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Jinpeng Lu

Jinpeng Lu contributes to research discovery and scholarly infrastructure.

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Published work

5 published item(s)

preprint2026arXiv

Does DINOv3 Set a New Medical Vision Standard? Benchmarking 2D and 3D Classification, Segmentation, and Registration

The advent of large-scale vision foundation models, pre-trained on diverse natural images, has marked a paradigm shift in computer vision. However, how the frontier vision foundation models' efficacies transfer to specialised domains such as medical imaging remains an open question. This report investigates whether DINOv3, a state-of-the-art self-supervised vision transformer (ViT) pre-trained on natural images, can directly serve as a powerful, unified encoder for medical vision tasks without domain-specific fine-tuning. To answer this, we benchmark DINOv3 across common medical vision tasks, including 2D and 3D classification, segmentation, and registration on a wide range of medical imaging modalities. We systematically analyse its scalability by varying model sizes and input image resolutions. Our findings reveal that DINOv3 shows impressive performance and establishes a formidable new baseline. Remarkably, it can even outperform medical-specific foundation models like BiomedCLIP and CT-Net on several tasks, despite being trained solely on natural images. However, we identify clear limitations: The model's features degrade in scenarios requiring deep domain specialisation, such as in whole-slide images (WSIs), electron microscopy (EM), and positron emission tomography (PET). Furthermore, we observe that DINOv3 does not consistently follow the scaling law in the medical domain. Its performance does not reliably increase with larger models or finer feature resolutions, showing diverse scaling behaviours across tasks. Overall, our work establishes DINOv3 as a strong baseline, whose powerful visual features can serve as a robust prior for multiple medical tasks. This opens promising future directions, such as leveraging its features to enforce multiview consistency in 3D reconstruction.

preprint2026arXiv

Pelican-Unified 1.0: A Unified Embodied Intelligence Model for Understanding, Reasoning, Imagination and Action

We present Pelican-Unified 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unified 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and action histories into a shared semantic space. The same VLM also serves as a unified reasoning module, autoregressively producing task-, action-, and future-oriented chains of thought in a single forward pass and projecting the final hidden state into a dense latent variable. A Unified Future Generator (UFG) then conditions on this latent variable and jointly generates future videos and future actions through two modality-specific output heads within the same denoising process. The language, video, and action losses are all backpropagated into the shared representation, enabling the model to jointly optimize understanding, reasoning, imagination, and action during training, rather than training three isolated expert systems. Experiments demonstrate that unification does not imply compromise. With a single checkpoint, Pelican-Unified 1.0 achieves strong performance across all three capabilities: 64.7 on eight VLM benchmarks, the best among comparable-scale models; 66.03 on WorldArena, ranking first; and 93.5 on RoboTwin, the second-best average among compared action methods. These results show that the unified paradigm succeeds in preserving specialist strength while bringing understanding, reasoning, imagination, and action into one model.

preprint2023arXiv

Inverse problems for discrete heat equations and random walks for a class of graphs

We study the inverse problem of determining a finite weighted graph $(X,E)$ from the source-to-solution map on a vertex subset $B\subset X$ for heat equations on graphs, where the time variable can be either discrete or continuous. We prove that this problem is equivalent to the discrete version of the inverse interior spectral problem, provided that there does not exist a nonzero eigenfunction of the weighted graph Laplacian vanishing identically on $B$. In particular, we consider inverse problems for discrete-time random walks on finite graphs. We show that under a novel geometric condition (called the Two-Points Condition), the graph structure and the transition matrix of the random walk can be uniquely recovered from the distributions of the first passing times on $B$, or from the observation on $B$ of one realization of the random walk.

preprint2022arXiv

Approximations of the connection Laplacian spectra

We consider a convolution-type operator on vector bundles over metric-measure spaces. This operator extends the analogous convolution Laplacian on functions in our earlier work to vector bundles, and is a natural extension of the graph connection Laplacian. We prove that for Euclidean or Hermitian connections on closed Riemannian manifolds, the spectrum of this operator and that of the graph connection Laplacian both approximate the spectrum of the connection Laplacian.

preprint2022arXiv

Inverse problems for locally perturbed lattices -- Discrete Hamiltonian and quantum graph

We consider the inverse scattering problems for two types of Schrödinger operators on locally perturbed periodic lattices. For the discrete Hamiltonian, the knowledge of the S-matrix for all energies determines the graph structure and the coefficients of the Hamiltonian. For locally perturbed equilateral metric graphs, the knowledge of the S-matrix for all energies determines the graph structure.