facilitate research in generalizable 3D motion estimation. More detail can be found at https://kin-zhang.github.io/SynFlow.

cs.CV↗

arXiv2026

EBCC: Enclave-Backed Confidential Containers via OCI-Compatible Runtime Integration

Container runtimes provide a stable operational interface for deploying, monitoring, and controlling modern workloads, while trusted execution environments (TEEs) provide hardware-enforced isolation for sensitive computation. Existing confidential-container systems often rely on VM-backed deployment stacks or TEE-specific execution substrates, which can separate confidential execution from the conventional OCI runtime lifecycle. This paper presents EBCC (Enclave-Backed Confidential Containers), an OCI-compatible runtime architecture for managing composite confidential-computing workloads. EBCC treats the REE-side anchor and TEE-side confidential stages as a single containerized confidential-computing composite, preserves standard OCI lifecycle operations, and keeps TEE-specific execution behind a backend adapter. It also maintains persistent per-instance state and per-stage artifacts for request handling, response generation, logging, and evidence binding. We implement EBCC on a Keystone backend and evaluate its correctness, performance, footprint, and concurrent execution behavior. The results show that EBCC introduces additional latency over native Keystone execution, mainly due to lifecycle mediation, request validation, EID allocation, backend dispatch, and artifact persistence, while keeping the added footprint concentrated on host-side management state. Cross-TEE case studies on SGX, TDX, and OP-TEE show that the same lifecycle and stage abstraction can be mapped to enclave-style, VM-style, and embedded-style TEEs. These results indicate that EBCC can make TEE-backed execution manageable through an OCI-style lifecycle without materially enlarging the protected-side TCB.

cs.CR↗

arXiv2026

UniFlow: Zero-Shot LiDAR Scene Flow for Autonomous Vehicles

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a single sensor. In this paper, we aim to learn general motion priors that transfer to diverse and unseen LiDAR sensors. However, prior work in LiDAR semantic segmentation and 3D object detection demonstrate that naively training on multiple datasets yields worse performance than single dataset models. Interestingly, we find that this conventional wisdom does not hold for motion estimation, and that state-of-the-art scene flow methods greatly benefit from cross-dataset training without architectural modification. We posit that low-level tasks such as motion estimation may be less sensitive to sensor configuration; indeed, our analysis shows that models trained on fast-moving objects (e.g., from highway datasets) perform well on fast-moving objects, even across different datasets. Informed by our analysis, we propose UniFlow, a feedforward model that unifies and trains on multiple large-scale LiDAR scene flow datasets with diverse sensor placements and point cloud densities. Our frustratingly simple solution establishes a new state-of-the-art on Waymo and nuScenes, improving over prior work by 5.1% and 35.2% respectively. Moreover, UniFlow achieves state-of-the-art accuracy on unseen datasets like TruckScenes and AEVAScenes, outperforming prior dataset-specific models by 30.1% and 22.5% respectively.

cs.CV↗

arXiv2026

FreeScale: Scaling 3D Scenes via Certainty-Aware Free-View Generation

The development of generalizable Novel View Synthesis (NVS) models is critically limited by the scarcity of large-scale training data featuring diverse and precise camera trajectories. While real-world captures are photorealistic, they are typically sparse and discrete. Conversely, synthetic data scales but suffers from a domain gap and often lacks realistic semantics. We introduce FreeScale, a novel framework that leverages the power of scene reconstruction to transform limited real-world image sequences into a scalable source of high-quality training data. Our key insight is that an imperfect reconstructed scene serves as a rich geometric proxy, but naively sampling from it amplifies artifacts. To this end, we propose a certainty-aware free-view sampling strategy identifying novel viewpoints that are both semantically meaningful and minimally affected by reconstruction errors. We demonstrate FreeScale's effectiveness by scaling up the training of feedforward NVS models, achieving a notable gain of 2.7 dB in PSNR on challenging out-of-distribution benchmarks. Furthermore, we show that the generated data can actively enhance per-scene 3D Gaussian Splatting optimization, leading to consistent improvements across multiple datasets. Our work provides a practical and powerful data generation engine to overcome a fundamental bottleneck in 3D vision. Project page: https://mvp-ai-lab.github.io/FreeScale.

cs.CV↗

arXiv2026

TeFlow: Enabling Multi-frame Supervision for Self-Supervised Feed-forward Scene Flow Estimation

