Computer Vision and Pattern Recognition
★ PanoWorld: Real-World Panoramic Generation
Haoyuan Li, Dizhe Zhang, Yuemei Zhou, Xiangkai Zhang, Haoran Feng, Xiaofan Lin, Wenjie Jiang, Bo Du, Ming-Hsuan Yang, Lu Qi
In this work, we aim to address the challenge of long-range memory in panoramic world models by exploiting the rotation-equivariant property of omnidirectional representations, where rotation can be treated as an implicit geometric transformation.Building on this insight, we propose PanoWorld, which simplifies camera trajectories into translations via fixed headings for both current-action modeling and long-range memory through Dense Panoramic Ray-Conditioning (DPRC) and Geometry-aware Memory Augmentation (GMA).Then, a three-stage training pipeline is introduced to progressively optimize each component. To better evaluate physical consistency under large-scale spatial variations and diverse illumination conditions, where existing datasets are relatively stable, we construct World360, a large-scale dataset consisting of both real-world video clips collected via panoramic unmanned aerial vehicles and high-quality simulated clips generated by AirSim360.Extensive experiments on World360 demonstrate the effectiveness of PanoWorld, outperforming alternative methods by a large margin.Our models, training code, and dataset will be publicly available. More information can be found on our project page: https://lihaoy-ux.github.io/panoworld-page/.
comment: Project page: https://lihaoy-ux.github.io/panoworld-page/ Code:https://github.com/Insta360-Research-Team/PanoWorld
★ Scalable Visual Pretraining for Language Intelligence
Yiming Zhang, Zhonghan Zhao, Wenwei Zhang, Haiteng Zhao, Tianyang Lin, Yunhua Zhou, Demin Song, Kuikun Liu, Haochen Ye, Haian Huang, Yuzhe Gu, Haijun Lv, Qipeng Guo, Bin Liu, Gaoang Wang, Kai Chen
The rapid progress of large foundation models has been driven predominantly by pretraining on large-scale text corpora. However, many forms of knowledge are conveyed through visual representations, where figures, typeset equations, and page layouts carry rich information that cannot be faithfully or completely captured by text alone. Yet current pretraining approaches discard these visual cues by converting visually rich sources, such as documents and web pages, into plain text for learning language intelligence. This paper challenges the default assumption that language models must be trained on text-only representations and shows that Visual Pretraining is a scalable learner for foundation model intelligence. To this end, we conduct a systematic study of unsupervised visual pretraining paradigms that directly leverage visual documents without text extraction. Across multiple backbones and benchmarks, visual pretraining on the same underlying corpora consistently outperforms text-only pretraining, offering an efficient pathway to scalable language intelligence.
★ OpenLongTail: Generative Scaling of Long-Tail Driving Data
Lulin Liu, Nuo Chen, Yan Wang, Bangya Liu, Wenyan Cong, Hezhen Hu, Boris Ivanovic, Hao Wang, Ziyao Zeng, Xinyu Gong, Yang Zhou, Zixiang Xiong, Dilin Wang, Zhangyang Wang, Weisong Shi, Ruohan Zhang, Marco Pavone, Zhiwen Fan
Scaling robust driving policies is fundamentally bottlenecked by the scarcity of edge cases in curated datasets. While the real world continuously captures these critical events, such long-tail events remain underutilized when collected from heterogeneous sources. Specifically, diverse but valuable in-the-wild long-tail videos lack the full view coverage required for training policy models, often missing multi-view poses or originating solely from monocular dash cameras. This modality gap prevents these ubiquitous observations from being converted into scalable training data for long-tail generalization. We introduce OpenLongTail, an open-source generative data engine for scaling autonomous driving policies under long-tail events. To transform heterogeneous data sources into view-aligned and temporally coherent multi-view assets that are useful for policy learning, we develop a pose-informed extrapolative view synthesis pipeline that generates the missing views. We further enhance cross-view consistency and the temporal alignment for the newly generated views by injecting Plücker ray geometry into the scalable generation engine. By synthesizing heterogeneous long-tail data, we observe a significant improvement in closed-loop driving robustness in handling long-tail events. By measuring the extrapolative view synthesis and pose metrics, we validate the effectiveness of OpenLongTail in visual fidelity, cross-view consistency, and ego-trajectory recovery.
comment: Project page: https://openlongtail.github.io/
★ Evolution of Accuracy and Visual-Cognitive Errors in a Decade of Vision-Language AI Models
Vision language models (VLMs) have made remarkable progress in visual reasoning during the last decade. Most evaluations have used simple scenes (MS-COCO) that do not showcase complex human interactions or behaviors, only a handful of non-curated human descriptions as a benchmark, and have not focused on understanding the model's error types. Here, we introduce the Complex Social Behavior (CSB) dataset, containing 100 images depicting complex social interactions/behaviors. We analyze the progression of scene descriptions over a decade (2017-2025) of VLMs (four pre-Multimodal Large Language Models, MLLMs, and five MLLMs). We evaluate the accuracy of the models and 20 human descriptions relative to a gold standard on the CSB dataset and on a sample from MS-COCO. We analyzed five visual-cognitive error types: object detection, recognition, hallucination, scene understanding, and spatial dependence. The CSB dataset showed a more pronounced improvement than MS-COCO in scene description accuracy, with pre-MLLMs achieving much lower accuracy than the bottom-ranked human descriptions and MLLMs attaining accuracies similar to the top-ranked human descriptions. We show that MLLMs have eliminated the gap in scene description accuracy between simpler MS-COCO scenes and scenes depicting complex behaviors (CSB). MLLMs have almost eliminated all error types in our tested datasets, except for occasionally relying on different image regions for scene descriptions than humans do (spatial dependence error). We also show that detection, recognition, and hallucination errors have the highest impact on scene description accuracy. Together, our findings provide a more thorough evaluation of how visual language models have advanced over the last decade.
★ Revisiting Euler-Angle Regression with Kolmogorov-Arnold Networks
In many real-world systems, including articulated robots and biomechanical models, rotations are defined in joint space and naturally parameterized by Euler angles with bounded ranges. Yet regressing Euler angles remains challenging, as their discontinuities and singularities often destabilize training. In this work, we revisit Euler-angle regression and show that its effectiveness depends critically on the interaction between rotation representation, regression architecture, and domain constraints. We introduce a new framework that combines range-aware Euler modeling with Kolmogorov-Arnold Networks (KAN), which replace fixed node-wise activations with learnable univariate functions on edges. We further provide theoretical analysis indicating that bounded Euler ranges motivate a near-additive structure in the regression function, which favors the additive functional form of KAN, and we confirm this trend empirically. Extensive experiments on controlled rotation regression, object pose estimation, and robotic and human inverse kinematics demonstrate consistent improvements in accuracy, convergence, and efficiency. The code will be publicly available.
★ The Effects of Synthetic Data and Label Distribution on Canola Branch Counting
Collecting annotated plant images for automated phenotyping is often slow and expensive. Plant models simulating growth and development can generate unlimited synthetic images with exact labels. However, previous work has established that whether incorporating synthetic data improves performance depends on the ratio of synthetic to real images and the label distribution of the synthetic dataset. To systematically quantify both factors, we train ResNet-18 models on a canola branch-counting task using a calibrated L-system plant model. We vary each factor independently. Synthetic-to-real ratios of 1:5 to 1:22 broadly improve performance; the best ratio (1:7) reduces mean absolute difference by 7.6% over real-only training. For label distribution, a uniform synthetic distribution is strongly suboptimal (abs. diff. of approximately 1.70); interpolating 90% toward the real distribution yields abs. diff. 0.927, whereas Gaussian smoothing of the real label distribution yields the best overall result (abs. diff. 0.912, a 14.7% improvement over real-only). A minimum of 10 synthetic images per label offers a simpler alternative with modest gains, while 100 per label over-corrects and hurts performance.
comment: 5 pages, 4 figures, submitted to EPA 2026
★ 4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception
Reliable autonomous driving requires full-scene perception that couples foreground objects with dense semantic layout. Recently, 4D millimeter-wave radar has emerged as a robust and affordable sensor, yet its sparse returns make radar-camera fusion necessary for comprehensive scene understanding. Existing radar-camera methods mainly optimize detection, while dual-task systems usually decode boxes and occupancy with limited interaction. To address this gap and advance radar-based multi-task learning, we propose \method, a 4D radar-camera framework for 360$^\circ$ full-scene perception, which models semantic occupancy as a persistent scene state rather than a terminal output. \method{} follows a cross-modal state reasoning paradigm, where the occupancy state is modeled and propagated through stages for coarse-to-fine feature aggregation. Specifically, State-guided BEV Enhancement (SBE) strengthens intra-frame BEV representation, while Doppler-guided Temporal Fusion (DTF) preserves state evidence over longer temporal horizons. Beyond the model, we further extend ManTruckScenes with satellite-map-based generated occupancy labels and pair it with OmniHD-Scenes in a unified cross-dataset detection-and-occupancy protocol. The resulting experiments cover accuracy, robustness, ablation, and efficiency under one radar-camera multi-task evaluation framework. Code and labels will be released upon acceptance.
comment: 5 pages, 8 figures
★ Promptable Concept Segmentation from Above: Evaluating SAM 3's Zero-Shot and One-Shot Capabilities in Remote Sensing
The deployment of large-scale foundation models, such as the Segment Anything Model 3 (SAM 3), promises a transition toward open-vocabulary, training-free computer vision. However, their capacity to generalize out-of-distribution to the complex, top-down geometric structures of Earth Observation imagery remains largely unquantified. Driven by SAM 3's performance disparities in highly specialized domains, we present a comprehensive, multi-task empirical evaluation across remote sensing scene classification, object detection, and instance segmentation under strict zero-shot and one-shot constraints. To achieve this, we introduce a structural adaptation of SAM 3 by repurposing its decoupled binary presence head into a standalone zero-shot classifier. Furthermore, by systematically isolating textual and visual prompt modalities across five configurations, we explicitly diagnose the alignment mechanics within the model's multimodal decoder. Our findings reveal severe cross-modal interference: while visual prompts successfully align the decoder to complex remote sensing geometry, textual prompts inject misaligned, ground-level semantic bias, actively degrading coordinate regression. To benchmark these capabilities without resource-intensive training, we formulate a novel training-free proxy evaluation protocol for Generalized Zero-Shot tasks (scene classification and instance segmentation). Ultimately, our results demonstrate that SAM 3 avoids the overfitting commonly seen in legacy domain-adapted models, achieving high Harmonic Mean scores in segmentation tasks. However, it remains fundamentally constrained by sub-pixel resolution limits and overhead semantic blind spots, charting a definitive mandate for parameter-efficient geospatial fine-tuning of its multimodal decoder.
