Author

Ming-Ming Cheng

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Preprint Aug 2026

OPUS-V2: Bridging the Gap between Sparse Points and Dense Voxels

The point-based occupancy prediction paradigm has achieved an attractive trade-off between accuracy and efficiency by modeling 3D space sparsely. However, its predictions inherently mismatch the dense voxel-based occupancy required by self-driving systems, necessitating hand-crafted heuristics during training and infer...

Jia-Bao Wang, Qiang Meng, Liujiang Yan et al. · 0 citations

Preprint Aug 2026

Annotations as Rollouts: Efficient and Scalable Reinforcement Learning for Video MLLMs

The sample efficiency and scalability of RL post-training for video MLLMs and introduces OraRL, a decoupled advantage estimator that scales with model size and data, surpassing its backbone from 0.8B to 9B and GRPO up to 100k prompts.

Yun-Heng Li, Guo-Hong Mu, Hao Li et al. · 1 citation