12 accepted papers
We identify a new dimension for enhancing rollout diversity in Group Relative Policy Optimization (GRPO) for LLMs. While GRPO relies on diverse rollouts, prevailing strategies primarily increase diversity by injecting more token-level randomness, which may introduce step-wise noise and leads to inco…
Point cloud-based motion capture leverages rich spatial geometry and privacy-preserving sensing, but learning robust representations from noisy, unstructured point clouds remains challenging. Existing approaches face a struggle trade-off between point-based methods (geometrically detailed but noisy)…
Multimodal Large Language Models (MLLMs) excel in various tasks, yet often struggle with modality bias, tending to rely heavily on a single modality or prior knowledge when generating responses. In this paper, we propose a debiased preference optimization dataset, RLAIF-V-Bias, and introduce a Noise…
We propose a novel hybrid calibration-free method FreeCap to accurately capture global multi-person motions in open environments. Our system combines a single LiDAR with expandable moving cameras, allowing for flexible and precise motion estimation in a unified world coordinate. In particular, We in…
Human-centric Point Cloud Video Understanding (PVU) is an emerging field focused on extracting and interpreting human-related features from sequences of human point clouds further advancing downstream human-centric tasks and applications. Previous works usually focus on tackling one specific task an…
"LiDAR-based human motion capture has garnered significant interest in recent years for its practicability in large-scale and unconstrained environments. However, most methods rely on cleanly segmented human point clouds as input, the accuracy and smoothness of their motion results are compromised w…
For human-centric large-scale scenes fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper we present LiveHPS a novel single-LiDAR-based approach for scene-level human pose and shape estimation with…
Fuel efficiency is a crucial aspect of long-distance cargo transportation by oil-powered trucks that economize on costs and decrease carbon emissions. Current predictive control methods depend on an accurate model of vehicle dynamics and engine, including weight, drag coefficient, and the Brake-spec…
With the rapid advancement of multimodal large language models (MLLMs), their evaluation has become increasingly comprehensive. However, understanding long multimodal content, as a foundational ability for real-world applications, remains underexplored. In this work, we present Needle In A Multimoda…
"We present the All-Seeing Project V2: a new model and dataset designed for understanding object relations in images. Specifically, we propose the All-Seeing Model V2 () that integrates the formulation of text generation, object localization, and relation comprehension into a relation conversation (…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of individuals and the 3D pose estimation by providing rich geometry fe…
Accurately detecting and tracking pedestrians in 3D space is challenging due to large variations in rotations, poses and scales. The situation becomes even worse for dense crowds with severe occlusions. However, existing benchmarks either only provide 2D annotations, or have limited 3D annotations w…