comment: 14 pages, 4 figures
★ Wan-Dancer: A Hierarchical Framework for Minute-scale Coherent Music-to-Dance Generation
Generating long-duration, high-definition, and rhythmically synchronized dance videos directly from music remains a significant challenge, primarily due to the temporal constraints of current diffusion models, which typically fail beyond 20 seconds. Existing approaches, whether they rely on intermediate 3D skeletons or on end-to-end video synthesis, suffer from temporal drift, identity inconsistency, and repetitive motion patterns when extended to longer horizons. To address these limitations, we propose a novel hierarchical framework for minute-scale coherent music-to-dance generation. Our method decouples the process into global keyframe planning and local temporal refinement, leveraging full-track musical context to ensure long-range coherence. Key innovations include dynamic frame rate adaptation via time-mapped RoPE embeddings for precise alignment, an optical-flow-based loss function to enhance motion continuity, and motion-speed control to preserve high-fidelity details during rapid movements. Extensive experiments demonstrate that our framework surpasses the conventional duration barrier, generating stable, 720p/30fps videos exceeding one minute with superior temporal stability. Furthermore, the model exhibits robust versatility across five distinct dance genres, conditioned on both audio and textual prompts, establishing a new state-of-the-art in coherent, long-form dance video synthesis.
comment: 17 pages, 13 figures, project: https://github.com/Wan-Video/Wan-Dancer
★ TCLA: Training-Free Class-wise Logit Adaptation for Medical Vision-Language Models
Medical Vision-Language Models (VLMs) exhibit strong zero-shot performance, yet their effectiveness still declines on out-of-distribution (OOD) data due to domain shifts and class bias inherited from large-scale pretraining. Existing few-shot adaptation methods typically introduce additional trainable components, which can be unstable in extremely low-data regimes (e.g., 1-shot), and lack robustness on different medical data. We present TCLA, a purely training-free few-shot adaptation method for Medical VLMs, which is fast and model-agnostic. TCLA corrects inference logits based on a small set of support samples, boosting pretrained VLMs performance by improving inter-class deconfusion and reducing domain shift. Extensive experiments on nine datasets across multiple medical imaging modalities including X-ray, Ultrasound, MRI, CT, Histopathology, demonstrate that TCLA consistently improves OOD performance of Medical VLMs and, in most of cases, outperforms existing training-based adaptation methods.
★ The Count Is There, but Misaligned: Understanding and Correcting Counting Failures in VLMs
Despite strong performance on many multimodal tasks, vision-language models (VLMs) still struggle with basic object counting. We investigate whether this reflects missing internal knowledge or a gap between internal representations and verbalized outputs. Training simple probes on activations from four VLMs across five counting datasets reveals that nonlinear probes can reliably detect counting errors, suggesting that VLMs often encode the correct count even when they output the wrong answer. SVCCA analysis shows that probes trained on ground-truth counts and probes trained on model outputs occupy a partially shared activation subspace but read out along misaligned directions. We further validate our findings using a causal steering intervention, proving that strengthening the direction of count-identified probes does improve model counting performance. Motivated by this result, we propose a detector-guided self-correction method that selectively re-prompts the model only when an internal error detector predicts failure. This simple inference-time intervention improves counting accuracy by up to 15.6 absolute percentage points, without any parameter updates. Our results establish activation-based error probing as both a practical tool for improving VLM counting and a mechanistic lens on the gap between internal knowledge and model outputs.
★ ALICE: Learning a General-Purpose Pathology Foundation Model from Vision, Vision-Language, and Slide-Level Experts
Foundation models are reshaping computational pathology, yet their capabilities remain shaped by pretraining objectives, data sources, and spatial scales, fragmenting complementary expertise across separate backbones. Here we present ALICE, a unified foundation model trained through multi-stage agglomerative distillation that sequentially distills eight vision-only, vision-language, and slide-level teacher models into dedicated modules of a single backbone. ALICE is pretrained on 24,985,184 tile-level pathology images and 155,604 high-resolution images, and evaluated across 21 task scenarios, 96 downstream tasks, and 48 data sources, spanning region-of-interest tissue analysis, vision-language multimodal evaluation, and whole-slide clinical assessment. In all three evaluation settings, ALICE achieved the best average rank among task-matched pathology foundation models. These results demonstrate that agglomerative distillation can consolidate complementary capabilities from specialized models into a unified backbone for broad computational pathology applications. The model is available at https://github.com/WonderLandxD/ALICE.
★ Seeing is Free, Speaking is Not: Uncovering the True Energy Bottleneck in Edge VLM Inference ACM MM 2026
Vision-Language Models (VLMs) are the perceptual backbone of embodied AI, but their energy footprint on edge hardware remains poorly understood. Existing efficiency efforts focus predominantly on reducing visual tokens, implicitly treating visual processing as the dominant energy cost. We overturn this implicit assumption through the first systematic energy profiling of on-device VLM inference, spanning five models across three architecture families, four input resolutions, and two hardware platforms (NVIDIA RTX 3070 and Jetson Orin NX). Our analysis yields three findings. First, average inference power is a model-intrinsic constant, invariant to input resolution, image complexity, and prompt type, with less than 5% variation across all conditions. This means that all energy variation across inputs must arise from variation in inference time, not from variation in power draw. Second, each output token costs 11 to 39x more wall-clock time than each input token due to the compute-bound and memory-bound asymmetry between prefill and decode, making output token count the dominant driver of both latency and energy. Third, image complexity, measured by the number of objects in an image, induces up to 4.1x energy differences at identical resolution. This variation arises not from increased visual processing cost, but from differences in output length. These findings expose a fundamental limitation of visual token pruning: even removing all visual tokens saves at most 10% of total energy for fixed-token models. Across models spanning 1 billion to 8 billion parameters, controlling output length saves up to 97% of total energy, with the energy dominance of decoding growing stronger at larger model scale. In short, the true energy bottleneck in edge VLM inference is not what the model sees, but how much it says.
comment: Accepted to ACM MM 2026. 10 pages, 5 figures
★ DGSfM: Depth-Guided Scale-Aware Global Structure-from-Motion
Global Structure-from-Motion (SfM) is an efficient paradigm for recovering camera poses and sparse 3D structure from unordered images. However, its reliance on scale-ambiguous epipolar geometry makes global positioning sensitive to noisy baseline estimates and weak view-graph constraints, while false edges from visually ambiguous pairs can further degrade reconstruction. We propose DGSfM, a depth-aware global SfM pipeline that uses monocular depth maps as a scalable prior while preserving explicit multi-view optimization. For each image pair, we use a depth-aware relative pose solver to convert scale-ambiguous epipolar constraints into scale-aware relative pose constraints. We further improve robustness through view-graph filtering and depth-consistency-based correspondence pruning, which suppress false edges and matches that remain plausible under epipolar geometry alone. Finally, global scale averaging and depth-guided pose-point initialization align monocular depth maps into a common reconstruction scale and provide stable initialization for global positioning and bundle adjustment. Experiments on ETH3D and IMC2021 show that DGSfM consistently improves over strong global SfM baselines across sparse and dense matching front-ends, achieving substantial gains in pose accuracy. Code is available at https://github.com/sithu31296/DGSfM.
★ What VGGT Knows About Overlap: Probing Geometric Foundation Models for Co-Visibility
A fundamental challenge in 3D reconstruction and robotic localization is co-visibility: determining which image pairs share overlapping visible surfaces, particularly in scenarios with minimal overlap. We demonstrate that VGGT implicitly encodes co-visibility as an emergent behavior: without any supervision for this task, its internal representations exhibit a clear hierarchical structure mirroring that of large language models, i.e. early layers build a 3D-aware scene representation, while late layers act as dedicated co-visibility reasoners. In particular, we identify layer L17 as a negative anchor that consistently routes non-co-visible pairs for this backbone, regardless of the evaluation setting, providing task-grounded evidence of layer specialization in a geometry-grounded foundation model. Building on this, we introduce Co-VGGT, which freezes VGGT and trains only a lightweight layer-wise mixture-of-experts head (less than 7.5M parameters) to classify co-visibility from RGB alone, treating each layer as a specialized expert whose geometric abstraction is adaptively weighted per input pair. On the Co-VisiON benchmark, Co-VGGT surpasses the human annotation baseline and improves over prior work by more than 25% pairwise and 10% multiview. Pairwise predictions are well-calibrated (ECE=0.030), enabling direct use as edge weights in visibility graphs for downstream SfM and SLAM pipelines without post-hoc correction. Code and data are available.
★ SigLIP-HD by Fine-to-Coarse Supervision ICLR 2026
High-quality visual representation is a long-standing pursuit in computer vision. In the context of multimodal LLMs (MLLMs), feeding higher-resolution images can produce more fine-grained visual tokens. However, it introduces additional computational and design complexity, due to multiple forward passes and post-processing of increased tokens. Before simply adopting a higher resolution, have we truly unlocked the model's full perception capability at a standard resolution? Therefore, we study an interesting problem: how to achieve fine visual perception under lower cost without larger images. We present SigLIP-HD in this work. The core is a highly simple fine-to-coarse supervision design. We enforce the coarse feature of a mid-resolution image to mimic the fine-grained feature of its high-resolution version. We build this framework on the advanced SigLIP 2 model. Our final model produces better visual tokens at exactly the same inference budget. It is validated on extensive MLLM benchmarks and consistently delivers stronger results than our baseline model, especially on OCR-related tasks.
comment: ICLR 2026. Code and model: https://github.com/LiheYoung/SigLIP-HD
★ Decoupling Language Guidance from Backbones for Text-Guided Medical Segmentation
Text-guided medical image segmentation leverages clinical semantics to improve lesion delineation, yet many existing models bind cross-modal fusion, supervision, and decoder design into a task-specific architecture. Such tight coupling makes it difficult to reuse language guidance modules across heterogeneous vision and text backbones, and often requires redesigning the network when the encoder pair changes. This paper presents BTHA, a backbone-transferable hierarchical adapter framework for text-guided medical image segmentation. BTHA is built around a stable feature-level interface: given multi-scale visual features and a text representation, it injects semantic guidance through shape-preserving adapters while maintaining the decoder-side tensor contract. To make this interface effective, we introduce a Hierarchical Coarse-to-Fine Supervision Strategy that decomposes learning into global image-text alignment, multi-scale auxiliary localization, and boundary-aware final mask refinement. We further design a Scale-Adaptive Gated Semantic Guidance (SAGSG) adapter, where resolution-specific gates adaptively control textual injection and channel recalibration suppresses redundant cross-modal responses. Evaluations across diverse vision and text backbones show that the same adapter and supervision design remains effective across convolutional and transformer-based visual encoders as well as different language encoders. Experiments on four public datasets further demonstrate that BTHA improves strong text-guided baselines with modest computational overhead.
★ Foveation-Guided Dynamic Token Selection for Robust and Efficient Vision Transformers
The human visual system (HVS) employs foveated sampling and eye movements to achieve efficient perception, conserving both metabolic energy and computational resources. Drawing inspiration from this robustness and adaptability, we introduce the Foveated Dynamic Transformer (FDT), a foveation-guided dynamic token-selection architecture that integrates these mechanisms into a vision transformer framework. The FDT exhibits strong resilience to various types of noise and adversarial attacks, despite not being explicitly trained for such challenges. This inherent robustness is achieved through the use of fixation and foveation modules: the fixation module identifies fixation points to filter out irrelevant information, while the foveation module generates foveated embeddings with multi-scale information. At the 50% fixation-budget setting, FDT achieves higher accuracy than DeiT-S (81.9% vs. 80.9%) while reducing multiply-accumulate operations by 34.57%, highlighting one operating point on its accuracy-efficiency trade-off. These attributes position FDT as an HVS-inspired step toward artificial neural networks that combine adaptive computation with improved resilience.
★ Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation IROS
Hyungtae Lim, Nathan Hughes, Xihang Yu, Ruihan Xu, Yun Chang, Jingnan Shi, Rajat Talak, Luca Carlone
3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph systems model object geometry coarsely, relying on partial point clouds or class-level CAD templates, which limits instance-specific shape detail. This paper presents Hydra++, a system-level investigation into how learning-based object shape estimators can be integrated into a hierarchical 3D scene graph pipeline. Hydra++ incorporates category-agnostic shape estimation and a reprojection-mask consistency check to reject degenerate predictions from partial observations or imprecise segmentation. In its default CRISP-based configuration, Hydra++ performs online scene graph construction; slower estimators such as SAM3D are evaluated as modular alternatives to demonstrate generalization-latency trade-offs. Furthermore, to address the challenges of sparse and noisy depth measurements in outdoor environments, Hydra++ supports a hybrid LiDAR-camera configuration for large-scale operation, improving scene-level reconstruction quality. Experiments in both simulation and real-world outdoor campus scenarios demonstrate that Hydra++ improves object- and scene-level reconstruction quality. Project page is available at https://hydra-plusplus.github.io/.
comment: 8 pages, 12 figures, accepted in Proc. IEEE/RSJ IROS
★ Robustifying Vision-Language Models via Test-Time Prompt Adaptation ICML 2026
Pre-trained Vision-Language Models (VLMs) such as CLIP achieve strong zero-shot generalization, but their performance degrades sharply under adversarial perturbations. Existing test-time adaptation methods typically rely on sample-level confidence heuristics, overlooking the intrinsic distributional structure of the data. This sample-centric approach limits robustness, as it fails to distinguish confident adversarial mispredictions from true semantic consistency. In this work, we observe that adversarial distortion is structurally brittle: while holistic representations are corrupted, semantic integrity is often preserved in the distribution of augmented views. Motivated by this insight, we propose RITA, a Robust test-tIme prompt-TAdaptation framework that shifts from sample-level estimates to distribution-level alignment. Specifically, RITA employs optimal transport to align the distribution of augmented visual features with textual prototypes, mitigating adversarial outliers and rectifying cross-modal semantic misalignment. Furthermore, we introduce a dynamic cache to progressively accumulate reliable cues from the test stream for online refinement. Extensive experiments demonstrate that RITA significantly improves adversarial robustness without compromising clean accuracy.
comment: ICML 2026 regular
★ Parameter-Efficient Vision-Language Adaptation with Continuous Metadata Conditioning for Animal Re-Identification
Long-term animal re-identification (ReID) must remain robust to gradual morphological evolution and seasonal appearance shifts. Although recent vision-language models provide strong pretrained visual representations, adapting them to longitudinal ecological settings remains challenging, particularly under identity and temporal distribution shifts. We present a parameter-efficient CLIP adaptation framework for animal ReID and introduce a continuous metadata-conditioning mechanism that incorporates numerical attributes directly into the prompt representation during training. While low-rank visual adaptation, prompt-based supervision, and cross-modal alignment provide the adaptation framework, the proposed metadata-conditioning strategy constitutes the primary methodological contribution. By preserving the continuous structure of numerical metadata rather than discretizing it into textual categories, the proposed approach enables smooth modulation of the embedding space during training while maintaining a purely visual inference pipeline. Experiments on a seven-year longitudinal fish dataset and multiple wildlife benchmarks demonstrate improved performance under closed-set, open-set, and time-aware evaluation protocols. The results demonstrate that continuous metadata conditioning improves robustness to longitudinal appearance variation and temporal distribution shifts, while parameter-efficient adaptation enables a purely visual inference pipeline without requiring metadata at test time. Code and evaluation splits can be found at: https://github.com/AnilOsmanTur/MetaPrompt-ReID.
comment: This is the author's version of the paper accepted for publication in Expert Systems with Applications. The final authenticated version will be available from the publisher
★ Multimodal Scenario Similarity Search for Autonomous Driving
Large-scale autonomous-driving datasets contain vast numbers of recorded scenarios, creating a need for efficient retrieval methods that can identify situations similar to a given query. Existing approaches typically rely on either visual representations or motion-based descriptions, making it difficult to understand their relative strengths and limitations for scenario retrieval. In this work, we present a multimodal framework for autonomous-driving scenario retrieval that combines visual and trajectory-based representations within a unified retrieval pipeline. We investigate two trajectory-based approaches: Exo-Trajectory, an explicit matching method based on surrounding-agent motion, and ScenarioFormer, a transformer-based representation learned from object trajectories using contrastive learning. We compare these approaches against strong vision-based baselines and analyze their behavior across a diverse set of driving scenarios. Experimental results show that trajectory representations provide strong retrieval performance for motion-centric events such as cut-ins, turning maneuvers, and traffic queueing, while visual embeddings excel when appearance cues are informative. Most importantly, combining visual and trajectory information consistently improves retrieval quality, yielding the best overall performance. These findings demonstrate that appearance and motion capture are complementary notions of scenario similarity and motivate multimodal retrieval systems for autonomous-driving data mining, dataset curation, and scenario-based validation.
★ SVF-CR: Synchronized Visual-Facial Cross-Refinement for Multimodal Ambivalence and Hesitancy Recognition
Ambivalence and hesitancy are subtle behavioral states that are expressed through a combination of verbal content, facial behavior, visual context, and acoustic cues. Effective recognition therefore requires not only extracting informative unimodal representations, but also modeling how temporally aligned behavioral evidence interacts across modalities. In this paper, we propose a synchronized visual-facial cross-refinement framework (SVF-CR) with pairwise multimodal evidence fusion for ambivalence and hesitancy recognition. The proposed method first extracts whole-video segment tokens and cropped-face segment tokens using the same temporal partition. The synchronized visual and facial tokens are refined through intra-modal self-attention and bidirectional visual-facial cross-attention, allowing whole-video context and local facial behavior to mutually refine each other before evidence construction. We then construct segment-level visual-facial evidence using consistency and discrepancy modeling, followed by temporal self-attention and attention pooling. Textual and acoustic features are lightly refined through context self-attention and are fused with the enhanced visual-facial evidence at the final decision stage using pairwise evidence fusion. Experiments on the BAH (Behavioral Ambivalence/Hesitancy) public evaluation split show that the proposed synchronized visual-facial cross-refinement improves public macro-F1 over both global visual-face token fusion and synchronized evidence baselines, achieving a public macro-F1 of 0.7156. Code is available at : https://github.com/hiinnnii/BAH-Challenge-ECCV2026\_SVF-CR.
★ CtrlVTON: Controllable Virtual Try-On via Visual-Instance-Prompt Segmentation
Virtual try-on (VTO) has made significant progress in realistically transferring garments onto a target person. Yet most systems give the user little control over how a garment should be worn -- its size (loose or fitted), style (e.g., tucked in or untucked, open or closed), and spatial placement on the body. We address this gap with two complementary contributions. First, we define and solve Visual-Instance-Prompt Segmentation via VIP-SAM: given a flatlay image of a garment, segment that specific instance in a photograph of a person wearing it. This is an instance-level task, distinct from the typically studied category-level segmentation. Second, we introduce CtrlVTON, a controllable VTO framework that recasts try-on as an image editing problem and adds segmentation masks as pixel-level control over garment layout, including style, size, and spatial placement on the body. VIP-SAM and CtrlVTON each achieve state-of-the-art results on their respective tasks. In particular, CtrlVTON generates images that follow user-provided layouts far more faithfully than the strongest proprietary editing systems while matching them on garment fidelity.
comment: 13 + 17 pages, 20 figures
★ Simon-SR: Spatially Adaptive Modulation and Visual Prompt Adaptation for Text-Reinforced Super-Resolution
Single Image Super-Resolution (SISR) reconstructs high-quality images from low-resolution inputs. While recent multi-modal methods improve perceptual quality, they remain sensitive to erroneous priors and require expensive annotations. To address these issues, we propose Simon-SR, a multi-modal SISR framework leveraging learnable prompts for efficient semantic mining and robust text-image fusion. Our approach combines Contrastive Prompt Learning with Prompt-Guided Spatially Adaptive Refinement to enhance multi-modal alignment. Experiments demonstrate that Simon-SR surpasses state-of-the-art methods, achieving maximum improvements of 0.50 dB in PSNR, 0.0133 in SSIM, and 0.0695 in LPIPS. Code will be released.
comment: Multi-modal Single Image Super-Resolution
★ Dynamic Inverse Rendering for Enhanced Material-Lighting Decomposition ECCV 2026
Decomposing outgoing surface radiance into material and illumination during inverse rendering is essential for applications such as relighting and augmented reality, yet it is severely ill-posed since multiple combinations can result in the same observed colour. Capturing an object under multiple lighting conditions usually helps resolve this ambiguity as it constrains the optimization towards correct solutions. In this work, we explore the potential of reconstructing rigidly moving objects -- which provides observations of diverse light-surface interactions -- to resolve the material-lighting ambiguity in inverse rendering. For this purpose, we introduce a relightable approach that marries object tracking and reconstruction with inverse rendering for general rigidly moving objects. Our experimental analysis on synthetic data demonstrates that motion can be an advantage for disentangling material and lighting: the reconstructed material is significantly more accurate when the object is observed under rigid motion than when it is static. Moreover, results on RGB videos of real hand-held objects show that our pipeline preserves this advantage even under noisy real-world conditions.
comment: Accepted at ECCV 2026. Project page: https://razayunus.github.io/DIR
★ From Classification to Localization and Clinical Validation: Large-Scale Development of a Deep Learning System for Thoracic Disease Detection on Chest Radiographs in Thailand
Isarun Chamveha, Tretap Promwiset, Napat Wanchaitanawong, Trongtum Tongdee, Pairash Saiviroonporn, Warasinee Chaisangmongkon
Chest radiography (CXR) remains the most widely used thoracic imaging modality, yet expert interpretation is constrained by a severe shortage of radiologists in Thailand and across Southeast Asia. Local adaptation of deep learning models to Thai data has been shown to substantially improve accuracy on Thai populations. Here we present the development and comprehensive validation of the chest radiograph analysis model in Inspectra CXR version 5, a deep learning system that performs multi-label thoracic disease classification and weakly supervised lesion localization within a single model. The architecture couples a DenseNet-121 backbone with Attend-and-Compare Modules (ACM) and a Probabilistic Class Activation Map (PCAM) aggregation layer, producing a per-condition classification score and heatmap simultaneously. The model was developed on 874,858 frontal chest radiographs with paired radiologist reports from Siriraj Hospital, Bangkok. On a held-out, radiologist-verified in-domain test set of 19,871 cases, it achieved a mean AUROC of 0.994 (mean sensitivity 92.4%, specificity 98.6%) across nine clinically important conditions. On an independent generalization set of 5,992 cases from 13 hospitals across Thailand, the mean AUROC was 0.970, indicating robust transfer across sites. For localization, evaluated on 4,549 radiologist-annotated cases, the model attained a mean lesion-localization fraction (LLF) of 77.9% at 0.59 non-lesion localizations per image. In a usability evaluation with five thoracic radiologists, the system reached a classification concordance of 93.6%, a localization concordance of 94.7%, and a mean System Usability Scale (SUS) score of 89. These results indicate that a locally developed, localization-capable CXR system can deliver high accuracy, generalize across heterogeneous Thai hospitals, and earn the trust of practicing radiologists.
