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Huaping Liu

Huaping Liu contributes to research discovery and scholarly infrastructure.

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Published work

15 published item(s)

preprint2026arXiv

Distributed Deep Variational Approach for Privacy-preserving Data Release

Federated learning (FL) lets distributed nodes train a shared model without exchanging their raw data, but in privacy-sensitive deployments medical sensors, IoT devices, wearables the protection offered by keeping data local is incomplete: gradients, model updates, and the released representations themselves can leak sensitive attributes. We propose the \emph{Gaussian Privacy Protector} (GPP), a data-release framework for continuous, high-dimensional inputs that learns a stochastic encoder mapping raw data to a low-dimensional sanitized representation. The encoder is trained against a variational lower bound on the mutual information between the released representation and a designated sensitive attribute, while a separate cross-entropy term preserves a designated utility attribute, with a Lagrange multiplier $β$ controlling the trade-off. We then extend GPP to the federated setting, in which each client trains a local encoder, sensitive labels never leave the client, and the aggregator receives only sanitized representations giving instance-level privacy protection in addition to the standard ``raw data stays local'' guarantee of FL. We evaluate GPP on MNIST (digit-sum utility, parity sensitive), CelebA (smiling vs.\ gender), and HAPT-Recognition (activity vs.\ subject identity). Across all three benchmarks, GPP attains utility within roughly one percentage point of an unconstrained autoencoder baseline while reducing the adversary's AUC to near random guessing.

preprint2026arXiv

OneViewAll: Semantic Prior Guided One-View 6D Pose Estimation for Novel Objects

In many practical 6D object pose estimation scenarios, we often have access to only a single real-world RGB-D reference view per object, typically without CAD models. Existing methods largely rely on explicit 3D models or multi-view data, which limits their scalability. To address this challenging single-reference model-free setting, we propose \textbf{OneViewAll}, a semantic-prior-guided framework that performs pose estimation via a novel Project-and-Compare paradigm. Instead of relying on computationally expensive CAD-based rendering, our method directly aligns reference and query observations within a projection-equivariant space. OneViewAll progressively integrates hierarchical semantic priors across three levels: (1) \textit{category- and scene-level} priors for efficient hypothesis initialization; (2) \textit{object-level symmetry} priors for geometry completion via mirror fusion; and (3) \textit{patch-level} priors for discriminative refinement. Extensive experiments demonstrate that OneViewAll achieves \textbf{92.5\%} ADD-0.1 accuracy on the LINEMOD dataset using only one real reference view -- significantly outperforming the CVPR 2025 baseline One2Any (52.6\%). It also yields consistent improvements on YCB-V, Real275, and Toyota-Light while maintaining low inference latency. Our results underscore the efficacy of symmetry-aware projection in handling symmetric, texture-less, and occluded objects.

preprint2026arXiv

Towards Efficient 3D Object Detection for Vehicle-Infrastructure Collaboration via Risk-Intent Selection

Vehicle-Infrastructure Collaborative Perception (VICP) is pivotal for resolving occlusion in autonomous driving, yet the trade-off between communication bandwidth and feature redundancy remains a critical bottleneck. While intermediate fusion mitigates data volume compared to raw sharing, existing frameworks typically rely on spatial compression or static confidence maps, which inefficiently transmit spatially redundant features from non-critical background regions. To address this, we propose Risk-intent Selective detection (RiSe), an interaction-aware framework that shifts the paradigm from identifying visible regions to prioritizing risk-critical ones. Specifically, we introduce a Potential Field-Trajectory Correlation Model (PTCM) grounded in potential field theory to quantitatively assess kinematic risks. Complementing this, an Intention-Driven Area Prediction Module (IDAPM) leverages ego-motion priors to proactively predict and filter key Bird's-Eye-View (BEV) areas essential for decision-making. By integrating these components, RiSe implements a semantic-selective fusion scheme that transmits high-fidelity features only from high-interaction regions, effectively acting as a feature denoiser. Extensive experiments on the DeepAccident dataset demonstrate that our method reduces communication volume to 0.71\% of full feature sharing while maintaining state-of-the-art detection accuracy, establishing a competitive Pareto frontier between bandwidth efficiency and perception performance.

