arXiv subjects

Haochen Yu

Publications and source records attributed to Haochen Yu.

7 recordsLinked to original sources

arXiv2026

Unposed-to-3D: Learning Simulation-Ready Vehicles from Real-World Images

Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain gaps from real-world distributions. The generated models often exhibit arbitrary poses and undefined scales, resulting in poor visual consistency when integrated into driving scenes. In this paper, we present Unposed-to-3D, a novel framework that learns to reconstruct 3D vehicles from real-world driving images using image-only supervision. Our approach consists of two stages. In the first stage, we train an image-to-3D reconstruction network using posed images with known camera parameters. In the second stage, we remove camera supervision and use a camera prediction head that directly estimates the camera parameters from unposed images. The predicted pose is then used for differentiable rendering to provide self-supervised photometric feedback, enabling the model to learn 3D geometry purely from unposed images. To ensure simulation readiness, we further introduce a scale-aware module to predict real-world size information, and a harmonization module that adapts the generated vehicles to the target driving scene with consistent lighting and appearance. Extensive experiments demonstrate that Unposed-to-3D effectively reconstructs realistic, pose-consistent, and harmonized 3D vehicle models from real-world images, providing a scalable path toward creating high-quality assets for driving scene simulation and digital twin environments.

cs.CV↗

arXiv2025

Matter-Mediated Entanglement by Classical Gravity under Realistic Matter Dynamics

Gravity-induced entanglement (GIE) is widely regarded as key evidence of nonclassical gravity. Recent work, however, argues that a classical gravitational background can generate entanglement through virtual matter propagation between separated masses. Here we show that this mechanism is negligible once realistic matter dynamics is taken into account. For bound or condensed matter, the binding potential converts the claimed long-range matter-mediated interaction into an exponentially short-ranged one, with an attenuation length of only a few picometers for representative binding energies-well below atomic dimensions and therefore negligible under experimentally relevant distances. For unbound matter, the channel remains negligible before significant wave-packet overlap, while after overlap the packets no longer represent two spatially separated subsystems. Thus the proposed classical matter-mediated mechanism does not challenge the usual interpretation of GIE as evidence for nonclassical gravity once physical localization and finite-time matter dynamics are treated consistently.

quant-ph↗

arXiv2025

MVSMamba: Multi-View Stereo with State Space Model

Robust feature representations are essential for learning-based Multi-View Stereo (MVS), which relies on accurate feature matching. Recent MVS methods leverage Transformers to capture long-range dependencies based on local features extracted by conventional feature pyramid networks. However, the quadratic complexity of Transformer-based MVS methods poses challenges to balance performance and efficiency. Motivated by the global modeling capability and linear complexity of the Mamba architecture, we propose MVSMamba, the first Mamba-based MVS network. MVSMamba enables efficient global feature aggregation with minimal computational overhead. To fully exploit Mamba's potential in MVS, we propose a Dynamic Mamba module (DM-module) based on a novel reference-centered dynamic scanning strategy, which enables: (1) Efficient intra- and inter-view feature interaction from the reference to source views, (2) Omnidirectional multi-view feature representations, and (3) Multi-scale global feature aggregation. Extensive experimental results demonstrate MVSMamba outperforms state-of-the-art MVS methods on the DTU dataset and the Tanks-and-Temples benchmark with both superior performance and efficiency. The source code is available at https://github.com/JianfeiJ/MVSMamba.

cs.CV↗

arXiv2025

XYZCylinder: Towards Compatible Feed-Forward 3D Gaussian Splatting for Driving Scenes via Unified Cylinder Lifting Method

