arXiv subjects

Yaochen Li

Publications and source records attributed to Yaochen Li.

At least 19 recordsLinked to original sources

arXiv2026

TADP: Task-Aware Deformable Prediction for Single-Stage 3D Object Detection

Most single-stage 3D object detectors complete different tasks with the same extracted features. Nevertheless, it is impossible to project features into a common space that is adaptive for all the tasks. We present a novel task-aware deformable prediction (TADP) method for single-stage 3D object detection to solve this problem. Firstly, a triple feature refinement aggregation module is designed to extract three-level features adaptively. Additionally, we design the multi-scale feature aggregation block to fuse multi-scale features in a scale-aware manner. Finally, the prediction of each task is deformed with the designed plug-and-play task-aware deformation head. It can percept the emphasis and interaction of each task. We also designed three different deformation modules. The experimental results demonstrate that the proposed deformation head shows good results on other detection methods. The experimental results on the KITTI dataset demonstrate that the car mAP is 80.91%, surpassing many state-of-the-art methods on the KITTI benchmark.

cs.CV↗

arXiv2026

Pangu-ACE: Adaptive Cascaded Experts for Educational Response Generation on EduBench

Educational assistants should spend more computation only when the task needs it. This paper rewrites our earlier draft around the system that was actually implemented and archived in the repository: a sample-level 1B to 7B cascade for the shared-8 EduBench benchmark. The final system, Pangu-ACE, uses a 1B tutor-router to produce a draft answer plus routing signals, then either accepts the draft or escalates the sample to a 7B specialist prompt. We also correct a major offline evaluation bug: earlier summaries over-credited some open-form outputs that only satisfied superficial format checks. After CPU-side rescoring from saved prediction JSONL, the full Chinese test archive (7013 samples) shows that cascade_final improves deterministic quality from 0.457 to 0.538 and format validity from 0.707 to 0.866 over the legacy rule_v2 system while accepting 19.7% of requests directly at 1B. Routing is strongly task dependent: IP is accepted by 1B 78.0% of the time, while QG and EC still escalate almost always. The current archived deployment does not yet show latency gains, so the defensible efficiency story is routing selectivity rather than wall-clock speedup. We also package a reproducible artifact-first paper workflow and clarify the remaining external-baseline gap: GPT-5.4 re-judging is implemented locally, but the configured provider endpoint and key are invalid, so final sampled-baseline alignment with GPT-5.4 remains pending infrastructure repair.

cs.CL↗

arXiv2025

In-Plane Field induced Quantized Longitudinal Conductivity in Magnetic Topological Insulators

We report the discovery of an in plane quantization (IPQ) state in trilayer magnetic topological insulators, characterized by a quantized longitudinal conductivity of e2/h under strong in-plane magnetic fields. This state emerges at a quantum critical point separating quantum anomalous Hall phases tuned by field angle and orientation, directly linking gap-closing behavior to quantized criticality. Temperature and gate dependent transport measurements, supported by a self consistent approximation model, reveal that electron hole puddles dominate charge transport in this regime, highlighting the essential role of impurity disorder in stabilizing quantized critical transport. These findings establish a tunable experimental framework that connects gap-closing physics with universal conductivity, offering both microscopic insight into critical transport in magnetic topological insulators and a robust platform for probing quantum criticality in topological systems.

