Xiuwei Xu | 许修为

I am a fourth year Ph.D student in the Department of Automation at Tsinghua University, advised by Prof. Jiwen Lu . In 2021, I obtained my B.Eng. in the Department of Automation, Tsinghua University.

I am interested in computer vision and robotics. My current research focuses on:

  • Embodied AI that grounds robotic planning with physical scenes.
  • 3D scene perception that accurately and efficiently understands the surrounding 3D scenes captured by robotic agent.
  • Model compression that reduces the computation and storage cost of neural networks with techniques like quantization and pruning.
  • Email  /  CV  /  Google Scholar  /  Github

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    News

  • 2024-09: Two papers on VLM quantization and Zero-shot ObjectNav are accepted to NeurIPS 2024.
  • 2024-07: DSPDet3D is accepted to ECCV 2024.
  • 2024-02: Three papers are accepted to CVPR 2024.
  • 2023-10: One paper on weakly-supervised point cloud analysis is accepted to T-PAMI.
  • *Equal contribution,    Project leader.

    Preprint

    dise EmbodiedSAM: Online Segment Any 3D Thing in Real Time
    Xiuwei Xu, Huangxing Chen, Linqing Zhao, Ziwei Wang, Jie Zhou, Jiwen Lu
    arXiv, 2024
    [arXiv] [Code] [Project Page]

    We presented ESAM, an efficient framework that leverages vision foundation models for online, real-time, fine-grained, generalized and open-vocabulary 3D instance segmentation.

    dise Embodied Instruction Following in Unknown Environments
    Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, Haibin Yan
    arXiv, 2024
    [arXiv] [Code] [Project Page]

    Our embodied agent efficiently explores the unknown environment to generate feasible plans with existing objects to accomplish abstract instructions. which can complete complex human instructions such as making breakfast, tidying bedrooms and cleaning bathrooms in house-level scenes.

    dise Embodied Task Planning with Large Language Models
    Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, Haibin Yan
    arXiv, 2023
    [arXiv] [Code] [Project Page] [Demo]

    We propose a TAsk Planing Agent (TaPA) in embodied tasks for grounded planning with physical scene constraint, where the agent generates executable plans according to the existed objects in the scene by aligning LLMs with the visual perception models.

    Selected Publications

    dise SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation
    Hang Yin*, Xiuwei Xu*, Zhenyu Wu, Jie Zhou, Jiwen Lu
    Thirty-eighth Conference on Neural Information Processing Systems (NeurIPS), 2024
    [arXiv] [Code] [Project Page] [中文解读]

    We propose a training-free object-goal navigation framework by leveraging LLM and VFMs. We construct an online hierarchical 3D scene graph and prompt LLM to exploit structure information contained in subgraphs for zero-shot decision making.

    dise Q-VLM: Post-training Quantization for Large Vision-Language Models
    Changyuan Wang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
    Thirty-eighth Conference on Neural Information Processing Systems (NeurIPS), 2024
    [arXiv] [Code]

    We propose a post-training quantization framework of large vision-language models (LVLMs). Our method compresses the memory by 2.78x and increase the generate speed by 1.44x on 13B LLaVA model without performance degradation on diverse multi-modal reasoning tasks.

    dise 3D Small Object Detection with Dynamic Spatial Pruning
    Xiuwei Xu*, Zhihao Sun*, Ziwei Wang, Hongmin Liu, Jie Zhou, Jiwen Lu
    European Conference on Computer Vision (ECCV), 2024
    [arXiv] [Code] [Project Page] [中文解读]

    We propose an effective and efficient 3D detector named DSPDet3D for detecting small objects. By scaling up the spatial resolution of feature maps and pruning uninformative scene representaions, DSPDet3D is able to capture detailed local geometric information while keeping low memory footprint and latency.

    dise Memory-based Adapters for Online 3D Scene Perception
    Xiuwei Xu*, Chong Xia*, Ziwei Wang, Linqing Zhao, Yueqi Duan, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024
    [arXiv] [Code] [Project Page] [中文解读]