★ TextileNet: Towards Zero-shot Text-style Segmentation of Manuscripts ICDAR 2026
Automatic writer identification systems have progressed remarkably in recent years, yet their deployment in archival paleography remains limited by the scarcity of labeled training data, open scribe sets, and degraded image quality. We present TextileNet, a fully convolutional multi-task network trained exclusively on synthetic data to produce dense pixel-level texture embeddings, which we transfer zeroshot to historical manuscript analysis. As an original contribution to evaluation methodology, we designed a paleographic visual quiz of 80 pair and triplet questions and administered it to a range from lay participants to senior paleographers under strict anonymity, establishing to our knowledge for the first time a human baseline for script-style discrimination on late medieval text. We employ TextileNet embeddings to perform zero-shot retrieval on sub-word granularity for hand and gender identification. Our experimental results help in building the credibility of TextileNet in the paleographic domain, but more than that demonstrate in experimental terms that the question of gender in handwriting needs to be treated with caution.
comment: accepted for publication in the ICDAR 2026 workshop (peer reviewed) "IWCP: 4th International Workshop on Computational Paleography"
★ Letter Lemmatization: One-to-one and Banded RNNs for Reversing Character-Set Simplification and Abbreviation in Medieval Text ICDAR 2026
Medieval document transcribers have very different practices; on top of that, heterogeneous digitization policies have resulted in corpora where the character-set must be viewed as fluid. In this paper we address the problem of changing between character-sets in a flexible manner. We focus on one-to-one character mappings and train characterlevel one-to-one RNNs to undo them with self-supervision; recovering half the CER even with 20 text lines. We analyse the use of these one-to-one networks for HTR post-correction and we see that they obtain significant improvements while totally ignoring ins-dels. We then use the exact same networks with character-level alignment groundtruth compiled from parallel corpora in a training and inference mode we call Banded RNNs. We use such networks to successfully expand abbreviations in medieval charter transcriptions. Finally we introduce an elaborate heuristic which takes the characters of two arbitrary character-sets and defines a metric encapsulating what we consider to be semantic similarity of characters. We call the construction of such mappings letter lemmatization and present a rich Python library that efficiently performs all presented methods.
comment: Accepted for publication (after peer review ) in the ICDAR 2026 workshop "VINALDO: 3rd International Workshop on Machine Vision and NLP for Document Analysis"
★ Rethinking Monocular Depth Embedding for Generalized Stereo Matching
Generally, monocular methods capture rich contextual priors but lack geometric precision, whereas stereo methods are geometrically accurate yet struggle in textureless and occluded regions. Several approaches attempt to combine their strengths to enhance the generalization of stereo matching (SM) by aligning monocular depth with stereo information. However, establishing a stable and generalizable alignment is challenging, and unreliable monocular cues can substantially degrade performance. This paper rethinks monocular depth embedding. First, to prevent shortcut learning, we reduce branch coupling instead of expanding network width. Second, we construct soft constraints instead of hard ones from monocular depth to improve tolerance to monocular depth errors. Based on the principles, we integrate monocular information into both feature extraction and GRU iterations. Specifically, the monocular depth map is fused with the RGB image to sharpen depth boundary perception and suppress matching ambiguities. The fused image is then used for feature extraction, allowing the contextual features to encode global geometric information. Furthermore, the monocular depth gradient feature is employed to guide disparity updates, helping to escape local oscillations. Finally, to address the boundary blurring of supervised disparity caused by data augmentation, we propose an edge confidence estimation method and an edge-aware loss function. Our method achieves state-of-the-art (SOTA) performance on multiple standard benchmarks, demonstrating excellent generalization while improving accuracy. The code is available at https://github.com/linliboabc-maker/stereo-matching-digital.
comment: 15 pages, submitted to Pattern Recognition
★ REMIND: RE-Identification with Memory for INDoor Navigation
Mobile robots operating indoors must re-identify previously observed objects after long temporal gaps, significant viewpoint changes, and severe illumination variations. This remains a challenging problem: multi-object tracking methods are optimized for short-term association of pedestrians and vehicles at video rates, person and vehicle re-identification approaches lack persistent memory mechanisms, and state-of-the-art video object segmentation techniques rely on reactive distractor filtering rather than enforcing global identity consistency.
To address these limitations, we present REMIND, an online tracker designed for long-term multi-object re-identification of generic indoor objects from monocular RGB imagery, requiring neither camera pose nor depth. Motivated by evidence from visual cognition that humans rely on accumulated appearance familiarity and spatial context rather than explicit self-localization, REMIND combines frozen DINOv3 features with a dual-bank multi-prototype appearance memory, part- and background-level descriptors, a neighbour-context reasoning module exploiting spatial co-occurrence, and joint Hungarian assignment with ambiguity-aware safeguards. On a purpose-built indoor dataset featuring controlled revisits and dense same-class clutter, REMIND reaches 90.35% IDF1, nearly 20 points above a state-of-the-art video object segmentation baseline and more than 36 above a strong tracking-by-detection baseline. On ScanNet++, it attains the highest IDF1 in every setting but one, end-to-end detection over all scenes, where the tracking-by-detection baseline is marginally ahead while REMIND still associates and recovers identities more accurately; it also completes every scene, whereas the video object segmentation baseline exhausts GPU memory on 66.9% under YOLO detections. The complete system, evaluation framework, and dataset are publicly released.
comment: 11 pages
★ Semantic Hardness Is Not Visual Hardness: Sign-Aware Hard Negative Mining for Sign Language Retrieval ACL 2026
Junmyeong Lee, Chan Hur, ChangSu Choi, Sukmin Cho, Fitsum Gaim, Eui Jun Hwang, Hoyun Song, KyungTae Lim
Sign Language Retrieval (SLRet) enables efficient access to sign language content but remains fragile in fine-grained scenarios where visually similar signs must be distinguished. We show that this limitation does not stem from model capacity, but from ineffective hard negative supervision. Specifically, we formulate fine-grained retrieval failures as a negative distribution mismatch: semantically distinct yet visually confusable signs are rarely treated as hard negatives, while existing text-based mining strategies fail to capture such visual ambiguity. To address this issue, we propose Sign-Aware Hard Negative Mining (SAN), which constructs hard negatives based on visual confusability in the sign embedding space rather than linguistic similarity. Experiments on PHOENIX-2014T demonstrate that SAN substantially improves fine-grained retrieval performance while preserving coarse-grained accuracy, highlighting the importance of aligning negative supervision with visual ambiguity in sign language retrieval.
comment: Accepted to ACL 2026 main
★ AnythingReality: Robust Online Gaussian Splatting SLAM for Open-Vocabulary VR Scene Exploration
We present a novel integrated architecture for robust online 3D Gaussian splatting, real-time VR exploration, and speech-driven Vision-Language-Model interaction. Unlike methods assuming clean depth or external poses, our system combines ORB-SLAM3-based pose estimation with online Gaussian reconstruction for noisy real-world data. A VR pipeline enables immersive exploration of incremental reconstructions; a semantic module transcribes voice commands, generates scene descriptions, and records points of interest. Against state-of-the-art online Gaussian splatting methods, we improve image quality on our dataset (+14.5% PSNR, +8.6% SSIM, -14.3% LPIPS) and TUM-RGBD (+11.7% PSNR, +7.8% SSIM, -21.6% LPIPS), with comparable or superior frame rates via quality-speed configurations. We achieve an 88% VLM object-recognition rate.
★ All you need is SAMPAT
The current state of the art in AI/ML rests on deep neural architectures, which, in general, suffer from a lack of interpretability. Interpretability is crucial to gleaning insights while analyzing experimental data, where quantitative predictions may not be adequate for a scientist. We present a three layer neural architecture, SAMPAT (Smooth Approximation via Multivariate Polynomials and Analytic Transformations), that can provably learn a continuous, everywhere differentiable function, that can approximate any smooth function arbitrarily closely. SAMPAT's approximant can be expressed as a closed and compact algebraic, analytic expression, providing complete interpretability. Experiments on synthetic and benchmark datasets indicate that SAMPAT yields competitive performance with simpler representations. For many tasks, a two layer SAMPAT suffices. By imposing restrictions on the connectivity between neurons, SAMPAT may be used to provide a range of approximants, including regular and trigonometric polynomials, rational expressions, Gaussians, mixtures of Gaussians, as well as arbitrary combinations of the same; without restrictions, it learns a suitable structure. SAMPAT may be used to factorize polynomials and model nonlinear systems. With the addition of skip connections, a 4 to 6 layer SAMPAT is adequate to represent a substantive range of methods widely used in AI/ML, allowing the choice of a model's family, not just its parameters, to also be optimized as part of the learning process.
comment: 7 pages
★ Glob3R: Global Structure-from-Motion with 3D Foundation Models
Junyuan Deng, Heng Li, Kejie Qiu, Lingteng Qiu, Rui Peng, Weichao Shen, Weihao Yuan, Siyu Zhu, Zilong Dong, Ping Tan
Recent 3D geometric foundation models, such as VGGT, provide robust feed-forward 3D reconstruction by directly predicting camera poses and 3D scene points from input images. However, their results remain inaccurate, and scaling them to long sequences or large unordered image sets typically requires chunk-wise processing, which can introduce drift and inconsistency. We present Glob3R, a global SfM-style reconstruction built on 3D foundation models. Our key idea is to explicitly optimize feed-forward geometric predictions. To this end, we augment a frozen Pi3X backbone with a lightweight dense matching head that predicts image warps between selected reference frames and neighboring views. These dense warps are converted into sparse but reliable multi-view feature tracks, which provide correspondence constraints for global optimization. We further introduce a keyframe-based sliding-window association strategy that propagates tracks and relative poses across overlapping windows, enabling scalable reconstruction. Finally, we perform global motion averaging and bundle adjustment to refine camera poses, reduce scale inconsistencies, and recover dense scene geometry. Extensive experiments on indoor, outdoor, large-scale driving, and unordered SfM benchmarks demonstrate that Glob3R achieves robust and accurate reconstruction. It consistently improves over feed-forward foundation-model baselines and recent scalable reconstruction methods, while being more robust than classical SfM pipelines. The refined poses also lead to higher-quality neural rendering, validating the benefit of combining foundation-model priors with global geometric optimization. Project page: https://junyuandeng.github.io/Glob3r
★ Joint-Embedding Predictive Architecture for Solar PV Panel Fault Classification
Seyyedhamid Azimidokht, Mehdi Monemi, Abdelhak Kharbouch, Farid Hamzehaghdam, Mehdi Rasti, Jamshid Aghaei, Emil Kurvinen
The rapid expansion of solar photovoltaic (PV) systems has increased the need for reliable and scalable fault classification, as manual inspection is impractical at scale. Thermal infrared (IR) imaging provides a non-contact solution for identifying PV faults; however, accurate classification remains challenging due to class imbalance, limited texture information, and subtle thermal differences. In this work, we investigate the applicability of Joint-Embedding Predictive Architecture (JEPA) for thermal IR PV fault classification across various scenarios and propose JEFFNet (JEPA-EFFicientNet), a multibranch architecture that combines JEPA-based self-supervised representation learning with EfficientNetV2-S-based supervised convolutional feature extraction. JEFFNet fuses semantic representations from a JEPA-pretrained Vision Transformer with convolutional features from EfficientNetV2-S, enabling complementary feature learning. JEFFNet is evaluated on two public thermal IR datasets, PVF-10 and InfraredSolarModules (ISM), for both multiclass and derived binary (healthy/faulty) classification. On PVF-10, JEFFNet achieves an F1-score of $93.21$ and an accuracy of $94.33$ in the 10-class task, and an F1-score of $97.53$ and an accuracy of $96.41$ in the derived 2-class task. On ISM, JEFFNet achieves an F1-score of $72.60$ and an accuracy of $83.88$ in the 12-class task, and an F1-score of $94.69$ and an accuracy of $94.78$ in the derived 2-class task. JEFFNet also uses only 108.6M parameters versus 205.91M for GEPFNet, a 47.2\% reduction. These results demonstrate that combining self-supervised semantic and supervised convolutional features provides an effective, parameter-efficient solution for thermal IR PV fault classification. The source code is publicly available at https://github.com/Azimi2kht/JEFFNet
★ YeTI: You Only Need Two Noisy Images for Real-World sRGB Noise Generation ECCV 2026
Real-world sRGB image denoising remains challenging due to the nonlinear characteristics of sensor noise and the difficulty of acquiring aligned clean-noisy image pairs. Supervised denoisers often overfit to limited paired datasets, while self-supervised methods still depend on sufficiently diverse noisy observations. These limitations motivate scalable noise synthesis methods that can model real-world noise without clean ground truth or camera metadata. We propose YeTI, a real-world sRGB noise generation framework that learns from only two noisy observations of the same scene. YeTI uses a Reconstruction Autoencoder to disentangle scene structure and noise characteristics, and models the latent noise distribution with a one-step Conditional Diffusion Transformer trained using consistency objectives. Given a single noisy input at inference time, YeTI generates realistic, signal-dependent noise while preserving the underlying scene content. Extensive experiments demonstrate the effectiveness of YeTI across real-world benchmarks. We evaluate noise generation on SIDD and further assess generalization on SIDD+, MAI2021, and SID, covering smartphone and diverse consumer-camera sensors. Downstream denoising results on DND further show that denoisers trained with YeTI-synthesized images achieve strong real-world performance, highlighting the practical value of clean-image-free and metadata-free noise generation.
