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Researcher profile

Fanjie Kong

Fanjie Kong contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionMachine Learningeess.IVRobotics

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Published work

6 published item(s)

preprint2026arXiv

A Vision-Language-Action Model with Visual Prompt for OFF-Road Autonomous Driving

Efficient trajectory planning in off-road terrains presents a formidable challenge for autonomous vehicles, often necessitating complex multi-step pipelines. However, traditional approaches exhibit limited adaptability in dynamic environments. To address these limitations, this paper proposes OFF-EMMA, a novel end-to-end multimodal framework designed to overcome the deficiencies of insufficient spatial perception and unstable reasoning in visual-language-action (VLA) models for off-road autonomous driving scenarios. The framework explicitly annotates input images through the design of a visual prompt block and introduces a chain-of-thought with self-consistency (COT-SC) reasoning strategy to enhance the accuracy and robustness of trajectory planning. The visual prompt block utilizes semantic segmentation masks as visual prompts, enhancing the spatial understanding ability of pre-trained visual-language models for complex terrains. The COT- SC strategy effectively mitigates the error impact of outliers on planning performance through a multi-path reasoning mechanism. Experimental results on the RELLIS-3D off-road dataset demonstrate that OFF-EMMA significantly outperforms existing methods, reducing the average L2 error of the Qwen backbone model by 13.3% and decreasing the failure rate from 16.52% to 6.56%.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

GenDet: Painting Colored Bounding Boxes on Images via Diffusion Model for Object Detection

This paper presents GenDet, a novel framework that redefines object detection as an image generation task. In contrast to traditional approaches, GenDet adopts a pioneering approach by leveraging generative modeling: it conditions on the input image and directly generates bounding boxes with semantic annotations in the original image space. GenDet establishes a conditional generation architecture built upon the large-scale pre-trained Stable Diffusion model, formulating the detection task as semantic constraints within the latent space. It enables precise control over bounding box positions and category attributes, while preserving the flexibility of the generative model. This novel methodology effectively bridges the gap between generative models and discriminative tasks, providing a fresh perspective for constructing unified visual understanding systems. Systematic experiments demonstrate that GenDet achieves competitive accuracy compared to discriminative detectors, while retaining the flexibility characteristic of generative methods.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Ground4D: Spatially-Grounded Feedforward 4D Reconstruction for Unstructured Off-Road Scenes

Feedforward Gaussian Splatting has recently emerged as an efficient paradigm for 4D reconstruction in autonomous driving. However, in unstructured off-road scenes, its performance degrades due to high-frequency geometry, ego-motion jitter, and increased non-rigid dynamics. These factors introduce conflicting Gaussian observations across timestamps, leading to either over-smoothed renderings or structural artifacts. To address this issue, we propose Ground4D, a spatially-grounded 4D feedforward framework for pose-free off-road reconstruction. The key idea is to resolve temporal conflicts through spatially localized conditioning. Specifically, we introduce voxel-grounded temporal Gaussian aggregation, which partitions the canonical Gaussian space into spatial voxels and performs query-conditioned temporal attention within each voxel. Intra-voxel softmax normalization ensures that temporal selectivity and spatial occupancy become mutually reinforcing rather than conflicting. We furthermore introduce surface normal cues as auxiliary geometric guidance to regularize the geometry of Gaussian primitives. Extensive experiments on ORAD-3D and RELLIS-3D demonstrate that Ground4D consistently outperforms existing feedforward methods in reconstruction quality and generalizes zero-shot to unseen off-road domains. Project page and code:https://github.com/wsnbws/Ground4D.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Quantum Tensor Network in Machine Learning: An Application to Tiny Object Classification

Tiny object classification problem exists in many machine learning applications like medical imaging or remote sensing, where the object of interest usually occupies a small region of the whole image. It is challenging to design an efficient machine learning model with respect to tiny object of interest. Current neural network structures are unable to deal with tiny object efficiently because they are mainly developed for images featured by large scale objects. However, in quantum physics, there is a great theoretical foundation guiding us to analyze the target function for image classification regarding to specific objects size ratio. In our work, we apply Tensor Networks to solve this arising tough machine learning problem. First, we summarize the previous work that connects quantum spin model to image classification and bring the theory into the scenario of tiny object classification. Second, we propose using 2D multi-scale entanglement renormalization ansatz (MERA) to classify tiny objects in image. In the end, our experimental results indicate that tensor network models are effective for tiny object classification problem and potentially will beat state-of-the-art. Our codes will be available online https://github.com/timqqt/MERA_Image_Classification.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Physics-enhanced machine learning for virtual fluorescence microscopy

This paper introduces a new method of data-driven microscope design for virtual fluorescence microscopy. Our results show that by including a model of illumination within the first layers of a deep convolutional neural network, it is possible to learn task-specific LED patterns that substantially improve the ability to infer fluorescence image information from unstained transmission microscopy images. We validated our method on two different experimental setups, with different magnifications and different sample types, to show a consistent improvement in performance as compared to conventional illumination methods. Additionally, to understand the importance of learned illumination on inference task, we varied the dynamic range of the fluorescent image targets (from one to seven bits), and showed that the margin of improvement for learned patterns increased with the information content of the target. This work demonstrates the power of programmable optical elements at enabling better machine learning algorithm performance and at providing physical insight into next generation of machine-controlled imaging systems.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

The Synthinel-1 dataset: a collection of high resolution synthetic overhead imagery for building segmentation

Recently deep learning - namely convolutional neural networks (CNNs) - have yielded impressive performance for the task of building segmentation on large overhead (e.g., satellite) imagery benchmarks. However, these benchmark datasets only capture a small fraction of the variability present in real-world overhead imagery, limiting the ability to properly train, or evaluate, models for real-world application. Unfortunately, developing a dataset that captures even a small fraction of real-world variability is typically infeasible due to the cost of imagery, and manual pixel-wise labeling of the imagery. In this work we develop an approach to rapidly and cheaply generate large and diverse virtual environments from which we can capture synthetic overhead imagery for training segmentation CNNs. Using this approach, generate and publicly-release a collection of synthetic overhead imagery - termed Synthinel-1 with full pixel-wise building labels. We use several benchmark dataset to demonstrate that Synthinel-1 is consistently beneficial when used to augment real-world training imagery, especially when CNNs are tested on novel geographic locations or conditions.

0 citations0 reviewsNo code linkedOpen access