arXiv subjects

Xiuyu Yang

Publications and source records attributed to Xiuyu Yang.

8 recordsLinked to original sources

arXiv2026

Lucida: Parse, Generate, and Place for Composable Real-to-Sim Scene Modeling

Composable scene modeling aims to recover a real indoor scene as complete, editable object assets arranged as observed, giving robot simulation and embodied AI a simulation-ready replica of the real environment whose objects can be manipulated individually. Existing pipelines decompose the task into three steps---parse the observations into instances, generate an asset for each, and place each asset back---but every step presumes an input that a cluttered capture rarely provides: accurate instance geometry, unoccluded views, and assets that accurately match the observations. We propose Lucida, which keeps this order but redistributes the requirements, so each step consumes only what a real capture reliably provides and precision is reached at the end of the pipeline rather than demanded at its start. Lucida parses the video into a scene graph whose nodes carry per-instance multi-view evidence, generates a complete asset for each instance from its evidence, and places assets with GizmoAct, a VLM policy that casts placement as multi-turn GUI interaction, manipulating the object's gizmo in a closed loop and deciding itself when alignment is reached. Across scene-level 3D object detection, object pose estimation, and scene reconstruction, Lucida improves mAP over Boxer by 69% on R2S-Scene, raises ADD-SB@0.05 from 57.8% to 83.4% on CA-1M, and increases scene F-Score from 0.794 for SAM3D to 0.924.

cs.CV↗

arXiv2026

Relit-LiVE: Relight Video by Jointly Learning Environment Video

Recent advances have shown that large-scale video diffusion models can be repurposed as neural renderers by first decomposing videos into intrinsic scene representations and then performing forward rendering under novel illumination. While promising, this paradigm fundamentally relies on accurate intrinsic decomposition, which remains highly unreliable for real-world videos and often leads to distorted appearances, broken materials, and accumulated temporal artifacts during relighting. In this work, we present Relit-LiVE, a novel video relighting framework that produces physically consistent, temporally stable results without requiring prior knowledge of camera pose. Our key insight is to explicitly introduce raw reference images into the rendering process, enabling the model to recover critical scene cues that are inevitably lost or corrupted in intrinsic representations. Furthermore, we propose a novel environment video prediction formulation that simultaneously generates relit videos and per-frame environment maps aligned with each camera viewpoint in a single diffusion process. This joint prediction enforces strong geometric-illumination alignment and naturally supports dynamic lighting and camera motion, significantly improving physical consistency in video relighting while easing the requirement of known per-frame camera pose. Extensive experiments demonstrate that Relit-LiVE consistently outperforms state-of-the-art video relighting and neural rendering methods across synthetic and real-world benchmarks. Beyond relighting, our framework naturally supports a wide range of downstream applications, including scene-level rendering, material editing, object insertion, and streaming video relighting. The Project is available at https://github.com/zhuxing0/Relit-LiVE.

cs.CV↗

arXiv2025

Long-term Traffic Simulation with Interleaved Autoregressive Motion and Scenario Generation

An ideal traffic simulator replicates the realistic long-term point-to-point trip that a self-driving system experiences during deployment. Prior models and benchmarks focus on closed-loop motion simulation for initial agents in a scene. This is problematic for long-term simulation. Agents enter and exit the scene as the ego vehicle enters new regions. We propose InfGen, a unified next-token prediction model that performs interleaved closed-loop motion simulation and scene generation. InfGen automatically switches between closed-loop motion simulation and scene generation mode. It enables stable long-term rollout simulation. InfGen performs at the state-of-the-art in short-term (9s) traffic simulation, and significantly outperforms all other methods in long-term (30s) simulation. The code and model of InfGen will be released at https://orangesodahub.github.io/InfGen

cs.CV↗

arXiv2025

ORV: 4D Occupancy-centric Robot Video Generation

Recent embodied intelligence suffers from data scarcity, while conventional simulators lack visual realism. Controllable video generation is emerging as a promising data engine, yet current action-conditioned methods still fall short: generated videos are limited in fidelity and temporal consistency, poorly aligned with controls, and often constrained to singleview settings. We attribute these issues to the representational gap between sparse control inputs and dense pixel outputs. Thus, we introduce ORV, a 4D occupancy-centric framework for robot video generation that couples action priors with occupancy-derived visual priors. Concretely, we align chunked 7-DoF actions with video latents via an Action-Expert AdaLN modulation, and inject 2D renderings of 4D semantic occupancy into the generation process as soft guidance. Meanwhile, a central obstacle is the lack of occupancy data for embodied scenarios; we therefore curate ORV-Data, a large-scale, high-quality 4D semantic occupancy dataset of robot manipulation. Across BridgeV2, DROID, and RT-1, ORV improves video generation quality and controllability, achieving 18.8% lower FVD than state of the art, +3.5% success rate on visual planning, and +6.4% success rate on policy learning. Beyond singleview generation, ORV natively supports multiview consistent synthesis and enables simulation-to-real transfer despite significant domain gaps. Code, models, and data are at: https://orangesodahub.github.io/ORV

cs.CV↗

arXiv2025

Diffusion-Based Generative Models for 3D Occupancy Prediction in Autonomous Driving