cond-mat.mes-hall↗

arXiv2025

Spintronic Bayesian Hardware Driven by Stochastic Magnetic Domain Wall Dynamics

As artificial intelligence (AI) advances into diverse applications, ensuring reliability of AI models is increasingly critical. Conventional neural networks offer strong predictive capabilities but produce deterministic outputs without inherent uncertainty estimation, limiting their reliability in safety-critical domains. Probabilistic neural networks (PNNs), which introduce randomness, have emerged as a powerful approach for enabling intrinsic uncertainty quantification. However, traditional CMOS architectures are inherently designed for deterministic operation and actively suppress intrinsic randomness. This poses a fundamental challenge for implementing PNNs, as probabilistic processing introduces significant computational overhead. To address this challenge, we introduce a Magnetic Probabilistic Computing (MPC) platform-an energy-efficient, scalable hardware accelerator that leverages intrinsic magnetic stochasticity for uncertainty-aware computing. This physics-driven strategy utilizes spintronic systems based on magnetic domain walls (DWs) and their dynamics to establish a new paradigm of physical probabilistic computing for AI. The MPC platform integrates three key mechanisms: thermally induced DW stochasticity, voltage controlled magnetic anisotropy (VCMA), and tunneling magnetoresistance (TMR), enabling fully electrical and tunable probabilistic functionality at the device level. As a representative demonstration, we implement a Bayesian Neural Network (BNN) inference structure and validate its functionality on CIFAR-10 classification tasks. Compared to standard 28nm CMOS implementations, our approach achieves a seven orders of magnitude improvement in the overall figure of merit, with substantial gains in area efficiency, energy consumption, and speed. These results underscore the MPC platform's potential to enable reliable and trustworthy physical AI systems.

physics.app-ph↗

arXiv2024

Ultrafast dynamics of wavelength-sensitive magnons in unconventional compensated semiconducting antiferromagnet

Antiferromagnet is a promising candidate for the next generation spintronic devices, benefiting from its ultrafast dynamics and spontaneous zero stray field. However, the understanding of their ultrafast spin behaviors is lacking due to the challenges of controlling/detecting the quenched net magnetization. Unconventional compensated semiconducting antiferromagnets present strong time-reversal symmetry breaking, spin splitting in the momentum space, and suitable bandgap for optical control/detection. Thus, it is a powerful platform to uncover the ultrafast dynamics of antiferromagnets. Here, we show an exotic wavelength-dependent spin dynamic in the unconventional compensated semiconducting antiferromagnet {\alpha}-MnTe via time-resolved quadratic magneto-optical Kerr effect measurement, where the probing photon energy of the laser matches its bandgap. This direct excitation and detection of distinct magnon modes reveal varying spin behaviors and time characteristics in a broad temperature range. It originates from the spins triggered at different bands of electronic structures and is depicted in an energy transfer model among electrons, phonons, and magnons. Our study of exotic optical properties in this unconventional semiconducting antiferromagnet fulfills the missing information of spin evolution in the time domain and paves the way for its utilization in ultrafast spintronic devices.

physics.app-ph↗

arXiv2023

Giant Hall Switching by Surface-State-Mediated Spin-Orbit Torque in a Hard Ferromagnetic Topological Insulator

Topological insulators (TI) and magnetic topological insulators (MTI) can apply highly efficient spin-orbit torque (SOT) and manipulate the magnetization with their unique topological surface states with ultra-high efficiency. Here, we demonstrate efficient SOT switching of a hard MTI, V-doped (Bi,Sb)2Te3 (VBST) with a large coercive field that can prevent the influence of an external magnetic field. A giant switched anomalous Hall resistance of 9.2 $k\Omega$ is realized, among the largest of all SOT systems, which makes the Hall channel a good readout and eliminates the need to fabricate complicated magnetic tunnel junction (MTJ) structures. The SOT switching current density can be reduced to $2.8\times10^5 A/cm^2$. Moreover, as the Fermi level is moved away from the Dirac point by both gate and composition tuning, VBST exhibits a transition from edge-state-mediated to surface-state-mediated transport, thus enhancing the SOT effective field to $1.56\pm 0.12 T/ (10^6 A/cm^2)$ and the interfacial charge-to-spin conversion efficiency to $3.9\pm 0.3 nm^{-1}$. The findings establish VBST as an extraordinary candidate for energy-efficient magnetic memory devices.

