arXiv subjects

Shujie Zhang

Publications and source records attributed to Shujie Zhang.

12 recordsLinked to original sources

arXiv2026

RoboSnap: One-Shot Real-to-Sim Scene Generation for Generalizable Robot Learning and Evaluation

Recovering real-world scenes as interactive simulation environments can enable generalizable robot learning and reproducible policy evaluation. However, constructing scenes that are both physically stable and visually faithful remains slow and expensive. In this work, we present RoboSnap, a real-to-sim framework that turns a single RGB image into a simulation-ready scene. The key idea is a layered design that separates the physics-critical interaction area from the surrounding visual context: collision-aware foreground assets are refined for stable robot interaction, while a 3D Gaussian splatting visual layer preserves faithful background appearance under novel views. Experiments on DROID scenes and real-robot tasks show that RoboSnap achieves reliable trajectory replay in the recovered scenes, supports task-specific synthetic data generation for policy training, and yields meaningful sim-real correlation for policy evaluation. To further support real-to-sim research, we introduce DROID-Sim, a real-to-sim companion dataset constructed from 564 real-world scenes in DROID. Extensive experiments suggest that the value of real-to-sim methods lies not only in high-fidelity visual reconstruction, but in turning real environments into reusable infrastructure for robot learning and evaluation.

cs.RO↗

arXiv2026

EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies

We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging manipulation tasks annotated along 5 capability dimensions and 4 generalization dimensions. We evaluate state-of-the-art generalist manipulation models including $\pi_0$, $\pi_{0.5}$, XVLA, and InternVLA-A1, and reveal that the models exhibit strikingly different capability profiles: $\pi_{0.5}$ achieves the highest test success rate, the best train--test retention, and the strongest mobile manipulation performance; $\pi_0$ leads on dexterous fixed-base and high-precision tasks; XVLA and InternVLA-A1 exhibit complementary strengths across atomic skills and operating regimes. Beyond capability profiling, EBench analyzes the generalization ability from 4 representative perspectives, identifying the impact of different distribution shift factors. The results reveal strengths and weaknesses of models behind an overall score. We hope this benchmark offers a broad set of diagnostic signals to guide iteration on generalist manipulation models.

cs.RO↗

arXiv2026

Pair2Scene: Learning Local Object Relations for Procedural Scene Generation

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes or rely on LLMs/VLMs that lack the ability for precise spatial reasoning. Building on top of the observation that object placement relies mainly on local dependencies instead of information-redundant global distributions, in this paper, we propose Pair2Scene, a novel procedural generation framework that integrates learned local rules with scene hierarchies and physics-based algorithms. These rules mainly capture two types of inter-object relations, namely support relations that follow physical hierarchies, and functional relations that reflect semantic links. We model these rules through a network, which estimates spatial position distributions of dependent objects conditioned on position and geometry of the anchor ones. Accordingly, we curate a dataset 3D-Pairs from existing scene data to train the model. During inference, our framework can generate scenes by recursively applying our model within a hierarchical structure, leveraging collision-aware rejection sampling to align local rules into coherent global layouts. Extensive experiments demonstrate that our framework outperforms existing methods in generating complex environments that go beyond training data while maintaining physical and semantic plausibility.

cs.CV↗

arXiv2026

RoboVIP: Multi-View Video Generation with Visual Identity Prompting Augments Robot Manipulation

The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to scale across diverse environments. Recent work uses text-prompt conditioned image diffusion models to augment manipulation data by altering the backgrounds and tabletop objects in the visual observations. However, these approaches often overlook the practical need for multi-view and temporally coherent observations required by state-of-the-art policy models. Further, text prompts alone cannot reliably specify the scene setup. To provide the diffusion model with explicit visual guidance, we introduce visual identity prompting, which supplies exemplar images as conditioning inputs to guide the generation of the desired scene setup. To this end, we also build a scalable pipeline to curate a visual identity pool from large robotics datasets. Using our augmented manipulation data to train downstream vision-language-action and visuomotor policy models yields consistent performance gains in both simulation and real-robot settings.

cs.CV↗

arXiv2025

3D Scene Change Modeling With Consistent Multi-View Aggregation

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and post-change states. To address these limitations, we propose SCaR-3D, a novel 3D scene change detection framework that identifies object-level changes from a dense-view pre-change image sequence and sparse-view post-change images. Our approach consists of a signed-distance-based 2D differencing module followed by multi-view aggregation with voting and pruning, leveraging the consistent nature of 3DGS to robustly separate pre- and post-change states. We further develop a continual scene reconstruction strategy that selectively updates dynamic regions while preserving the unchanged areas. We also contribute CCS3D, a challenging synthetic dataset that allows flexible combinations of 3D change types to support controlled evaluations. Extensive experiments demonstrate that our method achieves both high accuracy and efficiency, outperforming existing methods.

