Lingdong Kong

I am a Ph.D. candidate in the Department of Computer Science at the National University of Singapore, advised by Prof. Wei Tsang Ooi, Prof. Benoit Cottereau, and Dr. Lai Xing Ng. I work closely with Prof. Ziwei Liu from Nanyang Technological University, Singapore.

My research focuses on developing 3D scene understanding systems that are robust, scalable, and generalizable in real-world conditions.

I have been fortunate to collaborate with Apple Machine Learning Research, NVIDIA Research, OpenMMLab, MMLab@NTU, Motional, and ByteDance AI Lab.

I am the recipient of the National Scholarship (Ministry of Education, 2019), NUS Research Achievement Award (NUS Computing, 2023), and Dean's Graduate Research Excellence Award (NUS Computing, 2024),

🦁 I am open to discussion and collaboration in 3D scene perception, generation, and understanding. If you find our research backgrounds a potential match, feel free to email me.

News

• [01/2025] - We are hosting The RoboSense Challenge.
• [09/2024] - Place3D was selected as a spotlight at NeurIPS 2024.
• [04/2024] - OpenESS was selected as a highlight at CVPR 2024.
• [12/2023] - Invited talk (slides) at Hyundai Motor Group.
• [11/2023] - We are hosting The RoboDrive Challenge at ICRA 2024.
• [09/2023] - Seal was selected as a spotlight at NeurIPS 2023.
• [03/2023] - LaserMix was selected as a highlight at CVPR 2023.

Industrial Experience

Recent Publications

* equal contributions     ‡ project lead     § corresponding author

DynamicCity: Large-Scale Occupancy Generation from Dynamic Scenes Hengwei Bian, Lingdong Kong, Haozhe Xie, Liang Pan, Yu Qiao, Ziwei Liu arXiv, 2025 PDF   |   Code   |   Home   |   Poster

LiMoE: Mixture of LiDAR Representation Learners from Automotive Scenes Xiang Xu*, Lingdong Kong*, Hui Shuai, Liang Pan, Ziwei Liu, Qingshan Liu arXiv, 2025 PDF   |   Code   |   Home

Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives Shaoyuan Xie, Lingdong Kong‡, Yuhao Dong, Chonghao Sima, et al. arXiv, 2025 PDF   |   Code   |   Home   |   Data

FlexEvent: Event Camera Object Detection at Arbitrary Frequencies Dongyue Lu, Lingdong Kong, Gim Hee Lee, Camille Simon Chane, Wei Tsang Ooi arXiv, 2025 PDF   |   Code   |   Home

GEAL: Generalizable 3D Object Affordance Learning with Cross-Modal Consistency Dongyue Lu, Lingdong Kong, Tianxin Huang, Gim Hee Lee arXiv, 2025 PDF   |   Code   |   Home   |   Data

SeeGround: See and Ground for Zero-Shot Open-Vocabulary 3D Visual Grounding Rong Li, Shijie Li, Lingdong Kong, Xulei Yang, Junwei Liang arXiv, 2025 PDF   |   Code   |   Home

OVGaussian: Generalizable 3D Gaussian Segmentation with Open Vocabularies Runnan Chen, Xiangyu Sun, Zhaoqing Wang, Youquan Liu, Jiepeng Wang, Lingdong Kong, Jiankang Deng, Mingming Gong, et al. arXiv, 2025 PDF   |   Code   |   Home

LargeAD: Large-Scale Cross-Sensor Data Pretraining for Autonomous Driving Lingdong Kong*, Xiang Xu*, Youquan Liu*, Jun Cen, Runnan Chen, Wenwei Zhang, Liang Pan, Kai Chen, Ziwei Liu arXiv, 2025 PDF   |   Code   |   Home

Calib3D: Calibrating Model Preferences for Reliable 3D Scene Understanding Lingdong Kong*, Xiang Xu*, Jun Cen, Wenwei Zhang, Liang Pan, Kai Chen, Ziwei Liu IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2025 PDF   |   Code   |   Home   |   Poster

Multi-Modal Data-Efficient 3D Scene Understanding for Autonomous Driving Lingdong Kong, Xiang Xu, Jiawei Ren, Wenwei Zhang, Liang Pan, Kai Chen, Wei Tsang Ooi, Ziwei Liu Pattern Analysis and Machine Intelligence (PAMI), 2025 PDF   |   Code   |   Home