cond-mat.mes-hall↗

arXiv2022

BEV-LaneDet: a Simple and Effective 3D Lane Detection Baseline

3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible representations of 3D lanes. Faced with the issues, our work proposes an efficient and robust monocular 3D lane detection called BEV-LaneDet with three main contributions. First, we introduce the Virtual Camera that unifies the in/extrinsic parameters of cameras mounted on different vehicles to guarantee the consistency of the spatial relationship among cameras. It can effectively promote the learning procedure due to the unified visual space. We secondly propose a simple but efficient 3D lane representation called Key-Points Representation. This module is more suitable to represent the complicated and diverse 3D lane structures. At last, we present a light-weight and chip-friendly spatial transformation module named Spatial Transformation Pyramid to transform multiscale front-view features into BEV features. Experimental results demonstrate that our work outperforms the state-of-the-art approaches in terms of F-Score, being 10.6% higher on the OpenLane dataset and 5.9% higher on the Apollo 3D synthetic dataset, with a speed of 185 FPS. The source code will released at https://github.com/gigo-team/bev_lane_det.

cs.CV↗

arXiv2021

SiamPolar: Semi-supervised Realtime Video Object Segmentation with Polar Representation

Video object segmentation (VOS) is an essential part of autonomous vehicle navigation. The real-time speed is very important for the autonomous vehicle algorithms along with the accuracy metric. In this paper, we propose a semi-supervised real-time method based on the Siamese network using a new polar representation. The input of bounding boxes is initialized rather than the object masks, which are applied to the video object detection tasks. The polar representation could reduce the parameters for encoding masks with subtle accuracy loss so that the algorithm speed can be improved significantly. An asymmetric siamese network is also developed to extract the features from different spatial scales. Moreover, the peeling convolution is proposed to reduce the antagonism among the branches of the polar head. The repeated cross-correlation and semi-FPN are designed based on this idea. The experimental results on the DAVIS-2016 dataset and other public datasets demonstrate the effectiveness of the proposed method.

cs.CV↗

arXiv2020

Effective multi-view registration of point sets based on student's t mixture model

Recently, Expectation-maximization (EM) algorithm has been introduced as an effective means to solve multi-view registration problem. Most of the previous methods assume that each data point is drawn from the Gaussian Mixture Model (GMM), which is difficult to deal with the noise with heavy-tail or outliers. Accordingly, this paper proposed an effective registration method based on Student's t Mixture Model (StMM). More specially, we assume that each data point is drawn from one unique StMM, where its nearest neighbors (NNs) in other point sets are regarded as the t-distribution centroids with equal covariances, membership probabilities, and fixed degrees of freedom. Based on this assumption, the multi-view registration problem is formulated into the maximization of the likelihood function including all rigid transformations. Subsequently, the EM algorithm is utilized to optimize rigid transformations as well as the only t-distribution covariance for multi-view registration. Since only a few model parameters require to be optimized, the proposed method is more likely to obtain the desired registration results. Besides, all t-distribution centroids can be obtained by the NN search method, it is very efficient to achieve multi-view registration. What's more, the t-distribution takes the noise with heavy-tail into consideration, which makes the proposed method be inherently robust to noises and outliers. Experimental results tested on benchmark data sets illustrate its superior performance on robustness and accuracy over state-of-the-art methods.

cs.CV↗

arXiv2019

Visual Space Optimization for Zero-shot Learning

Zero-shot learning, which aims to recognize new categories that are not included in the training set, has gained popularity owing to its potential ability in the real-word applications. Zero-shot learning models rely on learning an embedding space, where both semantic descriptions of classes and visual features of instances can be embedded for nearest neighbor search. Recently, most of the existing works consider the visual space formulated by deep visual features as an ideal choice of the embedding space. However, the discrete distribution of instances in the visual space makes the data structure unremarkable. We argue that optimizing the visual space is crucial as it allows semantic vectors to be embedded into the visual space more effectively. In this work, we propose two strategies to accomplish this purpose. One is the visual prototype based method, which learns a visual prototype for each visual class, so that, in the visual space, a class can be represented by a prototype feature instead of a series of discrete visual features. The other is to optimize the visual feature structure in an intermediate embedding space, and in this method we successfully devise a multilayer perceptron framework based algorithm that is able to learn the common intermediate embedding space and meanwhile to make the visual data structure more distinctive. Through extensive experimental evaluation on four benchmark datasets, we demonstrate that optimizing visual space is beneficial for zero-shot learning. Besides, the proposed prototype based method achieves the new state-of-the-art performance.