Self-supervised feed-forward methods for scene flow estimation offer real-time efficiency, but their supervision from two-frame point correspondences is unreliable and often breaks down under occlusions. Multi-frame supervision has the potential to provide more stable guidance by incorporating motion cues from past frames, yet naive extensions of two-frame objectives are ineffective because point correspondences vary abruptly across frames, producing inconsistent signals. In the paper, we present TeFlow, enabling multi-frame supervision for feed-forward models by mining temporally consistent supervision. TeFlow introduces a temporal ensembling strategy that forms reliable supervisory signals by aggregating the most temporally consistent motion cues from a candidate pool built across multiple frames. Extensive evaluations demonstrate that TeFlow establishes a new state-of-the-art for self-supervised feed-forward methods, achieving performance gains of up to 33\% on the challenging Argoverse 2 and nuScenes datasets. Our method performs on par with leading optimization-based methods, yet speeds up 150 times. The code is open-sourced at https://github.com/Kin-Zhang/TeFlow along with trained model weights.

cs.CV↗

arXiv2026

GRVS: a Generalizable and Recurrent Approach to Monocular Dynamic View Synthesis

Synthesizing novel views from monocular videos of dynamic scenes remains a challenging problem. Scene-specific methods that optimize 4D representations with explicit motion priors often break down in highly dynamic regions where multi-view information is hard to exploit. Diffusion-based approaches that integrate camera control into large pre-trained models can produce visually plausible videos but frequently suffer from geometric inconsistencies across both static and dynamic areas. Both families of methods also require substantial computational resources. Building on the success of generalizable models for static novel view synthesis, we adapt the framework to dynamic inputs and propose a new model with two key components: (1) a recurrent loop that enables unbounded and asynchronous mapping between input and target videos and (2) an efficient use of plane sweeps over dynamic inputs to disentangle camera and scene motion, and achieve fine-grained, six-degrees-of-freedom camera controls. We train and evaluate our model on the UCSD dataset and on Kubric-4D-dyn, a new monocular dynamic dataset featuring longer, higher resolution sequences with more complex scene dynamics than existing alternatives. Our model outperforms four Gaussian Splatting-based scene-specific approaches, as well as two diffusion-based approaches in reconstructing fine-grained geometric details across both static and dynamic regions.

cs.CV↗

arXiv2026

Attack-Resistant Uniform Fairness for Linear and Smooth Contextual Bandits

Modern systems, such as digital platforms and service systems, increasingly rely on contextual bandits for online decision-making; however, their deployment can inadvertently create unfair exposure among arms, undermining long-term platform sustainability and supplier trust. This paper studies the contextual bandit problem under a uniform $(1-δ)$-fairness constraint, and addresses its unique vulnerabilities to strategic manipulation. The fairness constraint ensures that preferential treatment is strictly justified by an arm's actual reward across all contexts and time horizons, using uniformity to prevent statistical loopholes. We develop novel algorithms that achieve (nearly) minimax-optimal regret for both linear and smooth reward functions, while maintaining strong $(1-\tilde{O}(1/T))$-fairness guarantees, and further characterize the theoretically inherent yet asymptotically marginal "price of fairness". However, we reveal that such merit-based fairness becomes uniquely susceptible to signal manipulation. We show that an adversary with a minimal $\tilde{O}(1)$ budget can not only degrade overall performance as in traditional attacks, but also selectively induce insidious fairness-specific failures while leaving conspicuous regret measures largely unaffected. To counter this, we design robust variants incorporating corruption-adaptive exploration and error-compensated thresholding. Our approach yields the first minimax-optimal regret bounds under $C$-budgeted attack while preserving $(1-\tilde{O}(1/T))$-fairness. Numerical experiments and a real-world case demonstrate that our algorithms sustain both fairness and efficiency.

stat.ML↗

arXiv2026

SPARKLE: A Nonparametric Approach for Online Decision-Making with High-Dimensional Covariates

Personalized services are central to today's digital economy, and their sequential decisions are often modeled as contextual bandits. Modern applications pose two main challenges: high-dimensional covariates and the need for nonparametric models to capture complex reward-covariate relationships. We propose SPARKLE, a novel contextual bandit algorithm based on a sparse additive reward model that addresses both challenges through (i) a doubly penalized estimator for nonparametric reward estimation and (ii) an epoch-based design with adaptive screening to balance exploration and exploitation. We prove a sublinear regret bound that grows only logarithmically in the covariate dimensionality; to our knowledge, this is the first such result for nonparametric contextual bandits with high-dimensional covariates. We also derive an information-theoretic lower bound, and the gap to the upper bound vanishes as the reward smoothness increases. Extensive experiments on synthetic data and real data from video recommendation and personalized medicine show strong performance in high-dimensional settings.

stat.ML↗

arXiv2026

Arca: A Lightweight Confidential Container Architecture for Cloud-Native Environments

