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Liang Xie

Liang Xie contributes to research discovery and scholarly infrastructure.

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Published work

6 published item(s)

preprint2026arXiv

Event-Causal RAG: A Retrieval-Augmented Generation Framework for Long Video Reasoning in Complex Scenarios

Recent large vision-language models have achieved strong performance on short- and medium-length video understanding, yet they remain inadequate for ultra-long or even infinite video reasoning, where models must preserve coherent memory over extended durations and infer causal dependencies across temporally distant events. Existing end-to-end video understanding methods are fundamentally limited by the $O(n^2)$ complexity of self-attention, while recent retrieval-augmented generation (RAG) approaches still suffer from fragmented clip-level memory, weak modeling of temporal and causal structure, and high storage and online inference costs. We present Event-Causal RAG, a lightweight retrieval-augmented framework for infinite long-video reasoning. Instead of indexing fixed-length clips, our method segments streaming videos into semantically coherent events and represents each event as a structured State-Event-State (SES) graph, capturing the event together with its surrounding state transitions. These graphs are merged into a global Event Knowledge Graph and stored in a dual-store memory that supports both semantic matching and causal-topological retrieval. On top of this memory, we design a bidirectional retrieval strategy to efficiently identify the most relevant event causal chains and provide them, together with the associated video evidence, to a backbone video foundation model for answer generation. Experiments on long-video understanding benchmarks demonstrate that Event-Causal RAG consistently outperforms strong clip-based retrieval baselines and long-context video models, particularly on questions requiring multi-event integration and causal inference across long temporal gaps, while also achieving improved memory efficiency and robust streaming performance.

preprint2026arXiv

UST-Hand: An Uncertainty-aware Spatiotemporal Point Cloud Interaction Network for 3D Self-supervised Hand Pose Estimation

Manually annotating accurate 3D hand poses is extremely time-consuming and labor-intensive. Existing self-supervised hand pose estimation methods leverage the discrepancy between input images and rendered outputs, or multi-view consistency constraints, as the driving force to optimize networks and progressively refine pose accuracy. However, these methods are highly susceptible to noisy pseudo-labels and overlook the importance of fully exploiting fine-grained spatial correlations, which undermines the stability of model training. To address these issues, we propose UST-Hand, a self-supervised learning framework that estimates uncertainty distribution of hand pose and constructs a probabilistic point cloud feature space, which enables the complex spatiotemporal relationship modeling. UST-Hand employs a conditional normalizing flow model to capture hand pose distributions and samples diverse hypotheses, facilitating robust learning under noisy pseudo-labels supervision with enhanced stability. These multi-hypothesis are mapped to a unified probabilistic 3D point cloud space for multi-view and temporal feature interaction, comprehensively exploring hand motion patterns and fine-grained spatial correlations. Extensive experiments on three challenging datasets demonstrate that UST-Hand achieves state-of-the-art performance, outperforming existing self-supervised methods by up to 37.8% in Mean Per Vertex Position Error (MPVPE).

preprint2022arXiv

Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World

In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation estimators based on the seam representation for pose alignment, which proves to be general to the unseen peg geometries. By putting the estimators into the closed-loop control with reinforcement learning, we further achieve a higher or comparable success rate, efficiency, and robustness compared with the baseline methods. The policy is trained totally in simulation without any manual intervention. To achieve sim-to-real, a learnable segmentation module with automatic data collecting and labeling can be easily trained to decouple the perception and the policy, which helps the model trained in simulation quickly adapt to the real world with negligible effort. Results are presented in simulation and on a physical robot. Code, videos, and supplemental material are available at https://github.com/xieliang555/SFN.git

preprint2022arXiv

Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completion

Current LiDAR-only 3D detection methods inevitably suffer from the sparsity of point clouds. Many multi-modal methods are proposed to alleviate this issue, while different representations of images and point clouds make it difficult to fuse them, resulting in suboptimal performance. In this paper, we present a novel multi-modal framework SFD (Sparse Fuse Dense), which utilizes pseudo point clouds generated from depth completion to tackle the issues mentioned above. Different from prior works, we propose a new RoI fusion strategy 3D-GAF (3D Grid-wise Attentive Fusion) to make fuller use of information from different types of point clouds. Specifically, 3D-GAF fuses 3D RoI features from the couple of point clouds in a grid-wise attentive way, which is more fine-grained and more precise. In addition, we propose a SynAugment (Synchronized Augmentation) to enable our multi-modal framework to utilize all data augmentation approaches tailored to LiDAR-only methods. Lastly, we customize an effective and efficient feature extractor CPConv (Color Point Convolution) for pseudo point clouds. It can explore 2D image features and 3D geometric features of pseudo point clouds simultaneously. Our method holds the highest entry on the KITTI car 3D object detection leaderboard, demonstrating the effectiveness of our SFD. Codes are available at https://github.com/LittlePey/SFD.

preprint2020arXiv

Boundary-Aware Dense Feature Indicator for Single-Stage 3D Object Detection from Point Clouds

3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and significant computational overhead, limiting its broader application in real-time scenarios. Some methods choose to transform the point cloud data into compact tensors first and leverage off-the-shelf 2D detectors to propose 3D objects, which is much faster and achieves state-of-the-art results. However, because of the inconsistency between 2D and 3D data, we argue that the performance of compact tensor-based 3D detectors is restricted if we use 2D detectors without corresponding modification. Specifically, the distribution of point clouds is uneven, with most points gather on the boundary of objects, while detectors for 2D data always extract features evenly. Motivated by this observation, we propose DENse Feature Indicator (DENFI), a universal module that helps 3D detectors focus on the densest region of the point clouds in a boundary-aware manner. Moreover, DENFI is lightweight and guarantees real-time speed when applied to 3D object detectors. Experiments on KITTI dataset show that DENFI improves the performance of the baseline single-stage detector remarkably, which achieves new state-of-the-art performance among previous 3D detectors, including both two-stage and multi-sensor fusion methods, in terms of mAP with a 34FPS detection speed.

preprint2020arXiv

SQLFlow: A Bridge between SQL and Machine Learning

Industrial AI systems are mostly end-to-end machine learning (ML) workflows. A typical recommendation or business intelligence system includes many online micro-services and offline jobs. We describe SQLFlow for developing such workflows efficiently in SQL. SQL enables developers to write short programs focusing on the purpose (what) and ignoring the procedure (how). Previous database systems extended their SQL dialect to support ML. SQLFlow (https://sqlflow.org/sqlflow ) takes another strategy to work as a bridge over various database systems, including MySQL, Apache Hive, and Alibaba MaxCompute, and ML engines like TensorFlow, XGBoost, and scikit-learn. We extended SQL syntax carefully to make the extension working with various SQL dialects. We implement the extension by inventing a collaborative parsing algorithm. SQLFlow is efficient and expressive to a wide variety of ML techniques -- supervised and unsupervised learning; deep networks and tree models; visual model explanation in addition to training and prediction; data processing and feature extraction in addition to ML. SQLFlow compiles a SQL program into a Kubernetes-native workflow for fault-tolerable execution and on-cloud deployment. Current industrial users include Ant Financial, DiDi, and Alibaba Group.