Publications

2025

2025

  1. Preprint
    InVDriver: Intra-Instance Aware Vectorized Query-Based Autonomous Driving Transformer
    Bo Zhang , Heye Huang , Chunyang Liu , and 2 more authors
    2025
    arXiv
  2. Preprint
    VIRT: Vision Instructed Transformer for Robotic Manipulation
    Zhuoling Li Li , Liangliang Ren , Jinrong Yang , and 5 more authors
    2025
    arXiv
  3. Preprint
    LARM: Large Auto-Regressive Model for Long-Horizon Embodied Intelligence
    Zhuoling Li , Xiaogang Xu ,  Zhenhua Xu , and 2 more authors
    2025
    arXiv Website
  4. CVPR2025
    DriveGPT4-V2: Harnessing Large Language Model Capabilities for Enhanced Closed-Loop Autonomous Driving
    Zhenhua Xu , Yan Bai , Yujia Zhang , and 5 more authors
    Conference on Computer Vision and Pattern Recognition, 2025
    PDF

2024

2024

  1. IV2024
    PGO-IPM: Enhance IPM Accuracy with Pose-guided Optimization for Low-cost High-definition Angular Marking Map Generation
    Hongji Liu , Linwei Zheng , Xiaoyang Yan , and 3 more authors
    2024
    Website
  2. RAL
    DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model
    Zhenhua Xu , Yujia Zhang , Enze Xie , and 5 more authors
    IEEE Robotics and Automation Letters, 2024
    arXiv PDF Website
  3. ECCV2024
    InsMapper: Exploring Inner-instance Information for Vectorized HD Mapping
    Zhenhua Xu , Kwan-Yee K. Wong , and Hengshuang Zhao
    2024 European Conference on Computer Vision (ECCV), 2024
    arXiv Supp Code Website

2023

2023

  1. RAL
    RNGDet++: Road Network Graph Detection by Transformer with Instance Segmentation and Multi-scale Features Enhancement
    Zhenhua Xu , Yuxuan Liu , Yuxiang Sun , and 2 more authors
    IEEE Robotics and Automation Letters, 2023
    arXiv PDF Supp Code Website
  2. TASE/ICRA2024
    FSNet: Redesign Self-Supervised MonoDepth for Full-Scale Depth Prediction for Autonomous Driving
    Yuxuan Liu ,  Zhenhua Xu , Huaiyang Huang , and 2 more authors
    IEEE Transactions on Automation Science and Engineering, 2023
    Website
  3. ICRA2023
    CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generation
    Zhenhua Xu , Yuxuan Liu , Yuxiang Sun , and 2 more authors
    2023 IEEE/RSJ International Conference on Robotics and Automation (ICRA), 2023
    arXiv PDF Supp Code Website

2022

2022

  1. TGRS
    RNGDet: Road Network Graph Detection by Transformer in Aerial Images
    Zhenhua Xu , Yuxuan Liu , Lu Gan , and 3 more authors
    IEEE Transactions on Geoscience and Remote Sensing (TGRS), 2022
    arXiv PDF Code Website
  2. RAL/ICRA2022
    csBoundary: City-Scale Road-Boundary Detection in Aerial Images for High-Definition Maps
    Zhenhua Xu , Yuxuan Liu , Lu Gan , and 4 more authors
    IEEE Robotics and Automation Letters, 2022
    arXiv PDF Supp Website
  3. ICRA2022
    Star-Convolution for Image-Based 3D Object Detection
    Yuxuan Liu ,  Zhenhua Xu , and Ming Liu
    In 2022 IEEE/RSJ International Conference on Robotics and Automation (ICRA) , 2022
    PDF

2021

2021

  1. IROS2021
    CP-loss: Connectivity-preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images
    Zhenhua Xu , Yuxiang Sun , Lujia Wang , and 1 more author
    In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021
    arXiv PDF Supp Website
  2. RAL/ICRA2021
    Topo-boundary: A benchmark dataset on topological road-boundary detection using aerial images for autonomous driving
    Zhenhua Xu , Yuxiang Sun , and Ming Liu
    IEEE Robotics and Automation Letters, 2021
    arXiv PDF Supp Code Website
  3. RAL/IROS2021
    iCurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving
    Zhenhua Xu , Yuxiang Sun , and Ming Liu
    IEEE Robotics and Automation Letters, 2021
    arXiv PDF Supp Code Website
  4. RAM
    The role of the Hercules autonomous vehicle during the COVID-19 pandemic: An autonomous logistic vehicle for contactless goods transportation
    Tianyu Liu , Qing Liao , Lu Gan , and 8 more authors
    IEEE Robotics & Automation Magazine, 2021
    arXiv PDF

2020

2020

  1. TVCG
    Visual analysis of discrimination in machine learning
    Qianwen Wang ,  Zhenhua Xu , Zhutian Chen , and 3 more authors
    IEEE Transactions on Visualization and Computer Graphics, 2020
    arXiv PDF

2018

2018

  1. IGARSS
    Shadow tracking of moving target based on CNN for video SAR system
    Yun Zhang , Shiyu Yang , Hongbo Li , and 1 more author
    In IGARSS 2018-2018 IEEE International Geoscience and Remote Sensing Symposium , 2018
    PDF

2017

2017

  1. ICCSPS
    A new shadow tracking method to locate the moving target in SAR imagery based on KCF
    Zhenhua Xu , Yun Zhang , Hongbo Li , and 2 more authors
    In International Conference in Communications, Signal Processing, and Systems , 2017
    PDF