--- title: InSAI Lab Profile emoji: 🏛️ colorFrom: indigo colorTo: blue sdk: static pinned: false ---

# Integrated Sensing and Assistive Intelligence (InSAI) Lab ### School of AI and Robotics, Hunan University (HNU)

*"Building a utopia where integrated sensing systems empower and enhance human capabilities, especially benefiting people with disabilities."*

--- ## 🎯 About InSAI Lab The **InSAI** (pronounced like *"Insight"*) Lab operates within the **School of AI and Robotics at Hunan University**. Our mission is to merge interdisciplinary fields — including **computer vision, robotics, intelligent transportation systems, assistive technologies, and human-computer interaction (HCI)** — to develop deployable **Assistive Intelligence**. ### Core Research Directions - 🌐 **Multimodal Perception & Scene Understanding:** Vision-Language Modeling, 2D/3D Vision, and sensor fusion in complex, adverse real-world environments. - 🚗 **Autonomous Systems & Panoramic Vision:** Semantic Mapping, Panoramic Sensing, Distortion-aware Transformers, and Bird’s-Eye-View (BEV) perception. - 🤖 **Embodied Intelligence:** Perception, navigation, and decision-making linking foundation models with robotic action, including Sim2Real adaptation. - ♿ **Assistive Technologies:** Wearable assistive systems, navigation aids, and accessible interfaces designed around human capabilities. - 🧠 **Brain-Computer Interface & Document Understanding:** Cognitive state sensing, assistive BCI, and intelligent layout/reading assistance. --- ## 🌟 Featured Collections & Open-Source Suites ### 1. [📚 Collection: DeLiVER & CMNeXt (CVPR 2023)](https://huggingface.co/collections/InSAI-Lab/deliver-and-cmnext-cvpr-2023-6ac37817fd1ef3e1096e970e) > **Delivering Arbitrary-Modal Semantic Segmentation** A unified benchmark and cross-modal suite scaling dynamically across **1 to 81 modalities** (Depth, LiDAR, Events, Multi-Views, RGB) under 4 severe weather conditions and 5 sensor failure corner cases. | Resource | Hugging Face Repository | Description | | :--- | :--- | :--- | | 📦 **Dataset** | [`InSAI-Lab/DELIVER`](https://huggingface.co/datasets/InSAI-Lab/DELIVER) | Full multimodal dataset package (12.22 GB) | | 🤖 **Model Zoo** | [`InSAI-Lab/CMNeXt`](https://huggingface.co/InSAI-Lab/CMNeXt) | 37 trained checkpoints covering DELIVER, KITTI-360, MFNet, NYU Depth V2, UrbanLF, MCubeS, and SegFormer/Swin backbones | | 📄 **Paper** | [arXiv:2303.01480](https://arxiv.org/abs/2303.01480) | CVPR 2023 Paper | ```bash # Quick download via Hugging Face CLI hf download InSAI-Lab/DELIVER DELIVER.tar.gz --type dataset --local-dir ./data hf download InSAI-Lab/CMNeXt --local-dir ./checkpoints ``` --- ### 2. [📚 Collection: Trans4PASS & SynPASS (CVPR 2022)](https://huggingface.co/collections/InSAI-Lab/trans4pass-and-synpass-cvpr-2022-6ac378180330fc67aeeedff3) > **Transformers for Panoramic Semantic Segmentation & Domain Adaptation** Distortion-aware Vision Transformers tailored for 360° panoramic cameras and omnidirectional scene understanding, featuring the 9,080-frame SynPASS benchmark. | Resource | Hugging Face Repository | Description | | :--- | :--- | :--- | | 📦 **Dataset** | [`InSAI-Lab/SynPASS`](https://huggingface.co/datasets/InSAI-Lab/SynPASS) | 9,080 high-res panoramic semantic segmentation benchmark (4.79 GB) | | 🤖 **Model Zoo** | [`InSAI-Lab/Trans4PASS`](https://huggingface.co/InSAI-Lab/Trans4PASS) | 40 checkpoints across Cityscapes, Stanford2D3D, Structured3D, and MPA domain adaptation snapshots | | 📄 **Papers** | [arXiv:2203.01452](https://arxiv.org/abs/2203.01452) / [arXiv:2207.11860](https://arxiv.org/abs/2207.11860) | CVPR 2022 & arXiv Preprints | ```bash # Quick download via Hugging Face CLI hf download InSAI-Lab/SynPASS SynPASS.tar.gz --type dataset --local-dir ./datasets hf download InSAI-Lab/Trans4PASS --local-dir ./workdirs ``` --- ## 🔬 Recent Selected Publications - **IEEE T-PAMI 2026:** *OneBEV++: Towards Unifying Bird’s-Eye-View Semantic Mapping with Panoramas* - **CVPR 2026:** *More than the Sum: Panorama-Language Models for Adverse Omni-Scenes* - **ICML 2026:** *Position: Assistive Agents Need Accessibility Alignment* - **BMVC 2026:** *X²Localizer: Cross-grained Alignment for Progressive Cross-view Video Geo-localization* - **CVPR 2023:** *Delivering Arbitrary-Modal Semantic Segmentation (DeLiVER & CMNeXt)* - **CVPR 2022:** *Bending Reality: Distortion-aware Transformers for Adapting to Panoramic Semantic Segmentation (Trans4PASS)* --- ## 🤝 Connect & Collaborate - 🌐 **Official Website:** [https://insailab.org](https://insailab.org) - 💻 **GitHub Organization:** [https://github.com/InSAI-Lab](https://github.com/InSAI-Lab) - 📬 **Recruitment & Inquiries:** [jiamingzhang@hnu.edu.cn](mailto:jiamingzhang@hnu.edu.cn)