comment: Accepted to ECCV 2026. Includes supplementary material
★ HiHR: Hierarchical Hyperbolic Representation for Aerial-Ground Person Re-Identification ECCV2026
Aerial-Ground Person Re-IDentification (AG-ReID) aims to retrieve the same person across heterogeneous aerial and ground camera platforms. Although great progress has been made, existing methods remain suboptimal due to the direct feature alignment across views, overlooking view-specific cues. To address this issue, we propose a novel Hierarchical Hyperbolic Representation (HiHR) framework for AG-ReID. More specifically, we first extract multi-granularity features based on pre-trained visual-text encoders. Then, we propose a Text-guided Multi-granularity Fusion (TMF) to fuse multi-granularity features and enhance the representation ability of identity features. Furthermore, we introduce the Hierarchical Hyperbolic Learning (HHL) to construct a hierarchical feature structure in a hyperbolic space. This hierarchy includes a coarse level that ensures identity separability and cross-view consistency, and a fine level that preserves view-specific discriminative cues. As a result, our proposed framework can effectively aggregate view-invariant and view-specific discriminative features for AG-ReID. Extensive experiments on four AG-ReID benchmarks demonstrate the effectiveness of our framework. The source code is available at https://github.com/YangQiWei3/HiHR.
comment: Accepted by ECCV2026. More modifications may be performed
★ Causally Debiased Latent Action Model for Embodied Action Conditioned World Models
Yufan Wei, Kun Zhou, Lingjun Mao, Zijun Zhang, Ziming Xu, Ziqiao Xi, Shuang Liang, Ruobing Han, Yuchen Yan, Xinyue Wang, Fan Feng, Biwei Huang
Action-conditioned world models (ACWMs) aim to simulate future observations conditioned on embodied actions, offering a promising foundation for robot planning, policy evaluation, and data augmentation. However, learning controllable ACWMs requires large-scale action-labeled data, which remains costly to collect in the real world. Latent action models (LAMs) mitigate this bottleneck by inferring latent actions from unlabeled videos, but existing LAMs are typically trained with reconstruction-only objectives and therefore entangle action-relevant dynamics with action-irrelevant visual factors such as backgrounds and untouched objects. In this work, we identify this action-irrelevant bias as a key obstacle to controllable ACWMs and introduce evaluation metrics to measure latent-action bias, action following, and robustness. We propose CD-LAM, a causally debiased framework for LAM-based ACWMs. CD-LAM introduces three efficient fine-tuning objectives: embodiment-centric reconstruction, action-centric contrastive learning, and latent space calibration, which together encourage embodiment-focused, action-aware, and calibrated non-collapsed latent action representations. Experiments on 2B and 14B ACWM backbones show that CD-LAM substantially improves latent-action controllability, downstream robot-action following, visual fidelity, and adaptation efficiency, requiring only 6k fine-tuning steps and more than 12$\times$ fewer robot-action adaptation updates than the baseline.
★ TSR-Ego: Temporally Guided Stereo Refinement Framework for Egocentric 3D Human Pose Estimation
Egocentric 3D human pose estimation from head-mounted stereo cameras is challenging due to fisheye distortion, severe self-occlusion, and frequent truncation of body joints outside the camera field of view. Recent stereo egocentric methods have improved performance through heatmap lifting, stereo correspondence, and transformer-based refinement, but they often rely heavily on frame-local evidence or use temporal information only as auxiliary pose-level context. This limits robustness when current-frame stereo cues are weak, occluded, or ambiguous. We propose TSR-Ego, a temporally guided stereo framework that couples short-term motion evidence with projection-guided feature sampling. The model first enriches dense stereo feature maps using a causal depthwise-separable temporal convolution, allowing past visual evidence to influence the feature space before deformable cross-attention. A single-stage causal stereo decoder then refines learned 3D joint queries through temporal self-attention, joint self-attention, and fisheye deformable stereo cross-attention, using the evolving pose estimate to generate 2D sampling references. Unlike methods that apply temporal reasoning mainly after pose prediction, TSR-Ego uses motion context to shape both the sampled stereo features and the joint representations while preserving online inference without future frames. Experiments on UnrealEgo2 and UnrealEgo-RW show state-of-the-art performance, with especially strong gains on real-world sequences.
★ What Pixels Are Enough? SEAMS: Sufficiency Saliency via MSE-Preservation Soft-Masks
Magdalena Trędowicz, Łukasz Struski, Arkadiusz Lewicki, Karolina Pachota, Andrzej Grudzień, Mateusz Jagła, Jacek Tabor
Saliency maps are most useful when they identify the image regions that are sufficient to preserve a model's behaviour. We introduce SEAMS, a sufficiency-based saliency method that directly optimises a soft mask using a preservation objective. Given a frozen differentiable model output, such as a class probability, CLS embedding, or token representation, SEAMS searches for a compact mask that preserves the selected output. The approach relies on a simple optimisation framework based on soft masks, a learnable budget, and a three-way image composite generated entirely from the query image. As a result, it requires no auxiliary distractor dataset, architecture-specific attribution mechanism, or differentiable top-k relaxation. Experiments with frozen ViT-S/16 and ConvNeXt models show that the same optimisation pipeline can generate object-level, class-conditioned, and token-level explanations by changing only the preserved target. The resulting masks are compact, interpretable, stable across random initialisations, and competitive on insertion and deletion benchmarks. Our results also indicate that different architectures often rely on different sufficient evidence while achieving similar preservation fidelity, highlighting the architecture-dependent nature of visual explanations.
★ Weaving Light and Time: Unified Harmonic-Geometric Representation Learning for Dense RGB-Event Parsing
Chenxu Peng, Chongtian zhou, Dicheng Liu, Bo-Wen Yin, Yimian Dai, Xialei Liu, Ming-Ming Cheng, Xiang Li
Fusing standard RGB frames with asynchronous event streams has emerged as a definitive paradigm for robust perception in degraded environments. Although unified backbones have recently gained traction in multi-modal vision, adapting them to the RGB-Event domain remains fundamentally challenging. Existing architectures either resort to decoupled dual encoders that double computational overhead, or adopt generic unified designs that fail to resolve implicit geometric parallax and cross-spectral aliasing under the extreme representational divide between dense intensity grids and sparse kinematic spikes. To transcend these bottlenecks, we present Evita, the first unified backbone specifically engineered for dedicated dense RGB-Event parsing. To achieve profound modal synergy, Evita explicitly embeds a suite of intrinsic co-learning modules directly into every encoder layer. Specifically, it features Geometric Parallax Rectification for adaptive spatial alignment, Harmonic Spectral Resonance for texture transfer exclusively in the complex frequency domain, and Transient Global Routing for event-driven asymmetric attention. To guarantee robust feature extraction against spatial misalignments and decouple representations from specific event encodings, we construct N-ImageNetV2 alongside a stochastic event representation mixing pretraining protocol, empowering the network to seamlessly accommodate arbitrary event formats in downstream tasks. Extensive evaluations across the DELIVER, DDD17, and DSEC benchmarks confirm that Evita establishes new state-of-the-art metrics while delivering a superior accuracy-latency trade-off for real-time multimodal perception.The code are publicly available at: https://github.com/chaineypung/Evita.
★ MedRealMM: A Real-World Multimodal Benchmark for Chinese Online Medical Consultation
Runhan Shi, Quan Zhou, Yuqian Xu, Shuai Yang, Xin Wu, Zitong Zhou, Hui Liu, Bin Cha, Zheming Wang, Liya Li, Wei Wei, Haoyuan Hu, Jun Xu
Large language models (LLMs) are increasingly deployed in online medical consultation, yet existing benchmarks remain poorly aligned with real clinical practice. Many rely on synthetic conversations or patient simulators, omit patient-uploaded medical images, or evaluate open-ended clinical responses using multiple-choice or lexical-overlap metrics that poorly reflect clinical quality. We introduce \textbf{MedRealMM}, a large-scale benchmark for multimodal online medical consultation built from de-identified patient-doctor interactions collected from a nationwide Chinese internet hospital. MedRealMM uses a Multimodal Clinical Challenge Point (MCCP) extraction framework to identify clinically demanding moments in authentic consultation trajectories and converts each into a standardized next-response generation task while preserving the preceding text-image context. Each instance is paired with a case-specific rubric refined by physicians that rewards clinically desirable behaviors and penalizes unsafe, unsupported, or contradictory responses. The current release contains 5,620 real-world multimodal cases spanning 64 clinical departments. We evaluate 19 general-purpose and medical-specialized LLMs, including text-only and multimodal systems. Our results show that image information is critical for reliable clinical performance and that current frontier models remain below the online physician response. Although some frontier models satisfy as many or more positive clinical criteria than physicians, they trigger more negative criteria, indicating that safety-sensitive error avoidance remains a central bottleneck. MedRealMM offers a realistic and reproducible benchmark for evaluating multimodal medical reasoning in real-world online consultation. The dataset will be publicly available on Hugging Face at https://huggingface.co/datasets/jdh-algo/MedRealMM.
