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Researcher profile

Jingyi Xu

Jingyi Xu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionArtificial IntelligenceMachine LearningRoboticseess.SYSystems and Control

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Published work

7 published item(s)

preprint2026arXiv

360-GeoGS: Geometrically Consistent Feed-Forward 3D Gaussian Splatting Reconstruction for 360 Images

3D scene reconstruction is fundamental for spatial intelligence applications such as AR, robotics, and digital twins. Traditional multi-view stereo struggles with sparse viewpoints or low-texture regions, while neural rendering approaches, though capable of producing high-quality results, require per-scene optimization and lack real-time efficiency. Explicit 3D Gaussian Splatting (3DGS) enables efficient rendering, but most feed-forward variants focus on visual quality rather than geometric consistency, limiting accurate surface reconstruction and overall reliability in spatial perception tasks. This paper presents a novel feed-forward 3DGS framework for 360 images, capable of generating geometrically consistent Gaussian primitives while maintaining high rendering quality. A Depth-Normal geometric regularization is introduced to couple rendered depth gradients with normal information, supervising Gaussian rotation, scale, and position to improve point cloud and surface accuracy. Experimental results show that the proposed method maintains high rendering quality while significantly improving geometric consistency, providing an effective solution for 3D reconstruction in spatial perception tasks.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Earth-o1: A Grid-free Observation-native Atmospheric World Model

Despite the unprecedented volume of multimodal data provided by modern Earth observation systems, our ability to model atmospheric dynamics remains constrained. Traditional modeling frameworks force heterogeneous measurements into predefined spatial grids, inherently limiting the full exploitation of raw sensor data and creating severe computational bottlenecks. Here we present Earth-o1, an observation-native atmospheric world model that overcomes these structural limitations. Rather than relying on conventional atmospheric dynamical modeling systems or traditional data assimilation, Earth-o1 directly learns the continuous, three-dimensional physical evolution of the Earth system from ungridded observational data. By integrating diverse sensor inputs into a unified, grid-free dynamical field, the model autonomously advances the atmospheric state in space and time. We show that this fundamentally distinct paradigm enables direct, real-time forecasting and cross-sensor inference without the overhead of explicit numerical solvers. In hindcast evaluations, Earth-o1 achieves surface forecast skill comparable to the operational Integrated Forecasting System (IFS). These results establish that continuous, observation-driven world models -- a new class of fully observation-native geophysical simulators -- can match the fidelity of established physical frameworks, providing a scalable data-driven foundation for a digital twin of the Earth.

0 citations0 reviewsNo code linkedOpen access
preprint2023arXiv

LCPR: A Multi-Scale Attention-Based LiDAR-Camera Fusion Network for Place Recognition

Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of individual sensors. In recent years, multimodal place recognition fusing information from multiple sensors has gathered increasing attention. However, most existing multimodal place recognition methods only use limited field-of-view camera images, which leads to an imbalance between features from different modalities and limits the effectiveness of sensor fusion. In this paper, we present a novel neural network named LCPR for robust multimodal place recognition, which fuses LiDAR point clouds with multi-view RGB images to generate discriminative and yaw-rotation invariant representations of the environment. A multi-scale attention-based fusion module is proposed to fully exploit the panoramic views from different modalities of the environment and their correlations. We evaluate our method on the nuScenes dataset, and the experimental results show that our method can effectively utilize multi-view camera and LiDAR data to improve the place recognition performance while maintaining strong robustness to viewpoint changes. Our open-source code and pre-trained models are available at https://github.com/ZhouZijie77/LCPR .

