Haiyang Sun

Haiyang Sun | 孙海洋

I graduated from the Department of Electronic Engineering at Tsinghua University and currently serve as an Algorithm Specialist at Xiaomi EV , where I focus on cutting-edge research and development of SDG ( synthetic data generation ) algorithms based on world models.

Prior to joining Xiaomi, I was the World Model Technical Lead at LiAuto, where I led the development of onboard Bird's-Eye-View (BEV) perception models and built the company’s world model technical roadmap and core team from the ground up. My work successfully enabled the large-scale deployment of closed-loop simulation systems.

Earlier, I conducted algorithm research at the Autonomous Driving Lab of Alibaba DAMO Academy, where I played a key role in advancing and productizing cloud-based data closed-loop algorithms.

I have published over ten papers at top-tier international conferences such as CVPR, ICCV, and NeurIPS, won multiple challenges at these venues, and hold eight granted Chinese invention patents.

Email / Github / Google Scholar

News

[🎉2025/09/18] Two papers accepted by NeurIPS 2025 (Genesis, Pixel-perfect Depth)
[🏆2025/09/15] Winner of the RealADSim workshop @ ICCV 2025
[🎉2025/06/26] One paper accepted by ICCV 2025 (3DRealCar)
[🎉2025/06/16] One paper accepted by IROS 2025 as oral presentation (PosePilot)
[🎉2025/05/01] One paper accepted by ICML 2025 (S2-Track)
[🎉2024/12/20] One paper accepted by RA-L (DreamCar)
[🎉2024/12/10] One paper accepted by AAAI 2025 (BEV-TSR)
[🏆2025/08/16] Winner of the W-CODA workshop @ ECCV 2024
[🎉2024/07/04] Three papers accepted by ECCV 2024 (StreetGaussians, OpenSight, TOD3Cap)

Publications

	Pixel-Perfect Depth with Semantics-Prompted Diffusion Transformers Gangwei Xu, Haotong Lin, Hongcheng Luo, Xianqi Wang, Jingfeng Yao, Lianghui Zhu, Yuechuan Pu, Cheng Chi, Haiyang Sun†, Bing Wang, Guang Chen, Hangjun Ye, Sida Peng, Xin Yang† Conference on Neural Information Processing Systems (NeurIPS), 2025 Paper / Code
	Genesis: Multimodal Driving Scene Generation with Spatio-Temporal and Cross-Modal Consistency Xiangyu Guo, Zhanqian Wu, Kaixin Xiong, Ziyang Xu, Lijun Zhou, Gangwei Xu, Shaoqing Xu, Haiyang Sun†, Bing Wang, Guang Chen, Hangjun Ye, Wenyu Liu, Xinggang Wang Conference on Neural Information Processing Systems (NeurIPS), 2025 Paper / Code
	3drealcar: An in-the-wild rgb-d car dataset with 360-degree views Xiaobiao Du, Yida Wang, Haiyang Sun, Zhuojie Wu, Hongwei Sheng, Shuyun Wang, Jiaying Ying, Ming Lu, Tianqing Zhu, Kun Zhan, Xin Yu International Conference on Computer Vision (ICCV), 2025 Paper / Code
	PosePilot: Steering Camera Pose for Generative World Models with Self-supervised Depth Bu Jin, Weize Li, Baihan Yang, Zhenxin Zhu, Junpeng Jiang, Huan-ang Gao, Haiyang Sun, Kun Zhan, Hengtong Hu, Xueyang Zhang, Peng Jia, Hao Zhao International Conference on Intelligent Robots and Systems (IROS), 2025 Paper
	S2-Track: A Simple yet Strong Approach for End-to-End 3D Multi-Object Tracking Tao Tang, Lijun Zhou, Pengkun Hao, Zihang He, Kalok Ho, Shuo Gu, Zhihui Hao, Haiyang Sun, Kun Zhan, Peng Jia, XianPeng Lang, Xiaodan Liang International Conference on Machine Learning (ICML), 2025 Paper
	Bev-tsr: Text-scene retrieval in bev space for autonomous driving Tao Tang, Dafeng Wei, Zhengyu Jia, Tian Gao, Changwei Cai, Chengkai Hou, Peng Jia, Kun Zhan, Haiyang Sun, Fan JingChen, Yixing Zhao, Xiaodan Liang, Xianpeng Lang, Yang Wang Conference on Artificial Intelligence (AAAI), 2025 Paper
	DreamCar: Leveraging Car-Specific Prior for In-the-Wild 3D Car Reconstruction Xiaobiao Du, Haiyang Sun, Ming Lu, Tianqing Zhu, Xin Yu IEEE Robotics and Automation Letters (RA-L), 2025 Paper
	Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting Yunzhi Yan, Haotong Lin, Chenxu Zhou, Weijie Wang, Haiyang Sun, Kun Zhan, Xianpeng Lang, Xiaowei Zhou, Sida Peng. European Conference on Computer Vision (ECCV), 2024 Paper / code
	TOD3Cap: Towards 3D Dense Captioning in Outdoor Scenes Bu Jin, Yupeng Zheng, Pengfei Li, Weize Li, Yuhang Zheng, Sujie Hu, Xinyu Liu, Jinwei Zhu, Zhijie Yan,Haiyang Sun, Kun Zhan, Peng Jia, Xiaoxiao Long, Yilun Chen, Hao Zhao European Conference on Computer Vision (ECCV), 2024 Paper / code
	OpenSight: A simple open-vocabulary framework for LiDAR-based object detection Hu Zhang, Jianhua Xu, Tao Tang, Haiyang Sun, Xin Yu, Zi Huang, Kaicheng Yu European Conference on Computer Vision (ECCV), 2024 Paper

