arXiv subjects

Zichao Feng

Publications and source records attributed to Zichao Feng.

4 recordsLinked to original sources

arXiv2026

InfraNet: Quality-Aware RGB Guidance for Efficient Infrared Object Detection

Robust object detection under adverse visual conditions remains a long-standing challenge for multi-modal perception systems. Existing fusion-based methods typically require both RGB and infrared (IR) inputs, and treat them equally during both training and inference, which compromises their robustness when the RGB modality becomes unreliable or unavailable. In this case, we propose \textbf{InfraNet}, an IR-centric quality-aware framework that regulates RGB guidance during training and supports flexible RGB--IR or IR-only deployment. InfraNet employs an asymmetric architecture where the primary IR pathway extracts multi-scale infrared features for predictions, while the auxiliary RGB pathway provides reliability-controlled supervisory signals. The core of InfraNet is \textbf{QualGate}, a quality-aware fusion module that learns a task-oriented control signal to suppress unreliable RGB guidance and compensate IR features during cross-modal training. Built upon InfraNet, we design two architectural variants: a lightweight IR-only architecture InfraNet-IR and an RGB--IR architecture InfraNet-RGB-IR. Our method is evaluated through extensive experiments on four benchmark datasets (LLVIP, FLIR-Aligned, M$^3$FD, and DroneVehicle), showing strong or competitive accuracy in challenging low-light and adverse weather conditions. Notably, InfraNet maintains high efficiency in IR-only inference, making it both accurate and computationally efficient.

cs.CV↗

arXiv2026

Teaching Vision-Language-Action Models What to See and Where to Look

Vision-Language-Action (VLA) models have emerged as a promising paradigm for end-to-end autonomous driving. However, existing VLAs' training relies heavily on text-centric visual question answering and chain-of-thought reasoning data, which emphasizes linguistic reasoning rather than action-grounded planning. As a result, the learned representations capture semantic knowledge but lack spatial dependencies crucial for reliable trajectory prediction. We propose DriveTeach-VLA, a framework that explicitly teaches VLAs what to see and where to look. Driving-aware Vision Distillation (DVD) injects driving-specific perceptual priors into the vision encoder, while 2D Trajectory-Guided Prompts (2D-TGP) provide spatial conditioning aligned with feasible driving trajectories. Together, they form a vision-guided learning pipeline: what to see (DVD pretraining) - where to look (TGP-guided SFT) - how to act (TGP-guided GRPO). DriveTeach-VLA achieves the state-of-the-art performance on NAVSIM and nuScenes. Our code is available at: https://github.com/ShivaTeam/DriveTeach-VLA.

cs.CV↗

arXiv2025

Surf3R: Rapid Surface Reconstruction from Sparse RGB Views in Seconds

Current multi-view 3D reconstruction methods rely on accurate camera calibration and pose estimation, requiring complex and time-intensive pre-processing that hinders their practical deployment. To address this challenge, we introduce Surf3R, an end-to-end feedforward approach that reconstructs 3D surfaces from sparse views without estimating camera poses and completes an entire scene in under 10 seconds. Our method employs a multi-branch and multi-view decoding architecture in which multiple reference views jointly guide the reconstruction process. Through the proposed branch-wise processing, cross-view attention, and inter-branch fusion, the model effectively captures complementary geometric cues without requiring camera calibration. Moreover, we introduce a D-Normal regularizer based on an explicit 3D Gaussian representation for surface reconstruction. It couples surface normals with other geometric parameters to jointly optimize the 3D geometry, significantly improving 3D consistency and surface detail accuracy. Experimental results demonstrate that Surf3R achieves state-of-the-art performance on multiple surface reconstruction metrics on ScanNet++ and Replica datasets, exhibiting excellent generalization and efficiency.

cs.GR↗

arXiv2025

WaveMamba: Wavelet-Driven Mamba Fusion for RGB-Infrared Object Detection

Leveraging the complementary characteristics of visible (RGB) and infrared (IR) imagery offers significant potential for improving object detection. In this paper, we propose WaveMamba, a cross-modality fusion method that efficiently integrates the unique and complementary frequency features of RGB and IR decomposed by Discrete Wavelet Transform (DWT). An improved detection head incorporating the Inverse Discrete Wavelet Transform (IDWT) is also proposed to reduce information loss and produce the final detection results. The core of our approach is the introduction of WaveMamba Fusion Block (WMFB), which facilitates comprehensive fusion across low-/high-frequency sub-bands. Within WMFB, the Low-frequency Mamba Fusion Block (LMFB), built upon the Mamba framework, first performs initial low-frequency feature fusion with channel swapping, followed by deep fusion with an advanced gated attention mechanism for enhanced integration. High-frequency features are enhanced using a strategy that applies an ``absolute maximum" fusion approach. These advancements lead to significant performance gains, with our method surpassing state-of-the-art approaches and achieving average mAP improvements of 4.5% on four benchmarks.

cs.CV↗