★ Super-Generalist: Towards Comprehensive and Accurate Medical Image Understanding via Generalist-Specialist Synergy
Shaoteng Zhang, Weiwei Cao, Wanxing Chang, Yutong Xie, Kai Cao, Zaiyi Liu, Yu Shi, Tingbo Liang, Qi Zhang, Ling Zhang, Yong Xia, Jianpeng Zhang
Medical images require comprehensive and accurate interpretation to support the diagnosis of diverse clincial conditions. Recent vision-language generalist models offer broad task coverage and promising zero-shot capabilities, yet often lack fine-grained anatomical and lesion awareness for reliable diagnosis and spatial interpretability. In contrast, supervised specialist models achieve strong performance on specific tasks but typically lack generalization across diseases and anatomies. In this work, we present SuG, a Super-Generalist framework that unifies generalist vision-language learning with specialist objectives, enabling both broad generalization and specialist-level diagnostic capability. We perform specialist-enhanced vision-language alignment in SuG by incorporating spatial priors from multiple segmentation experts, including anatomy, class-specific lesion and class-agnostic lesion segmentors that captures lesions beyond anatomies annotated during training. To improve lesion grounding capability, we leverage lesion masks as spatial priors to calibrate text-conditioned visual attention, encouraging disease-related semantics to focus on clinically relevant regions. We evaluate SuG on extensive chest and abdominal CT benchmarks, including CT-RATE, Merlin, MedVL-CT69K, and several in-house tumor datasets. SuG achieves state-of-the-art performance across a wide range of disease diagnosis tasks and surpasses specialist models on several critical tumor diagnosis benchmarks. Furthermore, SuG demonstrates strong lesion grounding capability, including robust generalization to lesion types lacking class-specific supervision.
★ IB-Flow: Information Bottleneck-Guided CFG Distillation for Few-Step Text-to-Image Generation
While large-scale text-to-image generative models have achieved unprecedented visual performance, their inherent reliance on multi-step iterative solvers incurs severe inference latency. Few-step distillation targeting the Classifier-Free Guidance (CFG) trajectory has emerged as the prevalent dual-dimensional compression paradigm. However, existing frameworks remain subjugated by a coarse-grained blind injection paradigm that perpetually enforces a globally static guidance strength while indiscriminately sampling the supervisor timestep. This state-agnostic design completely disregards the intrinsic nature of image generation as a dynamic evolutionary process characterized by progressive entropy reduction, which not only restricts the performance boundary of few-step compression but also precipitates severe CFG over-conditioning artifacts. To transcend these limitations, we re-examine the distillation procedure through the theoretical lens of Information Theory, formally modeling it as a dynamic mutual information game constrained by the Information Bottleneck (IB) principle. Specifically, we dismantle traditional blind assumptions via a dual-track adaptive framework. To determine the injection target, we propose an instance-aware selection mechanism that transmutes the intractable KL divergence constraint into a zero-overhead closed-form solution predicated on the local vector field norm. To regulate the injection strength, we introduce an entropy-aware schedule that dynamically decays alongside the SNR, applying maximal thrust for initial structural anchoring before smoothly reverting to the natural manifold to refine micro-details. Extensive empirical evaluations corroborate that our framework fundamentally eradicates over-conditioning artifacts, shattering the performance ceiling to achieve SOTA generative fidelity under extremely stringent 2-step configurations.
★ VTaMo: Video-Text Alignment Model for Sign Language Translation ECCV 2026
Sign language translation (SLT) converts continuous sign videos into spoken language text. Gloss-free approaches leverage pre-trained visual encoders and language models but rely on implicit cross-modal alignment from translation supervision alone. We present VTaMo, a framework that introduces explicit multi-granularity alignment at three levels: (1) local alignment via entropy-regularized optimal transport with a learnable null token for fine-grained frame-to-token correspondences; (2) global alignment via a learnable orthogonal transformation that calibrates embedding space geometry through Earth Mover's Distance; and (3) position-aligned contrastive learning for discriminative token-level representations. Experiments on Phoenix-2014T, CSL-Daily, How2Sign, and OpenASL demonstrate consistent state-of-the-art performance, with ablations confirming the complementary contributions of each component. Code is available at https://github.com/junyi2005/vtamo.
comment: 18 pages, 5 figures, 8 tables. Accepted to ECCV 2026
★ 4D Human-Scene Reconstruction from Low-Overlap Captures SIGGRAPH
Existing volumetric capture of dynamic human performance achieves high fidelity with dense camera arrays. However, in real-world scenarios, only a handful of low-overlap cameras are available, which degrades the output quality and leaves large areas unobserved. Recent 4D reconstruction methods have focused on low-overlap settings, yet they still produce noticeable artifacts in under-observed regions. Video diffusion models have emerged as another option, but they show geometrically inconsistent results for humans. To address these limitations, we propose StudioRecon, a pipeline that reconstructs 4D human scenes from sparse, low-overlap cameras by decoupling background and humans. We densify background supervision by synthesizing hundreds of camera-controlled novel views with a video diffusion model. We also robustly initialize deformable Gaussian humans with cross-view identity association and triangulated multi-view keypoint fitting. Finally, our recursive enhancement module with motion-adaptive consistency injection harmonizes the composed output, thereby further avoiding remaining artifacts. We achieve state-of-the-art novel view synthesis across four real-world datasets and demonstrate applications such as novel trajectory rendering and human replacement.
comment: Accepted to SIGGRAPH Conference Papers '26. First two authors contributed equally. Project page: https://sisyphm.github.io/studiorecon-page/
★ Event Burst Trigger: An Availability Backdoor Attack on Event-Based SNN Object Detection DSN 2026
Event-based vision and spiking neural networks (SNNs) are increasingly adopted for edge intelligence under strict latency and energy constraints. However, the vulnerability of event-based SNN object detection models to availability backdoor attacks remains insufficiently studied. This paper presents Event Burst Trigger (EBT), an availability backdoor attack targeting SNN-based object detection models. EBT injects carefully crafted event-based triggers into the training data, which induce temporally concentrated event streams during inference. These burst-like activations increase the number of phantom (i.e., spurious) object candidates, and consequently inflate the computational cost of the post-processing stage, particularly Non-Maximum Suppression (NMS). We evaluate EBT on SpikeYOLO, the state-of-the-art SNN-based object detector, under a poison-only threat model that does not require modifications to the model architecture, loss function, or inference pipeline. Experimental results show that while detection accuracy remains largely preserved, with mAP@0.5 decreasing by less than 0.099, the latency of the NMS stage increases by up to 38%. This indicates that NMS can become a dominant availability bottleneck in event-based SNN object detection. Experiments on an edge platform further show that the proposed attack elevates baseline resource utilization and reduces scheduling slack without inducing conspicuous peaks in resource usage. In addition, STRIP-based backdoor detection fails to reliably distinguish the proposed attack from benign inputs. These results characterize a previously underexplored availability backdoor threat in event-based SNN object detection systems.
comment: The 56th Annual IEEE/IFIP International Conference on Dependable Systems and Networks (DSN 2026)
★ Event Stream based Multi-Modal Video Anomaly Detection: A Benchmark Dataset and Algorithms
Video anomaly detection (VAD) is critical for automated surveillance but remains fragile under challenging conditions such as illumination variations, fast motion, and complex backgrounds when relying solely on visible light videos. To address these limitations, we propose EVAD, an event enhanced VAD framework that jointly exploits conventional video and event streams captured by bio inspired event cameras. Event sensors asynchronously capture brightness changes with high temporal resolution, offering robustness to motion blur and extreme lighting, and providing motion salient cues complementary to video based visual information. To support multi modal VAD research, we construct a large scale visible event benchmark comprising 6.3 billion events and 376,368 video frames collected under diverse illumination levels, motion patterns, and background complexities, filling the gap of realistic and scalable datasets for event based anomaly detection. Building upon this dataset, we design a contrastive multi modal pretraining framework to learn discriminative event representations by aligning semantic embeddings across event streams, visible videos, and textual descriptions. An adaptive fusion module then dynamically integrates event based temporal cues with video based spatial semantics, improving robustness to environmental disturbances. Experiments on benchmarks and the proposed TJUTCM Pha dataset demonstrate that E VAD consistently outperforms methods, validating the effectiveness of event-based sensing for VAD in real world scenarios.
★ Integrating Large Language Models and Graph Convolutional Networks for Semi-Supervised Image Classification
While the growing availability of image data has driven significant advances, labeling datasets remains costly and time-consuming. Therefore, semi-supervised approaches such as Graph Convolutional Networks (GCNs), which learn from both labeled and unlabeled data, have emerged as a promising solution. One of the primary challenges in applying GCNs to image classification is graph construction, since, unlike in citation networks or similar domains, images typically do not come with a predefined structural representation. For visual data, most studies construct graphs based on the similarity between feature vectors from pretrained deep learning backbones, typically by employing kNN or reciprocal kNN algorithms. Although Large Language Models (LLMs) have shown remarkable capability in capturing high-level semantics, their integration with GCNs for image classification remains underexplored. Aiming to fill this gap, our approach uses a Vision Language Model (VLM) to generate textual image descriptions, which are then processed by an LLM to estimate semantic similarity scores between connected images. These scores guide the pruning of edges in kNN and reciprocal kNN graphs, filtering out semantically irrelevant neighbors. Experimental results reveal that leveraging LLMs for graph refinement can improve classification accuracy, particularly for kNN graphs and some backbones. The source code is publicly available at http://gcnllm.lucasvalem.com.
★ Equivariant Filter for High Performance Image Tracking using an Event Camera
Image tracking is the problem of estimating the transformation that relates a moving image of a scene to an original reference image. The problem is important in control of autonomous vehicles or robots, where the image encodes information about the motion of the camera or environment, as well as in pure computer vision applications. In this paper, we present an equivariant filter design for high performance tracking of planar image transformations using an event camera. The design exploits the Asynchronous Event Blob (AEB) tracker (Wang et al., 2024) to extract feature-position measurements from the raw event stream, and an equivariant filter to compute an affine image translation and rotation using the special Euclidean group symmetry. The equivariant filter incorporates an equivalent-measurement update step that de-correlates the (highly temporally correlated) feature-position measurements provided by the AEB tracker. We evaluate the design experimentally using two datasets involving general and fast rotational motion. We benchmark results against direct optimisation (estimating the relative transformation from the raw blob tracks), and a covariance intersection approach for overcoming data correlation. Our design provides smooth image tracking for features moving up to 7000 pixels per second on the image plane.
★ Beyond Metadata: CAPRA for Hidden Subgroup Analysis under Missing Metadata in Medical Imaging
Medical imaging models are often deployed without the demographic, acquisition, and quality metadata needed for subgroup auditing. Once those metadata disappear, clinically critical failure modes can be masked by strong aggregate performance, and many robust-learning methods lose the group structure they rely on. We present CAPRA, a calibrated proxy-axis framework for hidden subgroup analysis under missing metadata. CAPRA predicts image-derived semantic axes, calibrates axis posteriors on a small metadata-labeled split via patient-level cross-fitting, and organizes those posteriors into a calibrated subgroup interface that supports both deployment-time failure analysis and downstream robust learning without requiring subgroup labels at deployment. Across fundus, dermoscopy, and chest radiography, CAPRA reveals disparity patterns missed by metadata-only slicing, remains informative under dataset shift, and produces subgroup partitions that align more closely with explicit failure axes than image-only or latent-slice baselines. The same interface can also be reused by downstream robust learners, although those gains are domain-dependent. Overall, CAPRA turns hidden subgroup analysis under missing metadata into a calibrated, interpretable, and reusable subgroup interface for deployment-time analysis and robust transfer.