cs.CV↗

arXiv2019

Feature Concatenation Multi-view Subspace Clustering

Multi-view clustering is a learning paradigm based on multi-view data. Since statistic properties of different views are diverse, even incompatible, few approaches implement multi-view clustering based on the concatenated features straightforward. However, feature concatenation is a natural way to combine multi-view data. To this end, this paper proposes a novel multi-view subspace clustering approach dubbed Feature Concatenation Multi-view Subspace Clustering (FCMSC), which boosts the clustering performance by exploring the consensus information of multi-view data. Specifically, multi-view data are concatenated into a joint representation firstly, then, $l_{2,1}$-norm is integrated into the objective function to deal with the sample-specific and cluster-specific corruptions of multiple views. Moreover, a graph regularized FCMSC is also proposed in this paper to explore both the consensus information and complementary information of multi-view data for clustering. It is noteworthy that the obtained coefficient matrix is not derived by simply applying the Low-Rank Representation (LRR) to concatenated features directly. Finally, an effective algorithm based on the Augmented Lagrangian Multiplier (ALM) is designed to optimize the objective functions. Comprehensive experiments on six real-world datasets illustrate the superiority of the proposed methods over several state-of-the-art approaches for multi-view clustering.

cs.LG↗

arXiv2018

Multi-view Point Cloud Registration with Adaptive Convergence Threshold and its Application on 3D Model Retrieval

Multi-view point cloud registration is a hot topic in the communities of multimedia technology and artificial intelligence (AI). In this paper, we propose a framework to reconstruct the 3D models by the multi-view point cloud registration algorithm with adaptive convergence threshold, and subsequently apply it to 3D model retrieval. The iterative closest point (ICP) algorithm is implemented combining with the motion average algorithm for the registration of multi-view point clouds. After the registration process, we design applications for 3D model retrieval. The geometric saliency map is computed based on the vertex curvature. The test facial triangle is then generated based on the saliency map, which is applied to compare with the standard facial triangle. The face and non-face models are then discriminated. The experiments and comparisons prove the effectiveness of the proposed framework.

cs.CV↗

arXiv2018

Spatio-Temporal Road Scene Reconstruction using Superpixel Markov Random Field

Scene model construction based on image rendering is an indispensable but challenging technique in computer vision and intelligent transportation systems. In this paper, we propose a framework for constructing 3D corridor-based road scene models. This consists of two successive stages: road detection and scene construction. The road detection is realized by a new superpixel Markov random field (MRF) algorithm. The data fidelity term in the MRF's energy function is jointly computed according to the superpixel features of color, texture and location. The smoothness term is established on the basis of the interaction of spatio-temporally adjacent superpixels. In the subsequent scene construction, the foreground and background regions are modeled independently. Experiments for road detection demonstrate the proposed method outperforms the state-of-the-art in both accuracy and speed. The scene construction experiments confirm that the proposed scene models show better correctness ratios, and have the potential to support a range of applications.

cs.CV↗

arXiv2018

Adaptive Co-weighting Deep Convolutional Features For Object Retrieval

Aggregating deep convolutional features into a global image vector has attracted sustained attention in image retrieval. In this paper, we propose an efficient unsupervised aggregation method that uses an adaptive Gaussian filter and an elementvalue sensitive vector to co-weight deep features. Specifically, the Gaussian filter assigns large weights to features of region-of-interests (RoI) by adaptively determining the RoI's center, while the element-value sensitive channel vector suppresses burstiness phenomenon by assigning small weights to feature maps with large sum values of all locations. Experimental results on benchmark datasets validate the proposed two weighting schemes both effectively improve the discrimination power of image vectors. Furthermore, with the same experimental setting, our method outperforms other very recent aggregation approaches by a considerable margin.