cs.CV↗

arXiv2025

SceneWeaver: All-in-One 3D Scene Synthesis with an Extensible and Self-Reflective Agent

Indoor scene synthesis has become increasingly important with the rise of Embodied AI, which requires 3D environments that are not only visually realistic but also physically plausible and functionally diverse. While recent approaches have advanced visual fidelity, they often remain constrained to fixed scene categories, lack sufficient object-level detail and physical consistency, and struggle to align with complex user instructions. In this work, we present SceneWeaver, a reflective agentic framework that unifies diverse scene synthesis paradigms through tool-based iterative refinement. At its core, SceneWeaver employs a language model-based planner to select from a suite of extensible scene generation tools, ranging from data-driven generative models to visual- and LLM-based methods, guided by self-evaluation of physical plausibility, visual realism, and semantic alignment with user input. This closed-loop reason-act-reflect design enables the agent to identify semantic inconsistencies, invoke targeted tools, and update the environment over successive iterations. Extensive experiments on both common and open-vocabulary room types demonstrate that SceneWeaver not only outperforms prior methods on physical, visual, and semantic metrics, but also generalizes effectively to complex scenes with diverse instructions, marking a step toward general-purpose 3D environment generation. Project website: https://scene-weaver.github.io/.

cs.GR↗

arXiv2024

Reaching Consensus in Cooperative Multi-Agent Reinforcement Learning with Goal Imagination

Reaching consensus is key to multi-agent coordination. To accomplish a cooperative task, agents need to coherently select optimal joint actions to maximize the team reward. However, current cooperative multi-agent reinforcement learning (MARL) methods usually do not explicitly take consensus into consideration, which may cause miscoordination problem. In this paper, we propose a model-based consensus mechanism to explicitly coordinate multiple agents. The proposed Multi-agent Goal Imagination (MAGI) framework guides agents to reach consensus with an Imagined common goal. The common goal is an achievable state with high value, which is obtained by sampling from the distribution of future states. We directly model this distribution with a self-supervised generative model, thus alleviating the "curse of dimensinality" problem induced by multi-agent multi-step policy rollout commonly used in model-based methods. We show that such efficient consensus mechanism can guide all agents cooperatively reaching valuable future states. Results on Multi-agent Particle-Environments and Google Research Football environment demonstrate the superiority of MAGI in both sample efficiency and performance.

cs.AI↗

arXiv2023

OCHID-Fi: Occlusion-Robust Hand Pose Estimation in 3D via RF-Vision

Hand Pose Estimation (HPE) is crucial to many applications, but conventional cameras-based CM-HPE methods are completely subject to Line-of-Sight (LoS), as cameras cannot capture occluded objects. In this paper, we propose to exploit Radio-Frequency-Vision (RF-vision) capable of bypassing obstacles for achieving occluded HPE, and we introduce OCHID-Fi as the first RF-HPE method with 3D pose estimation capability. OCHID-Fi employs wideband RF sensors widely available on smart devices (e.g., iPhones) to probe 3D human hand pose and extract their skeletons behind obstacles. To overcome the challenge in labeling RF imaging given its human incomprehensible nature, OCHID-Fi employs a cross-modality and cross-domain training process. It uses a pre-trained CM-HPE network and a synchronized CM/RF dataset, to guide the training of its complex-valued RF-HPE network under LoS conditions. It further transfers knowledge learned from labeled LoS domain to unlabeled occluded domain via adversarial learning, enabling OCHID-Fi to generalize to unseen occluded scenarios. Experimental results demonstrate the superiority of OCHID-Fi: it achieves comparable accuracy to CM-HPE under normal conditions while maintaining such accuracy even in occluded scenarios, with empirical evidence for its generalizability to new domains.

cs.CV↗

arXiv2021

MoRe-Fi: Motion-robust and Fine-grained Respiration Monitoring via Deep-Learning UWB Radar

Crucial for healthcare and biomedical applications, respiration monitoring often employs wearable sensors in practice, causing inconvenience due to their direct contact with human bodies. Therefore, researchers have been constantly searching for contact-free alternatives. Nonetheless, existing contact-free designs mostly require human subjects to remain static, largely confining their adoptions in everyday environments where body movements are inevitable. Fortunately, radio-frequency (RF) enabled contact-free sensing, though suffering motion interference inseparable by conventional filtering, may offer a potential to distill respiratory waveform with the help of deep learning. To realize this potential, we introduce MoRe-Fi to conduct fine-grained respiration monitoring under body movements. MoRe-Fi leverages an IR-UWB radar to achieve contact-free sensing, and it fully exploits the complex radar signal for data augmentation. The core of MoRe-Fi is a novel variational encoder-decoder network; it aims to single out the respiratory waveforms that are modulated by body movements in a non-linear manner. Our experiments with 12 subjects and 66-hour data demonstrate that MoRe-Fi accurately recovers respiratory waveform despite the interference caused by body movements. We also discuss potential applications of MoRe-Fi for pulmonary disease diagnoses.