Is Your LiDAR Placement Optimized for 3D Scene Understanding? Ye Li, Lingdong Kong, Hanjiang Hu, Xiaohao Xu, Xiaonan Huang Neural Information Processing Systems (NeurIPS), 2024 Spotlight (2.5% = 388/15671) PDF   |   Code   |   Home   |   Poster

Is Your HD Map Constructor Reliable under Sensor Corruptions? Xiaoshuai Hao, Mengchuan Wei, Yifan Yang, Haimei Zhao, Hui Zhang, Yi Zhou, Qiang Wang, Weiming Li, Lingdong Kong§, Jing Zhang§ Neural Information Processing Systems (NeurIPS), 2024 PDF   |   Code   |   Home   |   Poster

4D Contrastive Superflows are Dense 3D Representation Learners Xiang Xu*, Lingdong Kong*, Hui Shuai, Wenwei Zhang, Liang Pan, Kai Chen, Ziwei Liu, Qingshan Liu European Conference on Computer Vision (ECCV), 2024 PDF   |   Code   |   Home   |   Poster

Learning to Adapt SAM for Segmenting Cross-Domain Point Clouds Xidong Peng, Runnan Chen, Feng Qiao, Lingdong Kong, Youquan Liu, Tai Wang, Xinge Zhu, Yuexin Ma European Conference on Computer Vision (ECCV), 2024 PDF   |   Code   |   Poster

OpenESS: Event-Based Semantic Scene Understanding with Open Vocabularies Lingdong Kong, Youquan Liu, Lai Xing Ng, Benoit R. Cottereau, Wei Tsang Ooi Computer Vision and Pattern Recognition (CVPR), 2024 Highlight (2.8% = 324/11532) PDF   |   Code   |   Home   |   Poster

Multi-Space Alignments Towards Universal LiDAR Segmentation Youquan Liu*, Lingdong Kong*, Xiaoyang Wu, Runnan Chen, Xin Li, Liang Pan, Ziwei Liu, Yuexin Ma Computer Vision and Pattern Recognition (CVPR), 2024 PDF   |   Code   |   Home   |   Poster

Unified 3D and 4D Panoptic Segmentation via Dynamic Shifting Networks Fangzhou Hong, Lingdong Kong, Hui Zhou, Xingge Zhu, Hongsheng Li, Ziwei Liu Pattern Analysis and Machine Intelligence (PAMI), 2024 PDF   |   Code

Benchmarking and Improving Bird's Eye View Perception Robustness in Autonomous Driving Shaoyuan Xie, Lingdong Kong, Wenwei Zhang, Jiawei Ren, Liang Pan, et al. Pattern Analysis and Machine Intelligence (PAMI), 2024 PDF   |   Code   |   Home   |   Data

RoboDepth: Robust Out-of-Distribution Depth Estimation under Corruptions Lingdong Kong, Shaoyuan Xie, Hanjiang Hu, Lai Xing Ng, Benoit R. Cottereau, Wei Tsang Ooi Neural Information Processing Systems (NeurIPS), 2023 PDF   |   Code   |   Home   |   Data   |   Poster

Segment Any Point Cloud Sequences by Distilling Vision Foundation Models Youquan Liu*, Lingdong Kong*, Jun Cen, Runnan Chen, Wenwei Zhang, et al. Neural Information Processing Systems (NeurIPS), 2023 Spotlight (3.0% = 378/12343) PDF   |   Code   |   Home   |   Demo   |   Poster

Unsupervised Video Domain Adaptation for Action Recognition: A Disentanglement Perspective Pengfei Wei, Lingdong Kong, Xinghua Qu, Yi Ren, Zhiqiang Xu, et al. Neural Information Processing Systems (NeurIPS), 2023 PDF   |   Code   |   Home   |   Demo   |   Poster

Towards Label-Free Scene Understanding by Vision Foundation Models Runnan Chen, Youquan Liu, Lingdong Kong, Nenglun Chen, Xinge Zhu, Yuexin Ma, Tongliang Liu, Wenping Wang Neural Information Processing Systems (NeurIPS), 2023 PDF   |   Code   |   Poster

