Xiaokai Bai

Xiaokai Bai

Decadent Idealistic College Student

😄 Short Bio

I am currently pursuing a Ph.D. at the College of Information Science and Electronic Engineering at Zhejiang University under the supervision of Prof. Shen Hui-liang. Prior to this, I received postgraduate exemption and my Bachelor’s degree from the same college.

My research interests include 3D Object Detection, 4D Radar Perception, Multi-modal Fusion, and 3D Reasoning. Recent research focuses on integrating LLMs with 4D imaging radar and vision fusion in an end-to-end architecture.

đŸ”„ News

  • Currently exploring the potential of large vision-language models in 3D spatial reasoning.
  • Currently investigating the use of generative models in occupancy prediction for autonomous driving.
  • Currently implementing knowledge distillation to enhance the performance of 4D millimeter-wave radar.

📖 Educations

  • 2023.09 - present, Ph.D. candidate in the College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou.
  • 2019.09 - 2023.06, B.E. in the College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou.

đŸ’» Projects

  • 2024.01 - present, National Key R&D Program of China, 4D radar object detection and tracking in autonomous driving.
  • 2022.06 - 2023.12, Collaboration with Apple on image denoising based on transfer learning and generative models.

📝 Publications

  • Xiaokai Bai, Zhu Yu, Lianqing Zheng, Xiaohan Zhang, Zili Zhou, Xue Zhang, Fang Wang, Jie Bai, and Huiliang Shen. “SGDet3D: Semantics and Geometry Fusion for 3D Object Detection Using 4D Radar and Camera”, IEEE Robotics and Automation Letters (RAL), vol. 10, no. 1, pp. 828-835, 2025. [Paper]

  • Xiaokai Bai, Qin Yang, Zili Zhou, Fuyi Zhang, Zhe Wu, Si-Yuan Cao, Lianqing Zheng, Beinan Yu, Fang Wang, Jie Bai, and Hui-Liang Shen. “LGDD: Local-Global Synergistic Dual-Branch 3D Object Detection Using 4D Radar”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

  • Xiaokai Bai, Jiahao Cheng, Songkai Wang, Yixuan Luo, Lianqing Zheng, Xiaohan Zhang, Si-Yuan Cao, and Hui-Liang Shen. “SD4R: Sparse-to-Dense Learning for 3D Object Detection with 4D Radar”, IEEE Intelligent Transportation Systems Conference (ITSC), 2025.

  • Fuyi Zhang, Zhu Yu, Chunhao Li, Runmin Zhang, Xiaokai Bai, Zili Zhou, Si-Yuan Cao, Fang Wang and Hui-Liang Shen. “Structure-Aware Radar-Camera Depth Estimation”, IEEE International Conference on Robotics and Automation (ICRA), 2025.

  • Xue Zhang, Siyuan Cao, Fang Wang, Runmin Zhang, Zhe Wu, Xiaohan Zhang, Xiaokai Bai, and Hui-Liang Shen. “Rethinking Early-Fusion Strategies for Improved Multispectral Object Detection”, IEEE Transactions on Intelligent Vehicles (TIV), 2024. [Paper]

  • Lianqing Zheng, Long Yang, Qunshu Lin, Wenjin Ai, Minghao Liu, Shouyi Lu, Jianan Liu Hongze Ren, Jingyue Mo, Xiaokai Bai, Jie Bai, Zhixiong Ma, and Xichan Zhu. “OmniHD-Scenes: A Next-Generation Multimodal Dataset for Autonomous Driving”, submitted to IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI). [Paper] [Project]

  • Lianqing Zheng, Jianan Liu, Runwei Guan, Long Yang, Shouyi Lu, Yuanzhe Li, Xiaokai Bai, Jie Bai, Zhixiong Ma, Hui-Liang Shen, Xichan Zhu. “Doracamom: Joint 3D Detection and Occupancy Prediction with Multi-view 4D Radars and Cameras for Omnidirectional Perception”, submitted to IEEE Transactions on Circuits and Systems for Video Technology (TCSVT). [Paper]

