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Shuhong Liu

Publications and source records attributed to Shuhong Liu.

35 records · Page 2Linked to original sources

POP: Online Structural Pruning Enables Efficient Inference of Large Foundation Models

Large foundation models (LFMs) achieve strong performance through scaling, yet current structural pruning methods derive fixed pruning decisions during inference, overlooking sparsity patterns that emerge in the autoregressive token generation. In this paper, we propose POP (Partition-guided Online Pruning), an efficient online structural pruning framework that enables context-conditioned dynamic pruning with minimal computational overhead. POP partitions model channels into retained, candidate, and pruned regions, where prefilling defines a coarse pruning partition, and the decoding stage generates a fine-grained mask within the candidate region, avoiding full-channel re-evaluation. The coarse pruning partition preserves consistently important weights, while the fine-grained masking provides context-conditioned variation during decoding. Moreover, POP is a lightweight, plug-and-play method that requires no preprocessing, including offline calibration, retraining, or learning predictors. Extensive evaluations across diverse LFMs, including large language models (LLMs), mixture-of-experts models (MoEs), and vision-language models (VLMs), demonstrate that POP consistently delivers higher accuracy than existing pruning approaches while incurring smaller computational overhead and minimizing inference latency.

cs.AI↗

RealX3D: A Physically-Degraded 3D Benchmark for Multi-view Visual Restoration and Reconstruction

We introduce RealX3D, a real-capture benchmark for multi-view visual restoration and 3D reconstruction under diverse physical degradations. RealX3D groups corruptions into four families, including illumination, scattering, occlusion, and blurring, and captures each at multiple severity levels using a unified acquisition protocol that yields pixel-aligned LQ/GT views. Each scene includes high-resolution capture, RAW images, and dense laser scans, from which we derive world-scale meshes and metric depth. Benchmarking a broad range of optimization-based and feed-forward methods shows substantial degradation in reconstruction quality under physical corruptions, underscoring the fragility of current multi-view pipelines in real-world challenging environments.

cs.CV↗

MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems.

cs.RO↗

DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Prior

Gaussian SLAM systems excel in real-time rendering and fine-grained reconstruction compared to NeRF-based systems. However, their reliance on extensive keyframes is impractical for deployment in real-world robotic systems, which typically operate under sparse-view conditions that can result in substantial holes in the map. To address these challenges, we introduce DenseSplat, the first SLAM system that effectively combines the advantages of NeRF and 3DGS. DenseSplat utilizes sparse keyframes and NeRF priors for initializing primitives that densely populate maps and seamlessly fill gaps. It also implements geometry-aware primitive sampling and pruning strategies to manage granularity and enhance rendering efficiency. Moreover, DenseSplat integrates loop closure and bundle adjustment, significantly enhancing frame-to-frame tracking accuracy. Extensive experiments on multiple large-scale datasets demonstrate that DenseSplat achieves superior performance in tracking and mapping compared to current state-of-the-art methods.

cs.CV↗

Hierarchical Structure-Property Alignment for Data-Efficient Molecular Generation and Editing

Property-constrained molecular generation and editing are crucial in AI-driven drug discovery but remain hindered by two factors: (i) capturing the complex relationships between molecular structures and multiple properties remains challenging, and (ii) the narrow coverage and incomplete annotations of molecular properties weaken the effectiveness of property-based models. To tackle these limitations, we propose HSPAG, a data-efficient framework featuring hierarchical structure-property alignment. By treating SMILES and molecular properties as complementary modalities, the model learns their relationships at atom, substructure, and whole-molecule levels. Moreover, we select representative samples through scaffold clustering and hard samples via an auxiliary variational auto-encoder (VAE), substantially reducing the required pre-training data. In addition, we incorporate a property relevance-aware masking mechanism and diversified perturbation strategies to enhance generation quality under sparse annotations. Experiments demonstrate that HSPAG captures fine-grained structure-property relationships and supports controllable generation under multiple property constraints. Two real-world case studies further validate the editing capabilities of HSPAG.

cs.LG↗

I2-NeRF: Learning Neural Radiance Fields Under Physically-Grounded Media Interactions