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this work, we reframe 3D occupancy prediction as a generative modeling task using diffusion models, which learn the underlying data distribution and incorporate 3D scene priors. This approach enhances prediction consistency, noise robustness, and better handles the intricacies of 3D spatial structures. Our extensive experiments show that diffusion-based generative models outperform state-of-the-art discriminative approaches, delivering more realistic and accurate occupancy predictions, especially in occluded or low-visibility regions. Moreover, the improved predictions significantly benefit downstream planning tasks, highlighting the practical advantages of our method for real-world autonomous driving applications.

cs.CV↗

arXiv2025

TrackOcc: Camera-based 4D Panoptic Occupancy Tracking

Comprehensive and consistent dynamic scene understanding from camera input is essential for advanced autonomous systems. Traditional camera-based perception tasks like 3D object tracking and semantic occupancy prediction lack either spatial comprehensiveness or temporal consistency. In this work, we introduce a brand-new task, Camera-based 4D Panoptic Occupancy Tracking, which simultaneously addresses panoptic occupancy segmentation and object tracking from camera-only input. Furthermore, we propose TrackOcc, a cutting-edge approach that processes image inputs in a streaming, end-to-end manner with 4D panoptic queries to address the proposed task. Leveraging the localization-aware loss, TrackOcc enhances the accuracy of 4D panoptic occupancy tracking without bells and whistles. Experimental results demonstrate that our method achieves state-of-the-art performance on the Waymo dataset. The source code will be released at https://github.com/Tsinghua-MARS-Lab/TrackOcc.

cs.CV↗

arXiv2024

SceneCraft: Layout-Guided 3D Scene Generation

The creation of complex 3D scenes tailored to user specifications has been a tedious and challenging task with traditional 3D modeling tools. Although some pioneering methods have achieved automatic text-to-3D generation, they are generally limited to small-scale scenes with restricted control over the shape and texture. We introduce SceneCraft, a novel method for generating detailed indoor scenes that adhere to textual descriptions and spatial layout preferences provided by users. Central to our method is a rendering-based technique, which converts 3D semantic layouts into multi-view 2D proxy maps. Furthermore, we design a semantic and depth conditioned diffusion model to generate multi-view images, which are used to learn a neural radiance field (NeRF) as the final scene representation. Without the constraints of panorama image generation, we surpass previous methods in supporting complicated indoor space generation beyond a single room, even as complicated as a whole multi-bedroom apartment with irregular shapes and layouts. Through experimental analysis, we demonstrate that our method significantly outperforms existing approaches in complex indoor scene generation with diverse textures, consistent geometry, and realistic visual quality. Code and more results are available at: https://orangesodahub.github.io/SceneCraft

cs.CV↗

arXiv2023

RMMDet: Road-Side Multitype and Multigroup Sensor Detection System for Autonomous Driving

Autonomous driving has now made great strides thanks to artificial intelligence, and numerous advanced methods have been proposed for vehicle end target detection, including single sensor or multi sensor detection methods. However, the complexity and diversity of real traffic situations necessitate an examination of how to use these methods in real road conditions. In this paper, we propose RMMDet, a road-side multitype and multigroup sensor detection system for autonomous driving. We use a ROS-based virtual environment to simulate real-world conditions, in particular the physical and functional construction of the sensors. Then we implement muti-type sensor detection and multi-group sensors fusion in this environment, including camera-radar and camera-lidar detection based on result-level fusion. We produce local datasets and real sand table field, and conduct various experiments. Furthermore, we link a multi-agent collaborative scheduling system to the fusion detection system. Hence, the whole roadside detection system is formed by roadside perception, fusion detection, and scheduling planning. Through the experiments, it can be seen that RMMDet system we built plays an important role in vehicle-road collaboration and its optimization. The code and supplementary materials can be found at: https://github.com/OrangeSodahub/RMMDet

cs.RO↗