cs.CV↗

arXiv2017

K-means clustering for efficient and robust registration of multi-view point sets

Generally, there are three main factors that determine the practical usability of registration, i.e., accuracy, robustness, and efficiency. In real-time applications, efficiency and robustness are more important. To promote these two abilities, we cast the multi-view registration into a clustering task. All the centroids are uniformly sampled from the initially aligned point sets involved in the multi-view registration, which makes it rather efficient and effective for the clustering. Then, each point is assigned to a single cluster and each cluster centroid is updated accordingly. Subsequently, the shape comprised by all cluster centroids is used to sequentially estimate the rigid transformation for each point set. For accuracy and stability, clustering and transformation estimation are alternately and iteratively applied to all point sets. We tested our proposed approach on several benchmark datasets and compared it with state-of-the-art approaches. Experimental results validate its efficiency and robustness for the registration of multi-view point sets.

cs.CV↗

arXiv2017

Multi-view Registration Based on Weighted Low Rank and Sparse Matrix Decomposition of Motions

Recently, the low rank and sparse (LRS) matrix decomposition has been introduced as an effective mean to solve the multi-view registration. It views each available relative motion as a block element to reconstruct one matrix so as to approximate the low rank matrix, where global motions can be recovered for multi-view registration. However, this approach is sensitive to the sparsity of the reconstructed matrix and it treats all block elements equally in spite of their varied reliability. Therefore, this paper proposes an effective approach for multi-view registration by the weighted LRS decomposition. Based on the anti-symmetry property of relative motions, it firstly proposes a completion strategy to reduce the sparsity of the reconstructed matrix. The reduced sparsity of reconstructed matrix can improve the robustness of LRS decomposition. Then, it proposes the weighted LRS decomposition, where each block element is assigned with one estimated weight to denote its reliability. By introducing the weight, more accurate registration results can be recovered from the estimated low rank matrix with good efficiency. Experimental results tested on public data sets illustrate the superiority of the proposed approach over the state-of-the-art approaches on robustness, accuracy, and efficiency.

cs.CV↗

arXiv2017

Simultaneous merging multiple grid maps using the robust motion averaging

Mapping in the GPS-denied environment is an important and challenging task in the field of robotics. In the large environment, mapping can be significantly accelerated by multiple robots exploring different parts of the environment. Accordingly, a key problem is how to integrate these local maps built by different robots into a single global map. In this paper, we propose an approach for simultaneous merging of multiple grid maps by the robust motion averaging. The main idea of this approach is to recover all global motions for map merging from a set of relative motions. Therefore, it firstly adopts the pair-wise map merging method to estimate relative motions for grid map pairs. To obtain as many reliable relative motions as possible, a graph-based sampling scheme is utilized to efficiently remove unreliable relative motions obtained from the pair-wise map merging. Subsequently, the accurate global motions can be recovered from the set of reliable relative motions by the motion averaging. Experimental results carried on real robot data sets demonstrate that proposed approach can achieve simultaneous merging of multiple grid maps with good performances.

cs.AI↗

arXiv2017

An Effective Approach for Point Clouds Registration Based on the Hard and Soft Assignments

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each point in the data shape and calculates the value of binary variable, which can indicate whether this point correspondence is located in the overlapping areas or not. Then, it establishes the bilateral correspondence and computes bidirectional distances for each point in the overlapping areas. Based on the ratio of bidirectional distances, the exponential function is selected and utilized to calculate the probability value, which can indicate the reliability of the point correspondence. Subsequently, both the values of hard and soft assignments are embedded into the proposed objective function for registration of partially overlapping point clouds and a novel variant of ICP algorithm is proposed to obtain the optimal rigid transformation. The proposed approach can achieve good registration of point clouds, even when their overlap percentage is low. Experimental results tested on public data sets illustrate its superiority over previous approaches on accuracy and robustness.

cs.CV↗