Participating in efforts to endow generative AI with the 3D physical world perception, we propose I2-NeRF, a novel neural radiance field framework that enhances isometric and isotropic metric perception under media degradation. While existing NeRF models predominantly rely on object-centric sampling, I2-NeRF introduces a reverse-stratified upsampling strategy to achieve near-uniform sampling across 3D space, thereby preserving isometry. We further present a general radiative formulation for media degradation that unifies emission, absorption, and scattering into a particle model governed by the Beer-Lambert attenuation law. By composing the direct and media-induced in-scatter radiance, this formulation extends naturally to complex media environments such as underwater, haze, and even low-light scenes. By treating light propagation uniformly in both vertical and horizontal directions, I2-NeRF enables isotropic metric perception and can even estimate medium properties such as water depth. Experiments on real-world datasets demonstrate that our method significantly improves both reconstruction fidelity and physical plausibility compared to existing approaches.

cs.CV↗

SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, and object-level geometry. We introduce a unique semantic feature loss that effectively compensates for the shortcomings of traditional depth and color losses in object optimization. Through a semantic-guided keyframe selection strategy, we prevent erroneous reconstructions caused by cumulative errors. Extensive experiments demonstrate that SGS-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, precise semantic segmentation, and object-level geometric accuracy, while ensuring real-time rendering capabilities.

cs.CV↗

DeRainGS: Gaussian Splatting for Enhanced Scene Reconstruction in Rainy Environments

Reconstruction under adverse rainy conditions poses significant challenges due to reduced visibility and the distortion of visual perception. These conditions can severely impair the quality of geometric maps, which is essential for applications ranging from autonomous planning to environmental monitoring. In response to these challenges, this study introduces the novel task of 3D Reconstruction in Rainy Environments (3DRRE), specifically designed to address the complexities of reconstructing 3D scenes under rainy conditions. To benchmark this task, we construct the HydroViews dataset that comprises a diverse collection of both synthesized and real-world scene images characterized by various intensities of rain streaks and raindrops. Furthermore, we propose DeRainGS, the first 3DGS method tailored for reconstruction in adverse rainy environments. Extensive experiments across a wide range of rain scenarios demonstrate that our method delivers state-of-the-art performance, remarkably outperforming existing occlusion-free methods.

cs.CV↗

Gradient-based optimization of spintronic devices

The optimization of physical parameters serves various purposes, such as system identification and efficiency in developing devices. Spin-torque oscillators have been applied to neuromorphic computing experimentally and theoretically, but the optimization of their physical parameters has usually been done by grid search. In this paper, we propose a scheme to optimize the parameters of the dynamics of macrospin-type spin-torque oscillators using the gradient descent method with automatic differentiation. First, we prepared numerically created dynamics as teacher data and successfully tuned the parameters to reproduce the dynamics. This can be applied to obtain the correspondence between the simulation and experiment of the spin-torque oscillators. Next, we successfully solved the image recognition task with high accuracy by connecting the coupled system of spin-torque oscillators to the input and output layers and training all of them through gradient descent. This approach allowed us to estimate how to control the experimental setup and design the physical systems so that the task could be solved with a high accuracy using spin-torque oscillators.

cond-mat.mes-hall↗

Exploiting Chaotic Dynamics as Deep Neural Networks

Chaos presents complex dynamics arising from nonlinearity and a sensitivity to initial states. These characteristics suggest a depth of expressivity that underscores their potential for advanced computational applications. However, strategies to effectively exploit chaotic dynamics for information processing have largely remained elusive. In this study, we reveal that the essence of chaos can be found in various state-of-the-art deep neural networks. Drawing inspiration from this revelation, we propose a novel method that directly leverages chaotic dynamics for deep learning architectures. Our approach is systematically evaluated across distinct chaotic systems. In all instances, our framework presents superior results to conventional deep neural networks in terms of accuracy, convergence speed, and efficiency. Furthermore, we found an active role of transient chaos formation in our scheme. Collectively, this study offers a new path for the integration of chaos, which has long been overlooked in information processing, and provides insights into the prospective fusion of chaotic dynamics within the domains of machine learning and neuromorphic computation.

cs.NE↗

Multi-Modal UAV Detection, Classification and Tracking Algorithm -- Technical Report for CVPR 2024 UG2 Challenge