preprint2026arXiv

Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising

We propose X-WAM, a Unified 4D World Model that unifies real-time robotic action execution and high-fidelity 4D world synthesis (video + 3D reconstruction) in a single framework, addressing the critical limitations of prior unified world models (e.g., UWM) that only model 2D pixel-space and fail to balance action efficiency and world modeling quality. To leverage the strong visual priors of pretrained video diffusion models, X-WAM imagines the future world by predicting multi-view RGB-D videos, and obtains spatial information efficiently through a lightweight structural adaptation: replicating the final few blocks of the pretrained Diffusion Transformer into a dedicated depth prediction branch for the reconstruction of future spatial information. Moreover, we propose Asynchronous Noise Sampling (ANS) to jointly optimize generation quality and action decoding efficiency. ANS applies a specialized asynchronous denoising schedule during inference, which rapidly decodes actions with fewer steps to enable efficient real-time execution, while dedicating the full sequence of steps to generate high-fidelity video. Rather than entirely decoupling the timesteps during training, ANS samples from their joint distribution to align with the inference distribution. Pretrained on over 5,800 hours of robotic data, X-WAM achieves 79.2% and 90.7% average success rate on RoboCasa and RoboTwin 2.0 benchmarks, while producing high-fidelity 4D reconstruction and generation surpassing existing methods in both visual and geometric metrics.

preprint2023arXiv

Fabric Defect Detection Using Vision-Based Tactile Sensor

This paper introduces a new type of system for fabric defect detection with the tactile inspection system. Different from existed visual inspection systems, the proposed system implements a vision-based tactile sensor. The tactile sensor, which mainly consists of a camera, four LEDs, and an elastic sensing layer, captures detailed information about fabric surface structure and ignores the color and pattern. Thus, the ambiguity between a defect and image background related to fabric color and pattern is avoided. To utilize the tactile sensor for fabric inspection, we employ intensity adjustment for image preprocessing, Residual Network with ensemble learning for detecting defects, and uniformity measurement for selecting ideal dataset for model training. An experiment is conducted to verify the performance of the proposed tactile system. The experimental results have demonstrated the feasibility of the proposed system, which performs well in detecting structural defects for various types of fabrics. In addition, the system does not require external light sources, which skips the process of setting up and tuning a lighting environment.

preprint2022arXiv

An Automated Question-Answering Framework Based on Evolution Algorithm

Building a deep learning model for a Question-Answering (QA) task requires a lot of human effort, it may need several months to carefully tune various model architectures and find a best one. It's even harder to find different excellent models for multiple datasets. Recent works show that the best model structure is related to the dataset used, and one single model cannot adapt to all tasks. In this paper, we propose an automated Question-Answering framework, which could automatically adjust network architecture for multiple datasets. Our framework is based on an innovative evolution algorithm, which is stable and suitable for multiple dataset scenario. The evolution algorithm for search combine prior knowledge into initial population and use a performance estimator to avoid inefficient mutation by predicting the performance of candidate model architecture. The prior knowledge used in initial population could improve the final result of the evolution algorithm. The performance estimator could quickly filter out models with bad performance in population as the number of trials increases, to speed up the convergence. Our framework achieves 78.9 EM and 86.1 F1 on SQuAD 1.1, 69.9 EM and 72.5 F1 on SQuAD 2.0. On NewsQA dataset, the found model achieves 47.0 EM and 62.9 F1.

preprint2022arXiv

CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusion

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and it can be challenging to accurately track the irregular motion of objects for LiDAR-based methods. Some fusion methods work well but do not consider the untrustworthy issue of appearance features under occlusion. At the same time, the false detection problem also significantly affects tracking. As such, we propose a novel camera-LiDAR fusion 3D MOT framework based on the Combined Appearance-Motion Optimization (CAMO-MOT), which uses both camera and LiDAR data and significantly reduces tracking failures caused by occlusion and false detection. For occlusion problems, we are the first to propose an occlusion head to select the best object appearance features multiple times effectively, reducing the influence of occlusions. To decrease the impact of false detection in tracking, we design a motion cost matrix based on confidence scores which improve the positioning and object prediction accuracy in 3D space. As existing multi-object tracking methods only consider a single category, we also propose to build a multi-category loss to implement multi-object tracking in multi-category scenes. A series of validation experiments are conducted on the KITTI and nuScenes tracking benchmarks. Our proposed method achieves state-of-the-art performance and the lowest identity switches (IDS) value (23 for Car and 137 for Pedestrian) among all multi-modal MOT methods on the KITTI test dataset. And our proposed method achieves state-of-the-art performance among all algorithms on the nuScenes test dataset with 75.3% AMOTA.