Competition

	ViSE: A Systematic Approach to Vision-Only Street-View Extrapolation KaiyuanTan, Yingying Shen, Haiyang Sun†, Bing Wang, Guang Chen, Hangjun Ye [🏆champion!] Winner of the RealADSim workshop @ ICCV 2025 , Paper
	Dive: Dit-based video generation with enhanced control Junpeng Jiang, Gangyi Hong, Lijun Zhou, Enhui Ma, Hengtong Hu, Xia Zhou, Jie Xiang, Fan Liu, Kaicheng Yu, Haiyang Sun, Kun Zhan, Peng Jia, Miao Zhang [🏆champion!] Winner of the W-CODA workshop @ ECCV 2024 , Paper

Others

papers under review

	WorldSplat: Gaussian-Centric Feed-Forward 4D Scene Generation for Autonomous Driving Ziyue Zhu, Zhanqian Wu, Zhenxin Zhu, Lijun Zhou, Haiyang Sun†, Bing Wan, Kun Ma, Guang Chen, Hangjun Ye, Jin Xie arXiv, 2025 Paper / code
	ExtraGS: Geometric-Aware Trajectory Extrapolation with Uncertainty-Guided Generative Priors Kaiyuan Tan, Yingying Shen, Haohui Zhu, Zhiwei Zhan, Shan Zhao, Mingfei Tu, Hongcheng Luo, Haiyang Sun†, Bing Wang, Guang Chen, Hangjun Ye arXiv, 2025 Paper / code
	ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving Yongkang Li, Kaixin Xiong, Xiangyu Guo, Fang Li, Sixu Yan, Gangwei Xu, Lijun Zhou, Long Chen, Haiyang Sun†, Bing Wang, Guang Chen, Hangjun Ye, Wenyu Liu, Xinggang Wang arXiv, 2025 Paper / code
	DriveMRP: Enhancing Vision-Language Models with Synthetic Motion Data for Motion Risk Prediction Zhiyi Hou, Enhui Ma, Fang Li, Zhiyi Lai, Kalok Ho, Zhanqian Wu, Lijun Zhou, Long Chen, Chitian Sun, Haiyang Sun†, Bing Wang, Guang Chen, Hangjun Ye, Kaicheng Yu arXiv, 2025 Paper
	Uni-gaussians: Unifying camera and lidar simulation with gaussians for dynamic driving scenarios Zikang Yuan, Yuechuan Pu, Hongcheng Luo, Fengtian Lang, Cheng Chi, Teng Li, Yingying Shen, Haiyang Sun†, Bing Wang, Xin Yang arXiv, 2025 Paper / code
	BAT: Learning Event-based Optical Flow with Bidirectional Adaptive Temporal Correlation Gangwei Xu, Haotong Lin, Zhaoxing Zhang, Hongcheng Luo, Haiyang Sun, Xin Yang arXiv, 2025 Paper
	Cogen: 3d consistent video generation via adaptive conditioning for autonomous driving Yishen Ji, Ziyue Zhu, Zhenxin Zhu, Kaixin Xiong, Ming Lu, Zhiqi Li, Lijun Zhou, Haiyang Sun†, Bing Wang, Tong Lu arXiv, 2025 Paper
	Unleashing generalization of end-to-end autonomous driving with controllable long video generation Enhui Ma, Lijun Zhou, Tao Tang, Zhan Zhang, Dong Han, Junpeng Jiang, Kun Zhan, Peng Jia, Xianpeng Lang, Haiyang Sun, Di Lin, Kaicheng Yu arXiv, 2024 Paper / code

Experience

	Xiaomi EV \| 小米汽车, China 2024.09 - now Lead Algorithm Expert
	LiAuto \| 理想汽车, China 2022.12 - 2024.09 Senior Algorithm Expert
	Alibaba DAMO Academy \| 阿里达摩院, China 2017.12 - 2022.12 Algorithm Expert
	EHang \| 亿航智能, China 2016.07 - 2017.12 Senior Algorithm Engineer
	Tsinghua University, China 2013.09 - 2016.07 M.S. Student in Electronic Engineering
	Beijing University of Posts and Telecommunications, China 2009.09 - 2013.07 B.S. in Information and Communication Engineering

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Last updated: 03/05/2025