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Researcher profile

Haisheng Su

Haisheng Su contributes to research discovery and scholarly infrastructure.

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Computer VisionRobotics

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Published work

5 published item(s)

preprint2026arXiv

WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform

World models have emerged as a central paradigm for embodied intelligence, enabling agents to predict action-conditioned future and reason about environmental dynamics. However, existing embodied world model benchmarks are still largely confined to vision-only prediction, offline embodied applications, and simulator-based evaluation, making them insufficient for assessing increasingly comprehensive world models. In this work, we introduce WorldArena 2.0, an expanded benchmark that systematically broadens embodied world model evaluation along three dimensions: modality, functionality, and platform. Along the modality dimension, WorldArena 2.0 extends evaluation from vision-only to visuotactile modalities, enabling assessment of multimodal perception and prediction. Along the functionality dimension, it extends beyond policy evaluation and planning to assess world models as interactive RL environments for policy optimization. Along the platform dimension, it moves beyond simulator-only evaluation to a diverse suite of simulated and real-world robotic settings across multiple embodiments. Under a standardized protocol, WorldArena 2.0 comprehensively evaluates perceptual quality, interactive utility, and cross-platform performance, providing a comprehensive testbed for tracking progress toward embodied world models. The benchmark is available at: https://world-arena.ai.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

MVP: Robust Multi-View Practice for Driving Action Localization

Distracted driving causes thousands of deaths per year, and how to apply deep-learning methods to prevent these tragedies has become a crucial problem. In Track3 of the 6th AI City Challenge, researchers provide a high-quality video dataset with densely action annotations. Due to the small data scale and unclear action boundary, the dataset presents a unique challenge to precisely localize all the different actions and classify their categories. In this paper, we make good use of the multi-view synchronization among videos, and conduct robust Multi-View Practice (MVP) for driving action localization. To avoid overfitting, we fine-tune SlowFast with Kinetics-700 pre-training as the feature extractor. Then the features of different views are passed to ActionFormer to generate candidate action proposals. For precisely localizing all the actions, we design elaborate post-processing, including model voting, threshold filtering and duplication removal. The results show that our MVP is robust for driving action localization, which achieves 28.49% F1-score in the Track3 test set.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

BSN++: Complementary Boundary Regressor with Scale-Balanced Relation Modeling for Temporal Action Proposal Generation

Generating human action proposals in untrimmed videos is an important yet challenging task with wide applications. Current methods often suffer from the noisy boundary locations and the inferior quality of confidence scores used for proposal retrieving. In this paper, we present BSN++, a new framework which exploits complementary boundary regressor and relation modeling for temporal proposal generation. First, we propose a novel boundary regressor based on the complementary characteristics of both starting and ending boundary classifiers. Specifically, we utilize the U-shaped architecture with nested skip connections to capture rich contexts and introduce bi-directional boundary matching mechanism to improve boundary precision. Second, to account for the proposal-proposal relations ignored in previous methods, we devise a proposal relation block to which includes two self-attention modules from the aspects of position and channel. Furthermore, we find that there inevitably exists data imbalanced problems in the positive/negative proposals and temporal durations, which harm the model performance on tail distributions. To relieve this issue, we introduce the scale-balanced re-sampling strategy. Extensive experiments are conducted on two popular benchmarks: ActivityNet-1.3 and THUMOS14, which demonstrate that BSN++ achieves the state-of-the-art performance. Not surprisingly, the proposed BSN++ ranked 1st place in the CVPR19 - ActivityNet challenge leaderboard on temporal action localization task.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Collaborative Distillation in the Parameter and Spectrum Domains for Video Action Recognition

Recent years have witnessed the significant progress of action recognition task with deep networks. However, most of current video networks require large memory and computational resources, which hinders their applications in practice. Existing knowledge distillation methods are limited to the image-level spatial domain, ignoring the temporal and frequency information which provide structural knowledge and are important for video analysis. This paper explores how to train small and efficient networks for action recognition. Specifically, we propose two distillation strategies in the frequency domain, namely the feature spectrum and parameter distribution distillations respectively. Our insight is that appealing performance of action recognition requires \textit{explicitly} modeling the temporal frequency spectrum of video features. Therefore, we introduce a spectrum loss that enforces the student network to mimic the temporal frequency spectrum from the teacher network, instead of \textit{implicitly} distilling features as many previous works. Second, the parameter frequency distribution is further adopted to guide the student network to learn the appearance modeling process from the teacher. Besides, a collaborative learning strategy is presented to optimize the training process from a probabilistic view. Extensive experiments are conducted on several action recognition benchmarks, such as Kinetics, Something-Something, and Jester, which consistently verify effectiveness of our approach, and demonstrate that our method can achieve higher performance than state-of-the-art methods with the same backbone.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Complementary Boundary Generator with Scale-Invariant Relation Modeling for Temporal Action Localization: Submission to ActivityNet Challenge 2020

This technical report presents an overview of our solution used in the submission to ActivityNet Challenge 2020 Task 1 (\textbf{temporal action localization/detection}). Temporal action localization requires to not only precisely locate the temporal boundaries of action instances, but also accurately classify the untrimmed videos into specific categories. In this paper, we decouple the temporal action localization task into two stages (i.e. proposal generation and classification) and enrich the proposal diversity through exhaustively exploring the influences of multiple components from different but complementary perspectives. Specifically, in order to generate high-quality proposals, we consider several factors including the video feature encoder, the proposal generator, the proposal-proposal relations, the scale imbalance, and ensemble strategy. Finally, in order to obtain accurate detections, we need to further train an optimal video classifier to recognize the generated proposals. Our proposed scheme achieves the state-of-the-art performance on the temporal action localization task with \textbf{42.26} average mAP on the challenge testing set.

0 citations0 reviewsNo code linkedOpen access