This technical report presents the 1st winning model for UG2+, a task in CVPR 2024 UAV Tracking and Pose-Estimation Challenge. This challenge faces difficulties in drone detection, UAV-type classification and 2D/3D trajectory estimation in extreme weather conditions with multi-modal sensor information, including stereo vision, various Lidars, Radars, and audio arrays. Leveraging this information, we propose a multi-modal UAV detection, classification, and 3D tracking method for accurate UAV classification and tracking. A novel classification pipeline which incorporates sequence fusion, region of interest (ROI) cropping, and keyframe selection is proposed. Our system integrates cutting-edge classification techniques and sophisticated post-processing steps to boost accuracy and robustness. The designed pose estimation pipeline incorporates three modules: dynamic points analysis, a multi-object tracker, and trajectory completion techniques. Extensive experiments have validated the effectiveness and precision of our approach. In addition, we also propose a novel dataset pre-processing method and conduct a comprehensive ablation study for our design. We finally achieved the best performance in the classification and tracking of the MMUAD dataset. The code and configuration of our method are available at https://github.com/dtc111111/Multi-Modal-UAV.

cs.RO↗

MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM systems. To address this limitation, we propose MoD-SLAM, the first monocular NeRF-based dense mapping method that allows 3D reconstruction in real-time in unbounded scenes. Specifically, we introduce a Gaussian-based unbounded scene representation approach to solve the challenge of mapping scenes without boundaries. This strategy is essential to extend the SLAM application. Moreover, a depth estimation module in the front-end is designed to extract accurate priori depth values to supervise mapping and tracking processes. By introducing a robust depth loss term into the tracking process, our SLAM system achieves more precise pose estimation in large-scale scenes. Our experiments on two standard datasets show that MoD-SLAM achieves competitive performance, improving the accuracy of the 3D reconstruction and localization by up to 30% and 15% respectively compared with existing state-of-the-art monocular SLAM systems.

cs.CV↗

CEIR: Concept-based Explainable Image Representation Learning

In modern machine learning, the trend of harnessing self-supervised learning to derive high-quality representations without label dependency has garnered significant attention. However, the absence of label information, coupled with the inherently high-dimensional nature, improves the difficulty for the interpretation of learned representations. Consequently, indirect evaluations become the popular metric for evaluating the quality of these features, leading to a biased validation of the learned representation rationale. To address these challenges, we introduce a novel approach termed Concept-based Explainable Image Representation (CEIR). Initially, using the Concept-based Model (CBM) incorporated with pretrained CLIP and concepts generated by GPT-4, we project input images into a concept vector space. Subsequently, a Variational Autoencoder (VAE) learns the latent representation from these projected concepts, which serves as the final image representation. Due to the capability of the representation to encapsulate high-level, semantically relevant concepts, the model allows for attributions to a human-comprehensible concept space. This not only enhances interpretability but also preserves the robustness essential for downstream tasks. For instance, our method exhibits state-of-the-art unsupervised clustering performance on benchmarks such as CIFAR10, CIFAR100, and STL10. Furthermore, capitalizing on the universality of human conceptual understanding, CEIR can seamlessly extract the related concept from open-world images without fine-tuning. This offers a fresh approach to automatic label generation and label manipulation.

cs.CV↗

Interactions of a collapsing laser-induced cavitation bubble with a hemispherical droplet attached to a rigid boundary

We investigate experimentally and theoretically the interactions between a cavitation bubble and a hemispherical pendant oil droplet immersed in water. In experiments, the cavitation bubble is generated by a focused laser pulse right below the pendant droplet with well-controlled bubble-wall distances and bubble-droplet size ratios. By high-speed imaging, four typical interactions are observed, namely, oil droplet rupture, water droplet entrapment, oil droplet large deformation, and oil droplet mild deformation. The bubble jetting at the end of collapse and the migration of the bubble centroid are particularly different in each bubble-droplet interaction. We propose theoretical models based on the method of images for calculating the Kelvin impulse and the anisotropy parameter which quantitatively reflects the migration of the bubble centroid at the end of the collapse. Finally, we explain that a combination of the Weber number and the anisotropy parameter determines the regimes of the bubble-droplet interactions.

physics.flu-dyn↗

Large cavitation bubbles in the tube with a conical-frustum shaped closed end during a transient process

