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Researcher profile

Ziyuan Liu

Ziyuan Liu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionRoboticsArtificial Intelligencecond-mat.mes-hallcond-mat.mtrl-scimath.NANumerical Analysis

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Published work

12 published item(s)

preprint2026arXiv

Orchestrating Spatial Semantics via a Zone-Graph Paradigm for Intricate Indoor Scene Generation

Autonomous 3D indoor scene synthesis breaks down in non-convex rooms with tightly coupled spatial constraints. Data-driven generators lack topological priors for long-horizon planning, while iterative agents fragment semantics and become geometrically brittle. We present ZoneMaestro, a unified framework that shifts the paradigm from object-centric synthesis to Zone-Graph Orchestration. By internalizing a novel zone-based logic, ZoneMaestro translates high-level semantic intent into functional zones and topological constraints, enabling robust adaptation to diverse architectural forms. To support this, we construct Zone-Scene-10K, a large-scale dataset enriched with explicit Zone-Graph annotations. We further introduce an Alternating Alignment Strategy that cycles between reasoning internalization and Zone-Aware Group Relative Policy Optimization (Z-GRPO), effectively reconciling the tension between semantic richness and geometric validity without relying on external physics engines. To rigorously evaluate spatial intelligence beyond convex primitives, we formally define the task of Intricate Spatial Orchestration and release SCALE, a stress-test benchmark for irregular indoor scenarios with complex, dense spatial relations. Extensive experiments demonstrate that ZoneMaestro resolves the density-safety dichotomy, significantly outperforming state-of-the-art baselines in both structural coherence and intent adherence.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Rollout Cards: A Reproducibility Standard for Agent Research

Reproducibility problems that have long affected machine learning and reinforcement learning are now surfacing in agent research: papers compare systems by reported scores while leaving the rollout records behind those scores difficult to inspect. For agentic tasks, this matters because the same behaviour can receive different reported scores when evaluations select different parts of a rollout or apply different reporting rules. In a structured audit of 50 popular training and evaluation repositories, we find that none report how many runs failed, errored, or were skipped alongside headline scores. We also document 37 cases where reporting rules can change task-success rates, cost/token accounting, or timing measurements for fixed evidence, sometimes dramatically. We treat rollout records, not reported scores, as the unit of reproducibility for agent research. We introduce rollout cards: publication bundles that preserve the rollout record and declare the views, reporting rules, and drops manifests behind reported scores. We validate rollout cards in two settings. First, four partial public releases in tool safety, multi-agent systems, theorem proving, and search let us compute analyses their original reports did not include. Second, re-grading preserved benchmark outputs across short-answer, code-generation, and tool-use tasks shows that changing only the reporting rule can change reported scores by 20.9 absolute percentage points and, in some cases, invert rankings of frontier models. We release a reference implementation integrated into Ergon, an open-source reinforcement learning gym, and publicly publish Ergon-produced rollout-card exports for benchmarks spanning tool use, software engineering, web interaction, multi-agent coordination, safety, and search to support future research.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

A Real World Dataset for Multi-view 3D Reconstruction

We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to facilitate the use of the dataset for myriad 3D applications like shape reconstruction, object pose estimation, shape retrieval etc. We primarily focus on learned multi-view 3D reconstruction due to the lack of appropriate real world benchmark for the task and demonstrate that our dataset can fill that gap. The entire annotated dataset along with the source code for the annotation tools and evaluation baselines is available at http://www.ocrtoc.org/3d-reconstruction.html.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

An Operator Learning Approach via Function-valued Reproducing Kernel Hilbert Space for Differential Equations

Much recent work has addressed the solution of a family of partial differential equations by computing the inverse operator map between the input and solution space. Toward this end, we incorporate function-valued reproducing kernel Hilbert spaces in our operator learning model. We use neural networks to parameterize Hilbert-Schmidt integral operator and propose an architecture. Experiments including several typical datasets show that the proposed architecture has desirable accuracy on linear and nonlinear partial differential equations even with a small amount of data. By learning the mappings between function spaces, the proposed method can find the solution of a high-resolution input after learning from lower-resolution data.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Unseen Object 6D Pose Estimation: A Benchmark and Baselines

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new task that enables and facilitates algorithms to estimate the 6D pose estimation of novel objects during testing. We collect a dataset with both real and synthetic images and up to 48 unseen objects in the test set. In the mean while, we propose a new metric named Infimum ADD (IADD) which is an invariant measurement for objects with different types of pose ambiguity. A two-stage baseline solution for this task is also provided. By training an end-to-end 3D correspondences network, our method finds corresponding points between an unseen object and a partial view RGBD image accurately and efficiently. It then calculates the 6D pose from the correspondences using an algorithm robust to object symmetry. Extensive experiments show that our method outperforms several intuitive baselines and thus verify its effectiveness. All the data, code and models will be made publicly available. Project page: www.graspnet.net/unseen6d