★ A Coreset Selection Framework with Ensemble Aggregation for Image Classification
The rapid growth of image data has produced large-scale datasets, raising concerns about the time and memory costs of model training. Selecting representative training subsets, however, remains challenging: individual sample contributions are unclear, and model behavior varies across datasets and runs. We address these challenges with a framework that combines coreset selection with an ensemble aggregation over multiple runs. For coreset selection, we propose SCOre-Stratified Selection (SCOSS), which partitions the training data into intervals based on a chosen score and samples from each interval. The ensemble combines predictions from multiple runs, each performed on an independently sampled training subset. As baselines, we use moderate and random selection, each in original and class-balanced versions. We assess the framework with Simple Graph Convolution (SGC) and Support Vector Machine (SVM) classifiers under different sampling ratios. Experiments show that SCOSS is competitive with baselines, often the best choice for SGC, and enables favorable trade-offs between accuracy and efficiency. On the fine-grained dataset, SGC with SCOSS outperforms SVMs when using fewer labeled samples. The code and supplementary materials are publicly available at http://scoss.lucasvalem.com.
★ Beyond Time Shifts: Adapting Omni-LLM as a Reference-Free Evaluator for Generative Audio-Visual Models ECCV 2026
Yijie Qian, Juncheng Wang, Chao Xu, Huihan Wang, Yuxiang Feng, Yang Liu, Baigui Sun, Yong Liu, Shujun Wang
As audio-visual generative models evolve into world simulators, cross-modal synchronization stands as a critical proxy for assessing the consistency of world dynamics and causality in generated content. However, existing evaluation metrics presume structural correctness, reducing synchronization to mere temporal alignment. Consequently, they fail on generative outputs, especially when exhibiting structural hallucinations and asymmetric cross-modal relations, which currently \textbf{mandate expert human annotation to assess synchronization.} This dependency introduces a critical paradox: \emph{human evaluators rely on relative, reference-dependent comparisons, whereas automated metrics require reference-free, absolute scalars.} We resolve this paradox by proposing a framework that distills relative human perception into a continuous, globally consistent metric. First, we introduce SynthSync, a dataset of generative failures ranked via pairwise human annotations. Second, we adapt the Omni-LLM equipped with a continuous latent projection to translate relative human rankings into continuous absolute values. Third, we propose Real-Valued Group Relative Policy Optimization ($\mathbb{R}$-GRPO) to internalize the global causal structure of synchronization via listwise score distributions. Empirically, our metric achieves state-of-the-art human preference alignment. We leverage this estimator to establish a standardized benchmark, advancing AV-Gen assessment from low-level signal correlation to visually grounded causality.
comment: Accepted to ECCV 2026
★ DETRAM: End-to-end DEtection, Tracking and Recovery of HumAn Meshes
In the task of human mesh recovery (HMR), multi-person scenes are particularly difficult to handle due to the many entities that appear and occlusions between them over time. In particular for video inputs, there is a need to track each entity reliably and consistently. Existing methods rely on pretrained human detection modules, increasing their runtime and limiting the number of tracked entities. We present DETRAM, a unified framework for multi-person HMR and tracking that simultaneously detects, reconstructs, and tracks humans across time, both automatically and via user prompts. DETRAM uses a single transformer decoder with an identity-consistent set of learnable query embeddings that persist across frames: detection queries discover new people, tracking queries maintain pose and shape for existing individuals, and prompt queries follow user-specified identities. Our approach achieves state-of-the-art tracking results on PoseTrack21, 3DPW, BEDLAM, and MuPoTS-3D, and competitive reconstruction accuracy on BEDLAM and 3DPW, while uniquely supporting prompt-based tracking of individuals in multi-person scenes. To our knowledge, this is the first method to unify promptability and multi-person HMR with tracking in an end-to-end trainable framework, enabling user-directed human analysis in videos.
★ Subtoken Vision Transformer for Fine-grained Recognition
We present Subtoken Vision Transformer (SubViT), a selective image tokenization method for fine-grained visual recognition. Standard Vision Transformers compress each fixed-size patch into a single token, although fine-grained distinctions often depend on localized variations within only a few patches. SubViT addresses this mismatch by representing discriminative patches with multiple subtokens while retaining the original token sequence for global context, thereby allocating additional capacity where it is most needed. Since attention heads encode complementary semantics and extracting attention maps at inference requires an extra backbone forward, we adopt a two-stage training strategy. Stage 1 fine-tunes the ViT using subdivision regions sampled from random attention heads, exposing the model to diverse subdivision patterns. Stage 2 identifies informative attention maps through feature-degradation distances and distills them into a lightweight single-map router, which directly predicts deterministic token-importance scores without a separate attention forward. We evaluate SubViT on Generalized Category Discovery (GCD), a challenging task requiring both fine-grained discrimination and generalization to unlabeled novel categories. Across CUB, FGVC-Aircraft, and Stanford Cars, SubViT improves the average novel-category accuracy of DINOv2 from $81.3\%$ to $84.7\%$, with only $0.50$ ms additional latency and $3.4\%$ more FLOPs, while reducing latency by $73.8\%$ relative to Retina Patch. Results on CIFAR-10 and ImageNet-100 demonstrate its broader applicability.
★ REBASE: Reference-Background Subspace Elimination for Training-Free In-Context Segmentation
Training-free in-context segmentation enables new object categories to be introduced at inference time from a single annotated reference image, eliminating the retraining and memory overhead of class-incremental learning. Recent approaches achieve this by combining vision foundation models for semantic correspondence with promptable segmentation networks like SAM. However, their performance is fundamentally limited by the quality of the cross-image similarity map; shared contextual backgrounds between the reference and query systematically elevate similarity in non-target regions, degrading prompt localization. We present REBASE, a training-free framework that explicitly suppresses these spurious contextual correspondences. Our method identifies the low-rank background feature subspace from the reference image and project the reference and query features onto its orthogonal complement in closed form, yielding cleaner semantic matching. We then generate positive point prompts using similarity-weighted farthest-point sampling, paired with a refined dense similarity prior. Without any training or parameter updates, our approach establishes a new state of the art among training-free methods on PACO-Part, FSS-1000, and cross-domain datasets such as ISIC2018, demonstrating that explicit background subspace removal is a highly effective principle for one-shot localization.
★ Adaptive Latent Trajectory Anchoring for Action Segmentation Dataset Condensation ECCV 2026
Dataset condensation for action segmentation synthesizes compact, informative representations of long, untrimmed video datasets. The existing approach relies on Variational Autoencoders and an iterative latent optimization; it is computationally expensive and suffers from over-smoothed reconstructions and rigid temporal constraints. This paper proposes to shift the condensation paradigm from optimization-based inversion to deterministic latent mapping. By leveraging Denoising Diffusion Implicit Models, we represent action segments as continuous trajectories anchored by sparse latent points in the noise manifold. To maximize representational efficiency, we introduce an adaptive allocation mechanism that dynamically redistributes the anchoring budget based on segment-wise reconstruction difficulty. Extensive experiments demonstrate that our framework significantly outperforms state-of-the-art methods in segmentation performance across common datasets. Notably, our approach achieves performance parity with real data training while maintaining a condensation ratio of 2.4\% on Breakfast dataset.
comment: 16 pages, 5 figures, accepted to ECCV 2026
★ GeoTrace: Geometry-Aware Trajectory Token Compression for Video Large Language Models
Although Video Large Language Models (Video LLMs) have shown strong performance in video understanding, their efficiency is still limited by the large number of visual tokens. Existing video token compression methods typically rely on frame-wise saliency or heuristic token merging, which can over-focus on locally salient regions and produce ambiguous fused features. To address these issues, we propose GeoTrace, a training-free spatiotemporal token compression framework that decomposes video evidence into exact skeleton tokens and traceable residual event tokens. Specifically, Contextual Farthest-Point Anchoring (CFPA) preserves salient, context-consistent, and high-coverage skeleton tokens, while Trajectory-Constrained Residual Condensation (TCRC) compresses residual tokens through one-to-one temporal trajectories and constrained near-manifold condensation, producing traceable event tokens with reduced ambiguity. We evaluate GeoTrace on four Video LLMs across four video understanding benchmarks, and the results demonstrate its effectiveness and generalization across different model architectures and scenarios. On LLaVA-OneVision, with only 10\% visual tokens retained, GeoTrace achieves a \(12.99\times\) TFLOPs reduction while preserving 99.1\% of the vanilla performance. Overall, GeoTrace offers a compact and traceable token representation for efficient and robust Video LLM inference. Code is available at \href{https://github.com/guohuan-xie/GeoTrace.git}{\texttt{Code}}.
★ Toward Active Object Detection for UAVs in the Wild: A Large-Scale Dataset, Benchmark and Method
Object detection is a fundamental component in numerous Unmanned Aerial Vehicle (UAV) applications, yet it has long been plagued by hindrances like occlusion or target pixel scarcity. Active Object Detection (AOD) provides a novel paradigm to address these challenges via active vision, while UAV-based AOD research remains scarce due to the lack of high-quality datasets and benchmarks for algorithm development and evaluation. To fill this gap, this paper presents ATRNet-LUDO, the first large-scale real-world dataset for UAV-Ground Active Object Detection (UGAOD). It contains 121,000 multi-view panoramic multi-target aerial images and 1.21 million local single-target slices, covering 10 vehicle targets across 40 scenarios. It enables the construction of diverse training and testing environments for UAV agent interaction and active observation policy learning. Based on this dataset, we establish a comprehensive evaluation benchmark for AOD policy learning methods. Most existing AOD policies rely on Deep Reinforcement Learning (DRL) but suffer from poor generalization. Evaluations on our benchmark reveal a significant generalization gap between training and testing performance, highlighting an urgent need for solutions. To this end, we leverage the Joint Embedding Predictive Architecture (JEPA) to construct a world model that enhances state representation learning, and propose AOD-JEPA by incorporating AOD-specific prior knowledge. Extensive experiments validate its effectiveness and superiority. We hope ATRNet-LUDO and the benchmark will advance research in the UGAOD field. The dataset and code are soon available at https://github.com/Leo000ooo/LUDO_dataset.
comment: 18 pages, 19 figures, 5 tables
★ OmniMapBench: Benchmarking Visual-Centric Reasoning on Diverse Map Documents
Recent advancements in LVLMs necessitate robust benchmarks for complex, visually grounded reasoning. A critical limitation is identified in many document understanding benchmarks: visual content is often reducible to text, enabling high performance without genuine visual grounding. To address this limitation, OmniMapBench is introduced to foster visual-centric reasoning for map documents. The benchmark comprises 2,096 manually annotated question-answer pairs across 1,603 map documents from nine categories. It is designed to probe a hierarchy of skills, ranging from perception to multi-step visual reasoning. To quantify benchmark properties, a simple yet effective benchmark-level metric is proposed: the Visual Dependency Index (VDI), defined as the accuracy drop when images are replaced with question-agnostic descriptions. OmniMapBench exhibits higher VDI than established benchmarks, which quantitatively validates its focus on irreducible visual reasoning. Comprehensive evaluations of 25 leading LVLMs are conducted on OmniMapBench. A significant performance gap is observed, with the top-performing model achieving only 75.03\% accuracy. This result underscores the challenges posed by OmniMapBench to current LVLMs. This work aims to catalyze progress in visual-centric reasoning for document understanding of LVLMs. The dataset and code are publicly available at https://github.com/SIGMME/OmniMapBench.