    We propose a model and task-agnostic plug-and-play module, which converts offline 3D scene perception models (receive reconstructed point clouds) to online perception models (receive streaming RGB-D videos).

    dise Towards Accurate Data-free Quantization for Diffusion Models
    Changyuan Wang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Highlight)
    [arXiv] [Code]

    We propose a post-training quantization framework to compress diffusion models, which performs group-wise quantization to minimize rounding errors across time steps and selects generated contents in the optimal time steps for calibration.

    dise Back to Reality: Learning Data-Efficient 3D Object Detector with Shape Guidance
    Xiuwei Xu, Ziwei Wang, Jie Zhou, Jiwen Lu
    IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI, IF: 23.6), 2023
    [PDF] [Supp] [Code]

    We extend BR to BR++ by introducing differentiable label enhancement and label-assisted self-training. Our approach surpasses current weakly-supervised and semi-supervised methods by a large margin, and achieves comparable detection performance with some fully-supervised methods with less than 5% of the labeling labor.

    dise MCUFormer: Deploying Vision Transformers on Microcontrollers with Limited Memory
    Yinan Liang, Ziwei Wang, Xiuwei Xu, Yansong Tang, Jie Zhou, Jiwen Lu
    Thirty-seventh Conference on Neural Information Processing Systems (NeurIPS), 2023
    [arXiv] [Code] [中文解读]

    We propose a hardware-algorithm co-optimizations method called MCUFormer to deploy vision transformers on microcontrollers with extremely limited memory, where we jointly design transformer architecture and construct the inference operator library to fit the memory resource constraint.

    dise Binarizing Sparse Convolutional Networks for Efficient Point Cloud Analysis
    Xiuwei Xu, Ziwei Wang, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023
    [arXiv] [Poster]

    We propose a binary sparse convolutional network called BSC-Net for efficient point cloud analysis. With the presented shifted sparse convolution operation and efficient search method, we reduce the quantization error for sparse convolution without additional computation overhead.

    dise Quantformer: Learning Extremely Low-precision Vision Transformers
    Ziwei Wang, Changyuan Wang, Xiuwei Xu, Jie Zhou, Jiwen Lu
    IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI, IF: 23.6), 2022
    [PDF] [Supp] [Code]

    We propose the extremely low-precision vision transformers in 2-4 bits, where a self-attention rank consistency loss and a group-wise quantization strategy are presented for quantization error minimization.

    dise Back to Reality: Weakly-supervised 3D Object Detection with Shape-guided Label Enhancement
    Xiuwei Xu, Yifan Wang, Yu Zheng, Yongming Rao, Jie Zhou, Jiwen Lu
    IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022
    [arXiv] [Code] [Poster]

    We propose a weakly-supervised approach for 3D object detection, which makes it possible to train a strong 3D detector with only annotations of object centers. We convert the weak annotations into virtual scenes with synthetic 3D shapes and apply domain adaptation to train a size-aware detector for real scenes.

    Honors and Awards

  • National Scholarship, 2024
  • Outstanding Graduates (Beijing & Dept. of Automation, Tsinghua University), 2021
  • Innovation Award of Science and Technology, Tsinghua University, 2019-2020
  • Teaching

  • Teaching Assistant, Computer vision, 2024 Spring Semester
  • Teaching Assistant, Pattern recognition and machine learning, 2023 Fall Semester
  • Teaching Assistant, Pattern recognition and machine learning, 2022 Fall Semester
  • Teaching Assistant, Numerical analysis, 2021 Fall Semester
  • Academic Services

  • Conference Reviewer / PC Member: ICLR 2025, NeurIPS 2024, ECCV 2024, ICCV 2023, ICASSP 2022/2023, VCIP 2022
  • Journal Reviewer: IJCV, T-IP, T-ITS, T-MM, T-CSVT

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    © Xiuwei Xu | Last updated: Nov 13, 2024