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A Comparative Study of Deep Reinforcement Learning-based Transferable Energy Management Strategies for Hybrid Electric Vehicles

The deep reinforcement learning-based energy management strategies (EMS) have become a promising solution for hybrid electric vehicles (HEVs). When driving cycles are changed, the neural network will be retrained, which is a time-consuming and laborious task. A more efficient way of choosing EMS is to combine deep reinforcement learning (DRL) with transfer learning, which can transfer knowledge of one domain to the other new domain, making the network of the new domain reach convergence values quickly. Different exploration methods of DRL, including adding action space noise and parameter space noise, are compared against each other in the transfer learning process in this work. Results indicate that the network added parameter space noise is more stable and faster convergent than the others. In conclusion, the best exploration method for transferable EMS is to add noise in the parameter space, while the combination of action space noise and parameter space noise generally performs poorly. Our code is available at https://github.com/BIT-XJY/RL-based-Transferable-EMS.git.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

FedCorr: Multi-Stage Federated Learning for Label Noise Correction

Federated learning (FL) is a privacy-preserving distributed learning paradigm that enables clients to jointly train a global model. In real-world FL implementations, client data could have label noise, and different clients could have vastly different label noise levels. Although there exist methods in centralized learning for tackling label noise, such methods do not perform well on heterogeneous label noise in FL settings, due to the typically smaller sizes of client datasets and data privacy requirements in FL. In this paper, we propose $\texttt{FedCorr}$, a general multi-stage framework to tackle heterogeneous label noise in FL, without making any assumptions on the noise models of local clients, while still maintaining client data privacy. In particular, (1) $\texttt{FedCorr}$ dynamically identifies noisy clients by exploiting the dimensionalities of the model prediction subspaces independently measured on all clients, and then identifies incorrect labels on noisy clients based on per-sample losses. To deal with data heterogeneity and to increase training stability, we propose an adaptive local proximal regularization term that is based on estimated local noise levels. (2) We further finetune the global model on identified clean clients and correct the noisy labels for the remaining noisy clients after finetuning. (3) Finally, we apply the usual training on all clients to make full use of all local data. Experiments conducted on CIFAR-10/100 with federated synthetic label noise, and on a real-world noisy dataset, Clothing1M, demonstrate that $\texttt{FedCorr}$ is robust to label noise and substantially outperforms the state-of-the-art methods at multiple noise levels.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Generating Representative Samples for Few-Shot Classification

Few-shot learning (FSL) aims to learn new categories with a few visual samples per class. Few-shot class representations are often biased due to data scarcity. To mitigate this issue, we propose to generate visual samples based on semantic embeddings using a conditional variational autoencoder (CVAE) model. We train this CVAE model on base classes and use it to generate features for novel classes. More importantly, we guide this VAE to strictly generate representative samples by removing non-representative samples from the base training set when training the CVAE model. We show that this training scheme enhances the representativeness of the generated samples and therefore, improves the few-shot classification results. Experimental results show that our method improves three FSL baseline methods by substantial margins, achieving state-of-the-art few-shot classification performance on miniImageNet and tieredImageNet datasets for both 1-shot and 5-shot settings. Code is available at: https://github.com/cvlab-stonybrook/fsl-rsvae.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

GOMP: Grasp-Optimized Motion Planning for Bin Picking

Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of this set of grasps is two-fold: (1) grasp-analysis tools such as Dex-Net generate multiple candidate grasps, and (2) each of these grasps has a degree of freedom about which a robot gripper can rotate. In this paper, we present Grasp-Optimized Motion Planning (GOMP), an algorithm that speeds up the execution of a bin-picking robot's operations by incorporating robot dynamics and a set of candidate grasps produced by a grasp planner into an optimizing motion planner. We compute motions by optimizing with sequential quadratic programming (SQP) and iteratively updating trust regions to account for the non-convex nature of the problem. In our formulation, we constrain the motion to remain within the mechanical limits of the robot while avoiding obstacles. We further convert the problem to a time-minimization by repeatedly shorting a time horizon of a trajectory until the SQP is infeasible. In experiments with a UR5, GOMP achieves a speedup of 9x over a baseline planner.

0 citations0 reviewsNo code linkedOpen access