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

A Generalizable Knowledge Framework for Semantic Indoor Mapping Based on Markov Logic Networks and Data Driven MCMC

In this paper, we propose a generalizable knowledge framework for data abstraction, i.e. finding compact abstract model for input data using predefined abstract terms. Based on these abstract terms, intelligent autonomous systems, such as a robot, should be able to make inference according to specific knowledge base, so that they can better handle the complexity and uncertainty of the real world. We propose to realize this framework by combining Markov logic networks (MLNs) and data driven MCMC sampling, because the former are a powerful tool for modelling uncertain knowledge and the latter provides an efficient way to draw samples from unknown complex distributions. Furthermore, we show in detail how to adapt this framework to a certain task, in particular, semantic robot mapping. Based on MLNs, we formulate task-specific context knowledge as descriptive soft rules. Experiments on real world data and simulated data confirm the usefulness of our framework.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Applying Rule-Based Context Knowledge to Build Abstract Semantic Maps of Indoor Environments

In this paper, we propose a generalizable method that systematically combines data driven MCMC samplingand inference using rule-based context knowledge for data abstraction. In particular, we demonstrate the usefulness of our method in the scenario of building abstract semantic maps for indoor environments. The product of our system is a parametric abstract model of the perceived environment that not only accurately represents the geometry of the environment but also provides valuable abstract information which benefits high-level robotic applications. Based on predefined abstract terms,such as type and relation, we define task-specific context knowledge as descriptive rules in Markov Logic Networks. The corresponding inference results are used to construct a priordistribution that aims to add reasonable constraints to the solution space of semantic maps. In addition, by applying a semantically annotated sensor model, we explicitly use context information to interpret the sensor data. Experiments on real world data show promising results and thus confirm the usefulness of our system.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Extracting Semantic Indoor Maps from Occupancy Grids

The primary challenge for any autonomous system operating in realistic, rather unconstrained scenarios is to manage the complexity and uncertainty of the real world. While it is unclear how exactly humans and other higher animals master these problems, it seems evident, that abstraction plays an important role. The use of abstract concepts allows to define the system behavior on higher levels. In this paper we focus on the semantic mapping of indoor environments. We propose a method to extract an abstracted floor plan from typical grid maps using Bayesian reasoning. The result of this procedure is a probabilistic generative model of the environment defined over abstract concepts. It is well suited for higher-level reasoning and communication purposes. We demonstrate the effectiveness of the approach using real-world data.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy

The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this paper, a motion capturing algorithm is proposed for upper body motion tracking. The proposed system tracks human motion based on monocular silhouette-matching, and it is built on the top of a hierarchical particle filter, within which a novel deterministic resampling strategy (DRS) is applied. The proposed system is evaluated quantitatively with the ground truth data measured by an inertial sensor system. In addition, we compare the DRS with the stratified resampling strategy (SRS). It is shown in experiments that DRS outperforms SRS with the same amount of particles. Moreover, a new 3D articulated human upper body model with the name 3D cardbox model is created and is proven to work successfully for motion tracking. Experiments show that the proposed system can robustly track upper body motion without self-occlusion. Motions towards the camera can also be well tracked.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Table-Top Scene Analysis Using Knowledge-Supervised MCMC

In this paper, we propose a probabilistic method to generate abstract scene graphs for table-top scenes from 6D object pose estimates. We explicitly make use of task-specfic context knowledge by encoding this knowledge as descriptive rules in Markov logic networks. Our approach to generate scene graphs is probabilistic: Uncertainty in the object poses is addressed by a probabilistic sensor model that is embedded in a data driven MCMC process. We apply Markov logic inference to reason about hidden objects and to detect false estimates of object poses. The effectiveness of our approach is demonstrated and evaluated in real world experiments.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Two-Dimensional Rare Earth -- Gold Intermetallic Compounds on Au(111) by Surface Alloying

Surface alloying is a straightforward route to control and modify the structure and electronic properties of surfaces. Here, We present a systematical study on the structural and electronic properties of three novel rare earth-based intermetallic compounds, namely ReAu2 (Re = Tb, Ho, and Er), on Au(111) via directly depositing rare-earth metals onto the hot Au(111) surface. Scanning tunneling microscopy/spectroscopy measurements reveal the very similar atomic structures and electronic properties, e.g. electronic states, and surface work functions, for all these intermetallic compound systems due to the physical and chemical similarities between these rare earth elements. Further, these electronic properties are periodically modulated by the moiré structures caused by the lattice mismatches between ReAu2 and Au(111). These periodically modulated surfaces could serve as templates for the self-assembly of nanostructures. Besides, these two-dimensional rare earth-based intermetallic compounds provide platforms to investigate the rare earth related catalysis, magnetisms, etc., in the lower dimensions.

0 citations0 reviewsNo code linkedOpen access