Researcher profile

Jilin Mei

Jilin Mei contributes to research discovery and scholarly infrastructure.

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Published work

8 published item(s)

preprint2026arXiv

Attributing Emergence in Million-Agent Systems

Large language models (LLMs) can simulate human-like reasoning and decision-making in individual agents. LLM-powered multi-agent systems (MAS) combine such agents to simulate population-scale social phenomena such as polarization, information cascades, and market panics. Such studies require attributing macro emergence to individual agents, but existing axiomatic methods scale combinatorially in $N$ and have been confined to $N \lesssim 10^3$, while the phenomena they explain occur at $N \geq 10^6$. We address this gap by adapting Aumann--Shapley path-integral attribution to LLM-powered MAS at million-agent scale; the resulting method satisfies all four axioms, runs four to five orders of magnitude faster than sampled Shapley on the same hardware. We use this method to test the scale gap empirically: across 14 days of public Bluesky data ($1{,}671{,}587$ active users), we compute the attribution at both full scale and the visibility-biased $N = 10^2$ convenience sample used by small-scale studies, and the two disagree structurally. At full scale the long tail and middle tier jointly carry the majority; the biased small panel attributes almost everything to a few high-follower accounts. We then prove that under any nonlinear macro indicator the disagreement cannot be reduced by post-hoc rescaling: an Attribution Scaling Bias theorem shows that no global rescaling factor can reconcile small-scale and full-scale attribution. Full-scale attribution is therefore not a methodological choice but a theoretical requirement for any nonlinear macro indicator.

preprint2026arXiv

Autonomous Driving in Unstructured Environments: How Far Have We Come?

Research on autonomous driving in unstructured outdoor environments is less advanced than in structured urban settings due to challenges like environmental diversities and scene complexity. These environments-such as rural areas and rugged terrains-pose unique obstacles that are not common in structured urban areas. Despite these difficulties, autonomous driving in unstructured outdoor environments is crucial for applications in agriculture, mining, and military operations. Our survey reviews over 250 papers for autonomous driving in unstructured outdoor environments, covering offline mapping, pose estimation, environmental perception, path planning, end-to-end autonomous driving, datasets, and relevant challenges. We also discuss emerging trends and future research directions. This review aims to consolidate knowledge and encourage further research for autonomous driving in unstructured environments. To support ongoing work, we maintain an active repository with up-to-date literature and open-source projects at: https://github.com/chaytonmin/Survey-Autonomous-Driving-in-Unstructured-Environments.

preprint2026arXiv

From Flatland to Space: Teaching Vision-Language Models to Perceive and Reason in 3D

Recent advances in LVLMs have improved vision-language understanding, but they still struggle with spatial perception, limiting their ability to reason about complex 3D scenes. Unlike previous approaches that incorporate 3D representations into models to improve spatial understanding, we aim to unlock the potential of VLMs by leveraging spatially relevant image data. To this end, we introduce a novel 2D spatial data generation and annotation pipeline built upon scene data with 3D ground-truth. This pipeline enables the creation of a diverse set of spatial tasks, ranging from basic perception tasks to more complex reasoning tasks. Leveraging this pipeline, we construct SPAR-7M, a large-scale dataset generated from thousands of scenes across multiple public datasets. In addition, we introduce SPAR-Bench, a benchmark designed to offer a more comprehensive evaluation of spatial capabilities compared to existing spatial benchmarks, supporting both single-view and multi-view inputs. Training on both SPAR-7M and large-scale 2D datasets enables our models to achieve state-of-the-art performance on 2D spatial benchmarks. Further fine-tuning on 3D task-specific datasets yields competitive results, underscoring the effectiveness of our dataset in enhancing spatial reasoning.