preprint2022arXiv

Continual Learning with Recursive Gradient Optimization

Learning multiple tasks sequentially without forgetting previous knowledge, called Continual Learning(CL), remains a long-standing challenge for neural networks. Most existing methods rely on additional network capacity or data replay. In contrast, we introduce a novel approach which we refer to as Recursive Gradient Optimization(RGO). RGO is composed of an iteratively updated optimizer that modifies the gradient to minimize forgetting without data replay and a virtual Feature Encoding Layer(FEL) that represents different long-term structures with only task descriptors. Experiments demonstrate that RGO has significantly better performance on popular continual classification benchmarks when compared to the baselines and achieves new state-of-the-art performance on 20-split-CIFAR100(82.22%) and 20-split-miniImageNet(72.63%). With higher average accuracy than Single-Task Learning(STL), this method is flexible and reliable to provide continual learning capabilities for learning models that rely on gradient descent.

preprint2022arXiv

Self-supervised 3D Semantic Representation Learning for Vision-and-Language Navigation

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and robotics communities. However, most existing works only use RGB images but neglect the 3D semantic information of the scene. To this end, we develop a novel self-supervised training framework to encode the voxel-level 3D semantic reconstruction into a 3D semantic representation. Specifically, a region query task is designed as the pretext task, which predicts the presence or absence of objects of a particular class in a specific 3D region. Then, we construct an LSTM-based navigation model and train it with the proposed 3D semantic representations and BERT language features on vision-language pairs. Experiments show that the proposed approach achieves success rates of 68% and 66% on the validation unseen and test unseen splits of the R2R dataset respectively, which are superior to most of RGB-based methods utilizing vision-language transformers.

preprint2022arXiv

Sim2Real Object-Centric Keypoint Detection and Description

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the object-centric formulation, which, beyond the conventional setting, requires further identifying which object each interest point belongs to. With such fine-grained information, our framework enables more downstream potentials, such as object-level matching and pose estimation in a clustered environment. To get around the difficulty of label collection in the real world, we develop a sim2real contrastive learning mechanism that can generalize the model trained in simulation to real-world applications. The novelties of our training method are three-fold: (i) we integrate the uncertainty into the learning framework to improve feature description of hard cases, e.g., less-textured or symmetric patches; (ii) we decouple the object descriptor into two output branches -- intra-object salience and inter-object distinctness, resulting in a better pixel-wise description; (iii) we enforce cross-view semantic consistency for enhanced robustness in representation learning. Comprehensive experiments on image matching and 6D pose estimation verify the encouraging generalization ability of our method from simulation to reality. Particularly for 6D pose estimation, our method significantly outperforms typical unsupervised/sim2real methods, achieving a closer gap with the fully supervised counterpart. Additional results and videos can be found at https://zhongcl-thu.github.io/rock/

preprint2020arXiv

Energy-based Periodicity Mining with Deep Features for Action Repetition Counting in Unconstrained Videos

Action repetition counting is to estimate the occurrence times of the repetitive motion in one action, which is a relatively new, important but challenging measurement problem. To solve this problem, we propose a new method superior to the traditional ways in two aspects, without preprocessing and applicable for arbitrary periodicity actions. Without preprocessing, the proposed model makes our method convenient for real applications; processing the arbitrary periodicity action makes our model more suitable for the actual circumstance. In terms of methodology, firstly, we analyze the movement patterns of the repetitive actions based on the spatial and temporal features of actions extracted by deep ConvNets; Secondly, the Principal Component Analysis algorithm is used to generate the intuitive periodic information from the chaotic high-dimensional deep features; Thirdly, the periodicity is mined based on the high-energy rule using Fourier transform; Finally, the inverse Fourier transform with a multi-stage threshold filter is proposed to improve the quality of the mined periodicity, and peak detection is introduced to finish the repetition counting. Our work features two-fold: 1) An important insight that deep features extracted for action recognition can well model the self-similarity periodicity of the repetitive action is presented. 2) A high-energy based periodicity mining rule using deep features is presented, which can process arbitrary actions without preprocessing. Experimental results show that our method achieves comparable results on the public datasets YT Segments and QUVA.

