Selected Publications

30+ papers · 2,400++ citations · h-index 16 · Full list on Google Scholar →

2026

WorldScape Policy 2.0: Empowering Steerable World Action Modeling with Reasoning-Augmented Memory

Haisheng Su†, Zongdai Liu, Xin Jin, Haoxuan Dou, Chengming Hu, Baorun Li, Zhanwang Liu, Ruiyan Xu, Jianjie Fang, Xin Zhang, Zhenjie Yang, Xue Yang, Chen Gao, Junchi Yan, Yong Li, Wei Wu‡

Technical Report, 2026

Project Paper

Worldscape-MoE: A Unified Mixture-of-Experts World Model for Scalable Heterogeneous Action Control

Jianjie Fang*, Yongyan Xu*, Ziyou Wang*, Chen Gao*†, Yuchao Huang, Zhaolu Wang, Rongze Tang, Mingyuan Jia, Baining Zhao, Weichen Zhang, Xin Zhang, Haisheng Su, Yu Shang, Wei Wu, Xinlei Chen, Yong Li†

arXiv preprint arXiv:2607.03964, 2026

Project Paper

WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform

Yu Shang, Yinzhou Tang, Yiding Ma, Zhuohang Li, Lei Jin, Weikang Su, Xin Jin, Zhaolu Wang, Ziyou Wang, Xin Zhang, Haisheng Su, Weizhen He, Wei Wu, Haoyi Duan, Gordon Wetzstein, Xihui Liu, Dhruv Shah, Zhaoxiang Zhang, Zhibo Chen, Jun Zhu, Yonghong Tian, Tat-Seng Chua, Wenwu Zhu, Chen Gao, Yong Li

arXiv preprint arXiv:2605.17912, 2026

Project Paper

WorldScape Policy: Generalizable Robotic Learning via a Foundation World Model

Manifold AI - WorldScape Team, Haisheng Su, et al. (First author & Project lead)

Technical Report, 2026

Blog Paper

WorldArena: A Unified Benchmark for Evaluating Perception and Functional Utility of Embodied World Models

Yu Shang, Zhuohang Li, Yiding Ma, Weikang Su, Xin Jin, Ziyou Wang, Lei Jin, Xin Zhang, Yinzhou Tang, Haisheng Su, Chen Gao, Wei Wu, Xihui Liu, Dhruv Shah, Zhaoxiang Zhang, Zhibo Chen, Jun Zhu, Yonghong Tian, Tat-Seng Chua, Wenwu Zhu, Yong Li

arXiv preprint arXiv:2602.08971, 2026

Project Paper

DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving

Zhenjie Yang, Yilin Chai, Xiaosong Jia, Qifeng Li, Yuqian Shao, Xuekai Zhu, Haisheng Su, Junchi Yan

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026

Project Paper

DriveMamba: Task-Centric Scalable State Space Model for Efficient End-to-End Autonomous Driving

Haisheng Su, Wei Wu, Feixiang Song, Junjie Zhang, Zhenjie Yang, Junchi Yan

International Conference on Learning Representations (ICLR), 2026

Paper Poster

EgoFSD: Ego-Centric Fully Sparse Paradigm with Uncertainty Denoising and Iterative Refinement for Efficient End-to-End Self-Driving

Haisheng Su, Wei Wu, Zhenjie Yang, I Guan

IEEE International Conference on Robotics and Automation (ICRA), 2026

Paper Poster

2025

RoboSense: Large-scale Dataset and Benchmark for Egocentric Robot Perception and Navigation in Crowded and Unstructured Environments

Haisheng Su, Feixiang Song, Cong Ma, Wei Wu, Junchi Yan

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025

Project Paper Poster

UniMamba: Unified Spatial-Channel Representation Learning with Group-Efficient Mamba for LiDAR-based 3D Object Detection

Xin Jin*, Haisheng Su*†, Kai Liu, Cong Ma, Wei Wu, Fan Hui, Junchi Yan (Co-first & Corresponding author)

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025

Project Paper

FreqPDE: Rethinking Positional Depth Embedding for Multi-View 3D Object Detection Transformers

Haisheng Su, Junjie Zhang, Feixiang Song, Sanping Zhou, Wei Wu, Nanning Zheng, Junchi Yan

IEEE/CVF International Conference on Computer Vision (ICCV), 2025

Paper Poster

GeoFormer: Geometry Point Encoder for 3D Object Detection with Graph-based Transformer

Xin Jin*, Haisheng Su*†, Cong Ma*, Kai Liu, Wei Wu, Fei Hui, Junchi Yan (Co-first & Corresponding author)

IEEE/CVF International Conference on Computer Vision (ICCV), 2025

Paper

2022

Learning Video Representations of Human Motion From Synthetic Data

Xi Guo, Wei Wu, Dongliang Wang, Jing Su, Haisheng Su, Weihao Gan, Jian Huang, Qin Yang

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022

Paper

Regularity Learning via Explicit Distribution Modeling for Skeletal Video Anomaly Detection

Shoubin Yu, Zhongyin Zhao, Haoshu Fang, Andong Deng, Haisheng Su, Dongliang Wang, Weihao Gan, Cewu Lu, Wei Wu

IEEE Transactions on Circuits and Systems for Video Technology (TCSVT), 2022

Paper

2021

Temporal Context Aggregation Network for Temporal Action Proposal Generation

Zhiwu Qing*, Haisheng Su*†, Weihao Gan, Dongliang Wang, Wei Wu, Xiang Wang, Yu Qiao, Junjie Yan, Changxin Gao, Nong Sang (Co-first & Corresponding author)

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021

Project Paper

BSN++: Complementary Boundary Regressor with Scale-Balanced Relation Modeling for Temporal Action Proposal Generation

Haisheng Su, Weihao Gan, Wei Wu, Yu Qiao, Junjie Yan

AAAI Conference on Artificial Intelligence (AAAI), 2021

Paper

Transferable Knowledge-Based Multi-Granularity Aggregation Network for Temporal Action Localization: Submission to ActivityNet Challenge 2021

Haisheng Su, Peiqin Zhuang, Yukun Li, Dongliang Wang, Weihao Gan, Wei Wu, Yu Qiao

CVPR 2021 HACS Challenge: Weakly Supervised Temporal Action Localization Track, 2021 🏆 Winner Solution

CVPR 2021 HACS Challenge: Temporal Action Localization Track, 2021 🥈 Runner-up Solution

Paper Leaderboard Certificate (Winner) Certificate (Runner-up)

2020

Joint Learning of Local and Global Context for Temporal Action Proposal Generation

Tianwei Lin, Xu Zhao, Haisheng Su

IEEE Transactions on Circuits and Systems for Video Technology (TCSVT), 2020

Paper

Transferable Knowledge based Multi-Granularity Fusion Network for Weakly Supervised Temporal Action Detection

Haisheng Su, Xu Zhao, Tianwei Lin, Shuming Liu, Zhilan Hu

IEEE Transactions on Multimedia (TMM), 2020

Paper

2018

Boundary Sensitive Network: Submission to ActivityNet Challenge 2018

Tianwei Lin, Haisheng Su, Xu Zhao

CVPR 2018 ActivityNet Challenge: Temporal Action Localization Track, 2018 🏆 Winner Solution

Paper Leaderboard

BSN: Boundary Sensitive Network for Temporal Action Proposal Generation

Tianwei Lin, Xiao Zhao, Haisheng Su, Chongjing Wang, Ming Yang

European Conference on Computer Vision (ECCV), 2018

Project Paper