Confidential containers protect cloud-native workloads using trusted execution environments (TEEs). However, existing Container-in-TEE designs (e.g., Confidential Containers (CoCo)) encapsulate the entire runtime within the TEE, inflating the trusted computing base (TCB) and introducing redundant components and cross-layer overhead. We present Arca, a lightweight confidential container framework based on a TEE-in-Container architecture that isolates each workload in an independent, hardware-enforced trust domain while keeping orchestration logic outside the TEE. This design minimizes inter-layer dependencies, confines compromise to per-container boundaries, and restores the TEE's minimal trust principle. We implemented Arca on Intel SGX, Intel TDX, and AMD SEV. Experimental results show that Arca achieves near-native performance and outperforms CoCo in most benchmarks, while the reduced TCB significantly improves verifiability and resilience against host-level compromise. Arca emonstrates that efficient container management and strong runtime confidentiality can be achieved without sacrificing security assurance.

cs.CR↗

arXiv2025

DeltaFlow: An Efficient Multi-frame Scene Flow Estimation Method

Previous dominant methods for scene flow estimation focus mainly on input from two consecutive frames, neglecting valuable information in the temporal domain. While recent trends shift towards multi-frame reasoning, they suffer from rapidly escalating computational costs as the number of frames grows. To leverage temporal information more efficiently, we propose DeltaFlow ($Δ$Flow), a lightweight 3D framework that captures motion cues via a $Δ$ scheme, extracting temporal features with minimal computational cost, regardless of the number of frames. Additionally, scene flow estimation faces challenges such as imbalanced object class distributions and motion inconsistency. To tackle these issues, we introduce a Category-Balanced Loss to enhance learning across underrepresented classes and an Instance Consistency Loss to enforce coherent object motion, improving flow accuracy. Extensive evaluations on the Argoverse 2, Waymo and nuScenes datasets show that $Δ$Flow achieves state-of-the-art performance with up to 22% lower error and $2\times$ faster inference compared to the next-best multi-frame supervised method, while also demonstrating a strong cross-domain generalization ability. The code is open-sourced at https://github.com/Kin-Zhang/DeltaFlow along with trained model weights.

cs.CV↗

arXiv2025

HiMo: High-Speed Objects Motion Compensation in Point Clouds

LiDAR point cloud is essential for autonomous vehicles, but motion distortions from dynamic objects degrade the data quality. While previous work has considered distortions caused by ego motion, distortions caused by other moving objects remain largely overlooked, leading to errors in object shape and position. This distortion is particularly pronounced in high-speed environments such as highways and in multi-LiDAR configurations, a common setup for heavy vehicles. To address this challenge, we introduce HiMo, a pipeline that repurposes scene flow estimation for non-ego motion compensation, correcting the representation of dynamic objects in point clouds. During the development of HiMo, we observed that existing self-supervised scene flow estimators often produce degenerate or inconsistent estimates under high-speed distortion. We further propose SeFlow++, a real-time scene flow estimator that achieves state-of-the-art performance on both scene flow and motion compensation. Since well-established motion distortion metrics are absent in the literature, we introduce two evaluation metrics: compensation accuracy at a point level and shape similarity of objects. We validate HiMo through extensive experiments on Argoverse 2, ZOD, and a newly collected real-world dataset featuring highway driving and multi-LiDAR-equipped heavy vehicles. Our findings show that HiMo improves the geometric consistency and visual fidelity of dynamic objects in LiDAR point clouds, benefiting downstream tasks such as semantic segmentation and 3D detection. See https://kin-zhang.github.io/HiMo for more details.

cs.CV↗

arXiv2025

AGO: Adaptive Grounding for Open World 3D Occupancy Prediction

Open-world 3D semantic occupancy prediction aims to generate a voxelized 3D representation from sensor inputs while recognizing both known and unknown objects. Transferring open-vocabulary knowledge from vision-language models (VLMs) offers a promising direction but remains challenging. However, methods based on VLM-derived 2D pseudo-labels with traditional supervision are limited by a predefined label space and lack general prediction capabilities. Direct alignment with pretrained image embeddings, on the other hand, often fails to achieve reliable performance because of inconsistent image and text representations in VLMs. To address these challenges, we propose AGO, a novel 3D occupancy prediction framework with adaptive grounding to handle diverse open-world scenarios. AGO first encodes surrounding images and class prompts into 3D and text embeddings, respectively, leveraging similarity-based grounding training with 3D pseudo-labels. Additionally, a modality adapter maps 3D embeddings into a space aligned with VLM-derived image embeddings, reducing modality gaps. Experiments on Occ3D-nuScenes show that AGO improves unknown object prediction in zero-shot and few-shot transfer while achieving state-of-the-art closed-world self-supervised performance, surpassing prior methods by 4.09 mIoU. Code is available at: https://github.com/EdwardLeeLPZ/AGO.

