Author

Yi Xiao

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Preprint Oct 2026

Radar2Plan: Benchmarking 4D Radar for End-to-End Open-Loop Ego-Trajectory Planning

Adverse weather and poor illumination remain major challenges for robust ego-trajectory planning in mobile autonomy. 4D radar offers reliable sensing under adverse conditions and direct radial-velocity measurements. However, sensing robustness does not necessarily translate into robust downstream planning, while existi...

Lin Yao, Yi Xiao, Jin Jin et al. · 0 citations

#machine learning Feb 2026

HyperDet: 3D Object Detection with Hyper 4D Radar Point Clouds

HyperDet is presented, a detector- agnostic input enhancement pipeline that constructs task- aware hyper 4D radar point clouds by combining measured observations with completed foreground geometry, validating input-level radar enhancement as an effective approach to radar-only 3D detection.

Yi Xiao, Jin Jin, Run-Wei Guan et al. · arXiv.org · 3 citations

2025

LoRA-EnVar: Parameter-Efficient Hybrid Ensemble Variational Assimilation for Weather Forecasting

Experimental results show that LoRA-EnVar significantly improves assimilation accuracy over models assuming static background error distribution and achieves comparable or better performance than full finetuning while reducing the number of trainable parameters by three orders of magnitude.

Yi Xiao, Hang Fan, Kun Chen et al. · Neural Information Processin... · 3 citations