The transient process accompanied by extreme acceleration in the conical sections of hydraulic systems (e.g., draft tube, diffuser) can induce large cavitation bubbles both at the closed ends and in the bulk liquid. The collapses of the large cavitation bubbles can cause severe damage to the solid walls. We conduct experiments in the tubes with different conical-frustum shaped closed ends with the `tube-arrest' method and observe bubbles generated at these two locations. For the bubbles generated at the close end of the tube, we propose the onset criteria, consisting of two universal non-dimensional parameters $Ca_1$ and $Ca_2$, of large cavitation bubbles separating the water column. We investigate their dynamics including the collapse time and speed. The results indicate that the larger the conical angle, the faster the bubbles collapse. For the bubbles generated in the bulk liquid, we numerically study the collapse time, the jet characteristics and the pressure pulse at bubble collapse. We observe a much stronger jet and pressure pulse of bubbles in tubes, comparing with a bubble near an infinite plate. Our results can provide guidance in the design and safe operation of hydraulic machinery with complex geometries, considering the cavitation during the transient process.

physics.flu-dyn↗

On the criteria of large cavitation bubbles in a tube during a transient process

Extreme cavitation scenarios such as water column separations in hydraulic systems during transient processes caused by large cavitation bubbles can lead to catastrophic destruction. In the present paper, we study the onset criteria and dynamics of large cavitation bubbles in a tube. A new cavitation number $Ca_2 = {l^*}^{-1} Ca_0$ is proposed to describe the maximum length $L_{\max}$ of the cavitation bubble, where $l^*$ is a non-dimensional length of the water column indicating its slenderness, and $Ca_0$ is the classic cavitation number. Combined with the onset criteria for acceleration-induced cavitation ($Ca_1<1$, Pan et al. (2017)), we show that the occurrence of large cylindrical cavitation bubbles requires both $Ca_2<1$ and $Ca_1<1$ simultaneously. We also establish a Rayleigh-type model for the dynamics of large cavitation bubbles in a tube. The bubbles collapse at a finite end speed, and the time from the maximum bubble size to collapse is $T_c=\sqrt{2}\sqrt{lL_{\max}}\sqrt{\fracρ{p_\infty}}$, where $l$ is the length of the water column, $L_{\max}$ is the maximum bubble length, $ρ$ is the liquid density, and $p_{\infty}$ is the reference pressure in the far field. The analytical results are validated against systematic experiments using a modified 'tube-arrest' apparatus, which can decouple acceleration and velocity. The results in the current work can guide design and operation of hydraulic systems encountering transient processes.

physics.flu-dyn↗

Leidenfrost drop impact on inclined superheated substrates

In real applications, drops always impact on solid walls with various inclinations. For the oblique impact of a Leidenfrost drop, which has a vapor layer under its bottom surface to prevent its direct contact with the superheated substrate, the drop can nearly frictionlessly slide along the substrate accompanied by the spreading and the retracting. To individually study these processes, we experimentally observe ethanol drops impact on superheated inclined substrates using high-speed imaging from two different views synchronously. We first study the dynamic Leidenfrost temperature, which mainly depends on the normal Weber number ${We}_\perp $. Then the substrate temperature is set to be high enough to study the Leidenfrost drop behaviors. During the spreading process, drops always keep uniform. And the maximum spreading factor $D_m/D_0$ follows a power-law dependence on the large normal Weber number ${We}_\perp $ as $D_m/D_0 = \sqrt{We_\perp /12+2}$ for $We_\perp \geq 30$. During the retracting process, drops with low impact velocities become non-uniform due to the gravity effect. For the sliding process, the residence time of all studied drops is nearly a constant, which is not affected by the inclination and $We$ number. The frictionless vapor layer results in the dimensionless sliding distance $L/D_0$ follows a power-law dependence on the parallel Weber number $We_\parallel$ as $L/D_0 \propto We_\parallel^{1/2}$. Without direct contact with the substrate, the behaviors of drops can be separately determined by ${We}_\perp $ and $We_\parallel$. When the impact velocity is too high, the drop fragments into many tiny droplets, which is called the splashing phenomenon. The critical splashing criterion is found to be $We_\perp ^*\simeq$ 120 or $K_\perp = We_\perp Re_\perp^{1/2} \simeq$ 5300 in the current parameter regime.

physics.flu-dyn↗