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.

preprint2026arXiv

Towards All-Day Perception for Off-Road Driving: A Large-Scale Multispectral Dataset and Comprehensive Benchmark

Off-road nighttime autonomous driving suffers from unreliable visible-light perception, making infrared modality crucial for accurate freespace detection. However, progress remains limited due to the scarcity of annotated infrared off-road datasets and the inter-frame inconsistencies inherent to current single-frame methods. To address these gaps, we present the IRON dataset, which, to our knowledge, is the first large-scale infrared dataset for off-road temporal freespace detection under all-day conditions, with strong support for nighttime perception. The dataset comprises 24,314 densely annotated infrared images with synchronized RGB images in diverse scenes and different light conditions. Building upon this dataset, we propose IRONet, a novel flow-free framework for temporal freespace detection that addresses inter-frame inconsistencies by aggregating historical context via a memory-attention mechanism and a carefully designed mask decoder. On our IRON dataset, IRONet achieves state-of-the-art performance, reaching 82.93%(+1.19%) IoU and 90.66%(+0.71%) F1 score at real-time inference. Remarkably, IRONet also exhibits robust generalization to RGB modalities on ORFD and Rellis datasets. Overall, our work establishes a foundation for reliable all-day off-road autonomous driving and future research in infrared temporal perception. The code and IRON dataset are available at https://github.com/wsnbws/IRON.

preprint2026arXiv

What Do EEG Foundation Models Capture from Human Brain Signals?

Clinical electroencephalogram (EEG) analysis rests on a hand-crafted feature catalog refined over decades, \emph{e.g.,} band power, connectivity, complexity, and more. Modern EEG foundation models bypass this catalog, learn directly from raw signals via self-supervised pretraining, and match or outperform feature-engineered baselines on most clinical benchmarks. Whether the two representations align is an open question, which we decompose into three sub-questions: \emph{what does the model learn}, \emph{what does the model use}, and \emph{how much can be explained}. We answer them with layer-wise ridge probing, LEACE-style cross-covariance subspace erasure, and a transparent classifier benchmarked against a random-feature baseline. The audit covers three foundation models (CSBrain, CBraMod, LaBraM), five clinical tasks (MDD, Stress, ISRUC-Sleep, TUSL, Siena), and a 6-family 63-feature lexicon. Of the $945$ (model, task, feature) units, $648$ ($68.6\%$) are representation-causal and $199$ ($21.1\%$) are encoded-only. Across tasks, $50$ features qualify as universal candidates with strong support (all three architectures RC) in two or more tasks. Frequency-domain features dominate, but the other five families each contribute substantial causal mass. Confirmed features recover, on average, $79.3\%$ of the foundation model's advantage over the random baseline, with a clean task gradient (MDD $\approx 0.99$ down to Stress $\approx 0.56$): tasks near ceiling are almost fully recovered by the lexicon, while harder tasks leave a non-trivial residual that pinpoints a concrete target for future concept discovery.

preprint2020arXiv

Scene Context Based Semantic Segmentation for 3D LiDAR Data in Dynamic Scene

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its neighborhoods, then inferring the segment label. The node of graph is generated from the segment on range image, which is suitable for both sparse and dense point cloud. Edge weights that evaluate the correlations of center node and its neighborhoods are automatically encoded by a neural network, therefore the number of neighbor nodes is no longer a sensitive parameter. A system consists of segment generation, graph building, edge weight estimation, node updating, and node prediction is designed. Quantitative evaluation on a dataset of dynamic scene shows that our method has better performance than unary CNN with 8% improvement, as well as normal GNN with 17% improvement.

preprint2020arXiv

SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However, the present datasets for 3D semantic segmentation are lack of point-wise annotation, diversiform scenes and dynamic objects. In this paper, we propose the SemanticPOSS dataset, which contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances. The data is collected in Peking University and uses the same data format as SemanticKITTI. In addition, we evaluate several typical 3D semantic segmentation models on our SemanticPOSS dataset. Experimental results show that SemanticPOSS can help to improve the prediction accuracy of dynamic objects as people, car in some degree. SemanticPOSS will be published at \url{www.poss.pku.edu.cn}.