  • Xiaokai Bai, Lianqing Zheng, Xiaohan Zhang, Zhu Yu, Si-Yuan Cao, Zhe Wu, Fang Wang, and Hui-Liang Shen. “SIFormer: Scene-Instance Aware Transformer for 3D Object Detection with 4D Radar and Camera”, submitted to IEEE Transactions on Multimedia (TMM), 2025.
  • Chenghao Zhang, Lun Luo, Si-Yuan Cao, Xiaokai Bai, Zhu Yu, Yisen Wang, Beinan Yu, and Hui-Liang Shen. “S-BEVLoc: BEV-based Self-supervised Framework for Large-scale LiDAR Global Localization”, submitted to IEEE Robotics and Automation Letters (RAL), 2025.
  • Xiaohan Zhang, Dongqi Yuan, Yihan Hu, Zhe Wu, Xue Zhang, Beinan Yu, Xiaokai Bai, Si-Yuan Cao, Bailin Yang, and Huiliang Shen. “SADet: A Semantic-Aware Tiny Object Detection Network Against Missed Detection”, submitted to Pattern Recognition (PR), 2025.
  • Xiaohan Zhang, Si-Yuan Cao, Zhu Yu, Zhe Wu, Xue Zhang, Xiaokai Bai, Beinan Yu, Hui-Liang Shen. “GeoFormer: Boosting Object Distinguishing and Prompt Understanding for Cross-View Object Geo-Localization”, submitted to IEEE Transactions on Geoscience and Remote Sensing (TGRS), 2025.
  • Zhe Wu, Yunxin Li, Runmin Zhang, Si-Yuan Cao, Jiacheng Ying, Xiaohan Zhang, Xiaokai Bai, Shujie Chen, Bailin Yang, and Huiliang Shen. “TEFormer: Thermal Infrared Image Enhancement by Preserving Spatial Consistency and Details”, submitted to IEEE Transactions on Geoscience and Remote Sensing (TGRS), 2025.
  • Yiming Li, Qinglin He, Yihan Yang, Yuguang Chu, Yuanhui Hu, Zhe Wu, *Xiaokai Bai, Xiaohan Zhang, Weichen Liu, and Hui-Liang Shen. “Remote PPG Measurement Using a Synergistic Time-Frequency Network”, submitted to IEEE Journal of Biomedical and Health Informatics (JBHI), 2025.

🎖 Honors and Awards

  • 2023-2024, Excellent Postgraduate student of Zhejiang University (top 5%)
  • 2022-2023, Outstanding Graduate of Zhejiang Province (top 1%)
  • 2022-2023, Postgraduate exemption based on being in the top 5%
  • 2021-2023, Zhejiang University Student Research Training Program (SRTP), Outstanding
  • 2021-2022, Zhejiang University Student Entrepreneurship Competition, Second Prize
  • 2021-2022, Silver Award in the Zhejiang Internet+ Innovation and Entrepreneurship Competition
  • 2021-2022, Zhejiang Provincial Government Scholarship (top 2%, ïż„6,000)
  • 2021-2022, Honorable Mention in the Mathematical Contest in Modeling (MCM)
  • 2021-2022, Zhejiang University Excellent Student (top 3%)
  • 2020-2021, Zhejiang University First-Class Academic Scholarship (top 3%, ïż„6,000)
  • 2020-2021, Zhejiang University Outstanding Senior Student
  • 2019-2020, Zhejiang University First-Class Academic Scholarship (top 3%, ïż„6,000)
  • 2019-2020, Zhejiang University Excellent League Cadre

✅ Services

  • Reviewer of IEEE Robotics and Automation Letters (RAL)
  • Reviewer of IEEE International Conference on Robotics & Automation (ICRA)
  • Reviewer of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Reviewer of IEEE Intelligent Transportation Systems Conference (ITSC)
  • Reviewer of IEEE International Radar Conference