2025
Enhancing Indoor Occupancy Prediction via Sparse Query-Based Multi-Level Consistent Knowledge Distillation
Xiang Li, Yupeng Zheng, Pengfei Li, Yilun Chen, Ya-Qin Zhang, Wenchao Ding
Robotics and Automation Letters (RA-L) 2025
We pioneer a hierarchical distillation strategy that establishes coordinated knowledge transfer between teacher and student models and progressively incorporates guidance information, specifically designed for sparse query-based occupancy prediction.
Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving
Xiang Li, Pengfei Li, Yupeng Zheng, Wei Sun, Yan Wang, Yilun Chen
International Conference on Learning Representations (ICLR) 2025
Our semi-supervised 3D occupancy world model, featuring 2D rendering supervision and an end-to-end architecture, can forecast future occupancy straightly from image inputs while taking advantage of 2D labels.
2024
MonoOcc: Digging into Monocular Semantic Occupancy Prediction
Yupeng Zheng*, Xiang Li*, Pengfei Li, Yuhang Zheng, Bu Jin, Chengliang Zhong, Xiaoxiao Long, Hao Zhao, Qichao Zhang(* equal contribution)
International Conference on Robotics and Automation (ICRA) 2024
By proposing a distillation module to transfer temporal information and richer knowledge to the monocular branch from a privileged branch, we increase the performance of the framework especially on small and long-tailed objects, while striking a balance between performance and efficiency.