cs.LG↗

arXiv2018

BigDataBench: A Scalable and Unified Big Data and AI Benchmark Suite

Several fundamental changes in technology indicate domain-specific hardware and software co-design is the only path left. In this context, architecture, system, data management, and machine learning communities pay greater attention to innovative big data and AI algorithms, architecture, and systems. Unfortunately, complexity, diversity, frequently-changed workloads, and rapid evolution of big data and AI systems raise great challenges. First, the traditional benchmarking methodology that creates a new benchmark or proxy for every possible workload is not scalable, or even impossible for Big Data and AI benchmarking. Second, it is prohibitively expensive to tailor the architecture to characteristics of one or more application or even a domain of applications. We consider each big data and AI workload as a pipeline of one or more classes of units of computation performed on different initial or intermediate data inputs, each class of which we call a data motif. On the basis of our previous work that identifies eight data motifs taking up most of the run time of a wide variety of big data and AI workloads, we propose a scalable benchmarking methodology that uses the combination of one or more data motifs---to represent diversity of big data and AI workloads. Following this methodology, we present a unified big data and AI benchmark suite---BigDataBench 4.0, publicly available from~\url{http://prof.ict.ac.cn/BigDataBench}. This unified benchmark suite sheds new light on domain-specific hardware and software co-design: tailoring the system and architecture to characteristics of the unified eight data motifs other than one or more application case by case. Also, for the first time, we comprehensively characterize the CPU pipeline efficiency using the benchmarks of seven workload types in BigDataBench 4.0.

cs.DC↗

arXiv2014

BigDataBench: a Big Data Benchmark Suite from Internet Services

As architecture, systems, and data management communities pay greater attention to innovative big data systems and architectures, the pressure of benchmarking and evaluating these systems rises. Considering the broad use of big data systems, big data benchmarks must include diversity of data and workloads. Most of the state-of-the-art big data benchmarking efforts target evaluating specific types of applications or system software stacks, and hence they are not qualified for serving the purposes mentioned above. This paper presents our joint research efforts on this issue with several industrial partners. Our big data benchmark suite BigDataBench not only covers broad application scenarios, but also includes diverse and representative data sets. BigDataBench is publicly available from http://prof.ict.ac.cn/BigDataBench . Also, we comprehensively characterize 19 big data workloads included in BigDataBench with varying data inputs. On a typical state-of-practice processor, Intel Xeon E5645, we have the following observations: First, in comparison with the traditional benchmarks: including PARSEC, HPCC, and SPECCPU, big data applications have very low operation intensity; Second, the volume of data input has non-negligible impact on micro-architecture characteristics, which may impose challenges for simulation-based big data architecture research; Last but not least, corroborating the observations in CloudSuite and DCBench (which use smaller data inputs), we find that the numbers of L1 instruction cache misses per 1000 instructions of the big data applications are higher than in the traditional benchmarks; also, we find that L3 caches are effective for the big data applications, corroborating the observation in DCBench.

cs.DB↗

arXiv2013

BigDataBench: a Big Data Benchmark Suite from Web Search Engines

This paper presents our joint research efforts on big data benchmarking with several industrial partners. Considering the complexity, diversity, workload churns, and rapid evolution of big data systems, we take an incremental approach in big data benchmarking. For the first step, we pay attention to search engines, which are the most important domain in Internet services in terms of the number of page views and daily visitors. However, search engine service providers treat data, applications, and web access logs as business confidentiality, which prevents us from building benchmarks. To overcome those difficulties, with several industry partners, we widely investigated the open source solutions in search engines, and obtained the permission of using anonymous Web access logs. Moreover, with two years' great efforts, we created a sematic search engine named ProfSearch (available from http://prof.ict.ac.cn). These efforts pave the path for our big data benchmark suite from search engines---BigDataBench, which is released on the web page (http://prof.ict.ac.cn/BigDataBench). We report our detailed analysis of search engine workloads, and present our benchmarking methodology. An innovative data generation methodology and tool are proposed to generate scalable volumes of big data from a small seed of real data, preserving semantics and locality of data. Also, we preliminarily report two case studies using BigDataBench for both system and architecture researches.

cs.IR↗