preprint2020arXiv

FoveaBox: Beyond Anchor-based Object Detector

We present FoveaBox, an accurate, flexible, and completely anchor-free framework for object detection. While almost all state-of-the-art object detectors utilize predefined anchors to enumerate possible locations, scales and aspect ratios for the search of the objects, their performance and generalization ability are also limited to the design of anchors. Instead, FoveaBox directly learns the object existing possibility and the bounding box coordinates without anchor reference. This is achieved by: (a) predicting category-sensitive semantic maps for the object existing possibility, and (b) producing category-agnostic bounding box for each position that potentially contains an object. The scales of target boxes are naturally associated with feature pyramid representations. In FoveaBox, an instance is assigned to adjacent feature levels to make the model more accurate.We demonstrate its effectiveness on standard benchmarks and report extensive experimental analysis. Without bells and whistles, FoveaBox achieves state-of-the-art single model performance on the standard COCO and Pascal VOC object detection benchmark. More importantly, FoveaBox avoids all computation and hyper-parameters related to anchor boxes, which are often sensitive to the final detection performance. We believe the simple and effective approach will serve as a solid baseline and help ease future research for object detection. The code has been made publicly available at https://github.com/taokong/FoveaBox .

preprint2020arXiv

Joint User Identification and Channel Estimation Over Rician Fading Channels

This paper considers crowded massive multiple input multiple output (MIMO) communications over a Rician fading channel, where the number of users is much greater than the number of available pilot sequences. A joint user identification and line-of-sight (LOS) component derivation algorithm is proposed without requiring a threshold. Based on the derived LOS component, we design a LOS-only channel estimator and an updated channel estimator.

preprint2020arXiv

Towards Embodied Scene Description

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from the interaction between the agent and the environment. In this work, we propose the Embodied Scene Description, which exploits the embodiment ability of the agent to find an optimal viewpoint in its environment for scene description tasks. A learning framework with the paradigms of imitation learning and reinforcement learning is established to teach the intelligent agent to generate corresponding sensorimotor activities. The proposed framework is tested on both the AI2Thor dataset and a real world robotic platform demonstrating the effectiveness and extendability of the developed method.

preprint2020arXiv

TrajectoryNet: a new spatio-temporal feature learning network for human motion prediction

Human motion prediction is an increasingly interesting topic in computer vision and robotics. In this paper, we propose a new 2D CNN based network, TrajectoryNet, to predict future poses in the trajectory space. Compared with most existing methods, our model focuses on modeling the motion dynamics with coupled spatio-temporal features, local-global spatial features and global temporal co-occurrence features of the previous pose sequence. Specifically, the coupled spatio-temporal features describe the spatial and temporal structure information hidden in the natural human motion sequence, which can be mined by covering the space and time dimensions of the input pose sequence with the convolutional filters. The local-global spatial features that encode different correlations of different joints of the human body (e.g. strong correlations between joints of one limb, weak correlations between joints of different limbs) are captured hierarchically by enlarging the receptive field layer by layer and residual connections from the lower layers to the deeper layers in our proposed convolutional network. And the global temporal co-occurrence features represent the co-occurrence relationship that different subsequences in a complex motion sequence are appeared simultaneously, which can be obtained automatically with our proposed TrajectoryNet by reorganizing the temporal information as the depth dimension of the input tensor. Finally, future poses are approximated based on the captured motion dynamics features. Extensive experiments show that our method achieves state-of-the-art performance on three challenging benchmarks (e.g. Human3.6M, G3D, and FNTU), which demonstrates the effectiveness of our proposed method. The code will be available if the paper is accepted.