cs.CV↗

arXiv2025

Symmetry-Driven Asynchronous Forwarding for Reliable Distributed Coordination in Toroidal Networks

The proliferation of large-scale distributed systems, such as satellite constellations and high-performance computing clusters, demands robust communication primitives that maintain coordination under unreliable links. The torus topology, with its inherent rotational and reflection symmetries, is a prevalent architecture in these domains. However, conventional routing schemes suffer from substantial packet loss during control-plane synchronization after link failures. This paper introduces a symmetry-driven asynchronous forwarding mechanism that leverages the torus's geometric properties to achieve reliable packet delivery without control-plane coordination. We model packet flow using a topological potential gradient and demonstrate that symmetry-breaking failures naturally induce a reverse flow, which we harness for fault circumvention. We propose two local forwarding strategies, Reverse Flow with Counter-facing Priority (RF-CF) and Lateral-facing Priority (RF-LF), that guarantee reachability to the destination via forward-flow phase transition points, without protocol modifications or additional in-packet overhead. Through percolation analysis and packet-level simulations on a 16 x 16 torus, we show that our mechanism reduces packet loss by up to 17.5% under a 1% link failure rate, with the RF-LF strategy contributing to 28% of successfully delivered packets. This work establishes a foundational link between topological symmetry and communication resilience, providing a lightweight, protocol-agnostic substrate for enhancing distributed systems.

cs.NI↗

arXiv2025

DoGFlow: Self-Supervised LiDAR Scene Flow via Cross-Modal Doppler Guidance

Accurate 3D scene flow estimation is critical for autonomous systems to navigate dynamic environments safely, but creating the necessary large-scale, manually annotated datasets remains a significant bottleneck for developing robust perception models. Current self-supervised methods struggle to match the performance of fully supervised approaches, especially in challenging long-range and adverse weather scenarios, while supervised methods are not scalable due to their reliance on expensive human labeling. We introduce DoGFlow, a novel self-supervised framework that recovers full 3D object motions for LiDAR scene flow estimation without requiring any manual ground truth annotations. This paper presents our cross-modal label transfer approach, where DoGFlow computes motion pseudo-labels in real-time directly from 4D radar Doppler measurements and transfers them to the LiDAR domain using dynamic-aware association and ambiguity-resolved propagation. On the challenging MAN TruckScenes dataset, DoGFlow substantially outperforms existing self-supervised methods and improves label efficiency by enabling LiDAR backbones to achieve over 90% of fully supervised performance with only 10% of the ground truth data. For more details, please visit https://ajinkyakhoche.github.io/DogFlow/

cs.CV↗

arXiv2025

AutoScale: Linear Scalarization Guided by Multi-Task Optimization Metrics

Recent multi-task learning studies suggest that linear scalarization, when using well-chosen fixed task weights, can achieve comparable to or even better performance than complex multi-task optimization (MTO) methods. It remains unclear why certain weights yield optimal performance and how to determine these weights without relying on exhaustive hyperparameter search. This paper establishes a direct connection between linear scalarization and MTO methods, revealing through extensive experiments that well-performing scalarization weights exhibit specific trends in key MTO metrics, such as high gradient magnitude similarity. Building on this insight, we introduce AutoScale, a simple yet effective two-phase framework that uses these MTO metrics to guide weight selection for linear scalarization, without expensive weight search. AutoScale consistently shows superior performance with high efficiency across diverse datasets including a new large-scale benchmark.

cs.LG↗

arXiv2025

MambaFlow: A Novel and Flow-guided State Space Model for Scene Flow Estimation

Scene flow estimation aims to predict 3D motion from consecutive point cloud frames, which is of great interest in autonomous driving field. Existing methods face challenges such as insufficient spatio-temporal modeling and inherent loss of fine-grained feature during voxelization. However, the success of Mamba, a representative state space model (SSM) that enables global modeling with linear complexity, provides a promising solution. In this paper, we propose MambaFlow, a novel scene flow estimation network with a mamba-based decoder. It enables deep interaction and coupling of spatio-temporal features using a well-designed backbone. Innovatively, we steer the global attention modeling of voxel-based features with point offset information using an efficient Mamba-based decoder, learning voxel-to-point patterns that are used to devoxelize shared voxel representations into point-wise features. To further enhance the model's generalization capabilities across diverse scenarios, we propose a novel scene-adaptive loss function that automatically adapts to different motion patterns.Extensive experiments on the Argoverse 2 benchmark demonstrate that MambaFlow achieves state-of-the-art performance with real-time inference speed among existing works, enabling accurate flow estimation in real-world urban scenarios. The code is available at https://github.com/SCNU-RISLAB/MambaFlow.

cs.CV↗