Feed-forward paradigms for 3D reconstruction have become a focus of recent research, which learn implicit, fixed view transformations to generate a single scene representation. However, their application to complex driving scenes reveals significant limitations. Two core challenges are responsible for this performance gap. First, the reliance on a fixed view transformation hinders compatibility to varying camera configurations. Second, the inherent difficulty of learning complex driving scenes from sparse 360{\deg} views with minimal overlap compromises the final reconstruction fidelity. To handle these difficulties, we introduce XYZCylinder, a novel method built upon a unified cylinder lifting method that integrates camera modeling and feature lifting. To tackle the compatibility problem, we design a Unified Cylinder Camera Modeling (UCCM) strategy. This strategy explicitly models projection parameters to unify diverse camera setups, thus bypassing the need for learning viewpoint-dependent correspondences. To improve the reconstruction accuracy, we propose a hybrid representation with several dedicated modules based on newly designed Cylinder Plane Feature Group (CPFG) to lift 2D image features to 3D space. Extensive evaluations confirm that XYZCylinder not only achieves state-of-the-art performance under different evaluation settings but also demonstrates remarkable compatibility in entirely new scenes with different camera settings in a zero-shot manner. Project page: \href{https://yuyuyu223.github.io/XYZCYlinder-projectpage/}{here}

cs.CV↗

arXiv2025

InstDrive: Instance-Aware 3D Gaussian Splatting for Driving Scenes

Reconstructing dynamic driving scenes from dashcam videos has attracted increasing attention due to its significance in autonomous driving and scene understanding. While recent advances have made impressive progress, most methods still unify all background elements into a single representation, hindering both instance-level understanding and flexible scene editing. Some approaches attempt to lift 2D segmentation into 3D space, but often rely on pre-processed instance IDs or complex pipelines to map continuous features to discrete identities. Moreover, these methods are typically designed for indoor scenes with rich viewpoints, making them less applicable to outdoor driving scenarios. In this paper, we present InstDrive, an instance-aware 3D Gaussian Splatting framework tailored for the interactive reconstruction of dynamic driving scene. We use masks generated by SAM as pseudo ground-truth to guide 2D feature learning via contrastive loss and pseudo-supervised objectives. At the 3D level, we introduce regularization to implicitly encode instance identities and enforce consistency through a voxel-based loss. A lightweight static codebook further bridges continuous features and discrete identities without requiring data pre-processing or complex optimization. Quantitative and qualitative experiments demonstrate the effectiveness of InstDrive, and to the best of our knowledge, it is the first framework to achieve 3D instance segmentation in dynamic, open-world driving scenes.More visualizations are available at our project page.

cs.CV↗

arXiv2025

MonoMVSNet: Monocular Priors Guided Multi-View Stereo Network

Learning-based Multi-View Stereo (MVS) methods aim to predict depth maps for a sequence of calibrated images to recover dense point clouds. However, existing MVS methods often struggle with challenging regions, such as textureless regions and reflective surfaces, where feature matching fails. In contrast, monocular depth estimation inherently does not require feature matching, allowing it to achieve robust relative depth estimation in these regions. To bridge this gap, we propose MonoMVSNet, a novel monocular feature and depth guided MVS network that integrates powerful priors from a monocular foundation model into multi-view geometry. Firstly, the monocular feature of the reference view is integrated into source view features by the attention mechanism with a newly designed cross-view position encoding. Then, the monocular depth of the reference view is aligned to dynamically update the depth candidates for edge regions during the sampling procedure. Finally, a relative consistency loss is further designed based on the monocular depth to supervise the depth prediction. Extensive experiments demonstrate that MonoMVSNet achieves state-of-the-art performance on the DTU and Tanks-and-Temples datasets, ranking first on the Tanks-and-Temples Intermediate and Advanced benchmarks. The source code is available at https://github.com/JianfeiJ/MonoMVSNet.

cs.CV↗

arXiv2024

Systematic assessment of various universal machine-learning interatomic potentials

Machine-learning interatomic potentials have revolutionized materials modeling at the atomic scale. Thanks to these, it is now indeed possible to perform simulations of \abinitio quality over very large time and length scales. More recently, various universal machine-learning models have been proposed as an out-of-box approach avoiding the need to train and validate specific potentials for each particular material of interest. In this paper, we review and evaluate five different universal machine-learning interatomic potentials (uMLIPs), all based on graph neural network architectures which have demonstrated transferability from one chemical system to another. The evaluation procedure relies on data both from a recent verification study of density-functional-theory implementations and from the Materials Project. Through this comprehensive evaluation, we aim to provide guidance to materials scientists in selecting suitable models for their specific research problems, offer recommendations for model selection and optimization, and stimulate discussion on potential areas for improvement in current machine-learning methodologies in materials science.

cond-mat.mtrl-sci↗