Robo3D: Towards Robust and Reliable 3D Perception against Corruptions Lingdong Kong*, Youquan Liu*, Xin Li*, Runnan Chen, Wenwei Zhang, Jiawei Ren, Liang Pan, Kai Chen, Ziwei Liu IEEE/CVF International Conference on Computer Vision (ICCV), 2023 PDF   |   Code   |   Home   |   Data   |   Poster

Rethinking Range View Representation for LiDAR Segmentation Lingdong Kong, Youquan Liu, Runnan Chen, Yuexin Ma, Xinge Zhu, Yikang Li, Yuenan Hou, Yu Qiao, Ziwei Liu IEEE/CVF International Conference on Computer Vision (ICCV), 2023 PDF   |   Home   |   Poster

UniSeg: A Unified Multi-Modal LiDAR Segmentation Network and the OpenPCSeg Codebase Youquan Liu, Runnan Chen, Xin Li, Lingdong Kong, Yuchen Yang, et al. IEEE/CVF International Conference on Computer Vision (ICCV), 2023 PDF   |   Code   |   Poster

LaserMix for Semi-Supervised LiDAR Semantic Segmentation Lingdong Kong*, Jiawei Ren*, Liang Pan, Ziwei Liu Computer Vision and Pattern Recognition (CVPR), 2023 Highlight (2.5% = 235/9155) PDF   |   Code   |   Home   |   Video   |   Poster

CLIP2Scene: Towards Label-Efficient 3D Scene Understanding by CLIP Runnan Chen, Youquan Liu, Lingdong Kong, Xinge Zhu, Yuexin Ma, Yikang Li, Yuenan Hou, Yu Qiao, Wenping Wang Computer Vision and Pattern Recognition (CVPR), 2023 PDF   |   Code   |   Video   |   Poster

ConDA: Unsupervised Domain Adaptation for LiDAR Segmentation via Regularized Domain Concatenation Lingdong Kong, Niamul Quader, Venice Erin Liong IEEE International Conference on Robotics and Automation (ICRA), 2023 PDF   |   Code   |   Home   |   Data   |   Poster

Benchmarking 3D Robustness to Common Corruptions and Sensor Failure Lingdong Kong*, Youquan Liu*, Xin Li*, Runnan Chen, Wenwei Zhang, et al. ICLR Workshop on Scene Representations for Autonomous Driving, 2023 Best Workshop Paper Award PDF   |   Code   |   Home   |   Data

Tech Reports

The RoboDrive Challenge: Drive Anytime Anywhere in Any Condition Lingdong Kong, Shaoyuan Xie, Hanjiang Hu, Yaru Niu, Wei Tsang Ooi, Benoit R. Cottereau, Lai Xing Ng, Yuexin Ma, Wenwei Zhang, Kai Chen, et al. Technical Report, 2024 PDF   |   Code   |   Home

The RoboDepth Challenge: Methods and Advancements Towards Robust Depth Estimation Lingdong Kong, Yaru Niu, Shaoyuan Xie, Hanjiang Hu, Lai Xing Ng, et al. Technical Report, 2023 PDF   |   Code   |   Home

Workshop Organizers

• ICRA 2024 - The RoboDrive Challenge
  Webpage   |   Venue: Yokohama, Japan

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• ICRA 2023 - The RoboDepth Challenge
  Webpage   |   Venue: London, UK

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• ECCV 2022 - The PointCloud-C Challenge
  Webpage   |   Venue: Virtual

Academic Services

Conference Reviewer

• IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
• IEEE/CVF International Conference on Computer Vision (ICCV)
• European Conference on Computer Vision (ECCV)
• Conference on Neural Information Processing Systems (NeurIPS)
• International Conference on Learning Representations (ICLR)
• International Conference on Machine Learning (ICML)
• IEEE International Conference on Robotics and Automation (ICRA)
• IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal Reviewer

• International Journal of Computer Vision (IJCV)
• IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI)
• IEEE Transactions on Neural Networks and Learning Systems (TNNLS)
• IEEE Transactions on Intelligent Vehicles (TIV)
• IEEE Transactions on Circuits and Systems for Video Technology (TCSVT)
• IEEE Transactions on Multimedia (TMM)
• IEEE Transactions on Knowledge and Data Engineering (TKDE)
• IEEE Robotics and Automation Letters (RA-L)
• ISPRS Journal of Photogrammetry and Remote Sensing (P&RS)