★ Probing Diffusion Denoising Dynamics for Contrastive Representation Learning
Text-to-image diffusion models exhibit unprecedented generative capability and contain rich intermediate representations that can be useful for discriminative vision tasks. Motivated by this observation, we study a focused question: how can the denoising dynamics of a pretrained diffusion model be adapted to support discriminative representation learning while preserving its generative behavior under parameter-efficient updates? We present D$^3$CL as an investigation of this question. Our key observation is that noisy latents at different diffusion timesteps can be interpreted as stochastic views of the same underlying image, enabling a contrastive objective to be coupled with the standard denoising reconstruction loss. This formulation provides a simple way to probe the interaction between generative denoising and discriminative representation learning without training from scratch. To keep the adaptation lightweight, we apply LoRA updates to a pretrained Stable Diffusion backbone while freezing the original model parameters. D$^3$CL provides strong empirical evidence that reconstruction and noise-level contrastive objectives can be complementary: on ImageNet-1K, it obtains 80.1% linear-probing accuracy and an FID of 5.56 for $256 \times 256$ unconditional generation. Additional ablations on the design space suggest that the usefulness of diffusion features depends on where and how denoising states are sampled. These results establish D$^3$CL as a parameter-efficient adaptation framework for pretrained diffusion models, showing that noise-level contrastive learning can structure denoising representations for discriminative tasks while maintaining generative performance.
★ On Locality and Length Generalization in Visual Reasoning ECCV 2026
A striking feature of the human visual system is that it ingests visual information through a series of local foveated glimpses, rather than a single global computation. This makes human vision distinctly different from most popular computer vision models in use today, which input images globally and in a single shot. A natural question therefore is whether local, sequential vision models may provide any fundamental computational benefits in addition to being biologically more plausible than global models. In this work, we investigate this question from the perspective of visual state tracking and length generalization. Inspired by recent studies of length generalization in language models, we study the behavior of vision models trained on simple vision tasks that require the aggregation of local information across an image. Our experiments reveal that, similar to language models, vision models can learn to exploit global shortcuts and thereby fail to generalize over task length or complexity. We also show that recurrent vision policies based on strictly local perception can mitigate these failures, thereby allowing models to generalize on these tasks. Our results show that local attention may be an essential overlooked requirement for robust compositional generalization.
comment: Accepted at ECCV 2026
★ STEAM: Stable Self-Training with Elastic Matching and Adaptive Purification
Cross-view geo-localization (CVGL) aims to achieve GPS-free localization by matching drone-view images with corresponding satellite-view images. Existing supervised methods rely on large-scale manually annotated cross-view image pairs, making them costly and difficult to scale. In contrast, existing unsupervised approaches typically depend on generative models or clustering-based stage-wise optimization, which are prone to distribution bias and the accumulation of noisy pseudo-labels. To address these limitations, we propose STEAM (Stable Self-Training with Elastic Matching and Adaptive Purification), an end-to-end unsupervised cross-view geo-localization framework that performs self-training directly on real drone and satellite images. Specifically, the proposed Stable Spatial-Aware Module enhances the stability of feature representations, Elastic Matching discovers high-quality cross-view pseudo-labels, and Adaptive Purification dynamically maintains a reliable pseudo-label repository throughout the self-training process. Extensive experiments on the University-1652 and SUES-200 benchmarks demonstrate that STEAM achieves state-of-the-art performance among all existing unsupervised methods and delivers performance comparable to supervised approaches, validating the effectiveness and superiority of the proposed framework. The source code is available at https://github.com/wsx-heu/STEAM.git.
★ MOSAIC: Adaptive Inter-layer Composition for Efficient Heterogeneous Vision-Language Models
Yuncheng Yang, Feiyang Ye, Shixian Luo, Yinna Zhu, Lianlei Shan, Wangcai Zhao, Kuo Zhang, Yan Chen, Yong Wu, Yan Xie
Vision-Language Models (VLMs) have achieved success using homogeneous Transformers to process multimedia data. Recent studies show that heterogeneous structures interleaving efficient mechanisms, like linear attention, improve both performance and inference latency over homogeneous designs. However, these efforts rely on handcrafted static mixing patterns, which are sub-optimal and difficult to adapt to specific hardware. To bridge this gap, we propose Multi-Objective Search for Adaptive Inter-layer Composition (MOSAIC), a hardware-aware search method that automatically transforms homogeneous models into optimized heterogeneous architectures. MOSAIC integrates diverse efficiency mechanisms--including linear, sparse, and low-rank operators--into a unified search space. By formulating the selection as a multi-objective Mixed Integer Programming (MIP) problem, our method identifies optimal configurations that maximize downstream performance under strict hardware latency constraints. To mitigate performance degradation from structural transitions, we introduce a two-stage parameter recovery process: global off-policy distillation to stabilize internal representations, followed by a dual-teacher on-policy distillation leveraging a 235B oracle for knowledge expansion and the original 4B teacher for distributional stability. We validate MOSAIC through MOSAIC-4B, derived from Qwen3-VL-4B-Instruct. Results demonstrate that MOSAIC-4B matches the baseline's performance across multiple benchmarks while requiring less than 2% of the original training cost. Furthermore, it substantially improves inference efficiency, achieving 1.76x prefilling and 2.54x decoding speedups.
comment: 17 pages, 7 figures
★ Video Generation Models are General-Purpose Vision Learners ECCV 2026
Letian Wang, Chuhan Zhang, Rishabh Kabra, Jasper Uijlings, Steven Waslander, Andrew Zisserman, Joao Carreira, Kaiming He, Misha Andriluka, Eduard Gabriel Bazavan, Andrei Zanfir, Cristian Sminchisescu
Driven by next-token prediction, NLP shifted from task-specific models into powerful generalist foundation models. What, then, is the equivalent catalyst needed to achieve a general-purpose model in computer vision? In this paper, we contend that large-scale text-to-video generation serves as a strong pre-training paradigm for computer vision, providing the necessary spatiotemporal priors, vision-language alignment, and scalability required for general visual intelligence. We introduce GenCeption, which leverages a pre-trained video generative diffusion backbone to define a feed-forward perception model, capable of performing various vision tasks steered by text instructions. Empirical results demonstrate that GenCeption achieves state-of-the-art performance across a diverse suite of tasks, including depth, surface normal, and camera pose estimation, expression-referring segmentation, and 3D keypoint prediction, often matching or surpassing specialized models (e.g. DepthAnything3, SAM3, D4RT, VGGT-Omega, Sapiens, David, Genmo, and Lotus-2). Furthermore, the video generative pretrained backbone outperforms alternative pretraining paradigms (e.g., V-JEPA, and Video MAE) under comparable settings. Importantly, GenCeption exhibits preliminary data and model scaling properties along with exceptional data efficiency, where it achieves comparable performance with leading models like D4RT and VGGT-Omega with 7 to 500 less training data. Finally, GenCeption also exhibits intriguing emergent behaviors: a model trained exclusively on synthetic human videos generalizes to real-world footage and out-of-distribution object categories (e.g., animals and robots). These findings suggest that video generation is not merely a synthesis tool, but a foundational path toward generalist vision intelligence for the physical world. Project page: https://genception.github.io
comment: ECCV 2026
★ C-GAP: Class-Aware and Online Prompting Improves Vision-Language Models on Imbalanced Classes
Safety-critical perception systems must reliably detect rare object classes within small label spaces, a setting that long-tailed detection methods, designed for hundreds of classes with dense annotation, fundamentally do not address. Open-vocabulary detectors offer a promising alternative, as they use natural language queries at inference time, making prompt quality a first-class lever for detection performance. We exploit this property to address class imbalance: rather than retraining models or collecting additional annotations, we ask whether iteratively refining the language prompts, fed to frozen detectors, can improve minority class detection. We introduce C-GAP Caption-Guided Augmentation and Prompting), a detector-agnostic, annotation-free framework that operates in two phases. First, we establish a composite caption baseline combining per-image scene descriptions with class-quantity context, which we show outperforms scene-description only or class-quantity-only prompts across multiple open-vocabulary architectures and benchmarks. Second, an LLM iteratively refines each image's caption individually, with trials triaged into accept, tentative, or regenerate buckets based on minority-class AP@0.5 against a dynamic threshold derived from the composite baseline. Refinement terminates early once sufficient AP@0.5 gain is achieved. No detector weights are updated at any stage. Our experiments shows that C-GAP improves minority-class average precision up to 53% over the baselines. On COCO, C-GAP improves minority-class AP@0.5 by ~81% relative over the composite baseline (17.69 -> 32.09). Experiments confirm that composite captions provide the critical foundation for effective refinement: using scene-description-only or class-quantity-only prompts as the refinement starting point yields diminishing returns, supporting both stages of C-GAP as necessary contributions.
♻ ★ AS-Bridge: A Bidirectional Generative Framework Bridging Next-Generation Astronomical Surveys KDD26
The upcoming decade of observational cosmology will be shaped by large sky surveys, such as the ground-based LSST at the Vera C. Rubin Observatory and the space-based Euclid mission. While they promise an unprecedented view of the Universe across depth, resolution, and wavelength, their differences in observational modality, sky coverage, point-spread function, and scanning cadence make joint analysis beneficial, but also challenging. To facilitate joint analysis, we introduce A(stronomical)S(urvey)-Bridge, a bidirectional generative model that translates between ground- and space-based observations. AS-Bridge learns a diffusion model that employs a stochastic Brownian Bridge process between the LSST and Euclid observations. The two surveys have overlapping sky regions, where we can explicitly model the conditional probabilistic distribution between them. We show that this formulation enables new scientific capabilities beyond single-survey analysis, including faithful probabilistic predictions of missing survey observations and inter-survey detection of rare events. These results establish the feasibility of inter-survey generative modeling. AS-Bridge is therefore well-positioned to serve as a complementary component of future LSST-Euclid joint data pipelines, enhancing the scientific return once data from both surveys become available. Data and code are available at https://github.com/ZHANG7DC/AS-Bridge.
comment: Accepted at KDD26
♻ ★ Diagnosing Long-Video Quantitative Reasoning in Multimodal LLMs via Enumeration and Counting
Fumihiko Tsuchiya, Taiki Miyanishi, Shunsuke Yasuki, Mahiro Ukai, Nakamasa Inoue, Shuhei Kurita, Yusuke Iwasawa, Yutaka Matsuo
Final-answer video QA can show whether a model predicts the right number, but not which instances it counted, when the supporting evidence occurs, or why it failed. We diagnose long-video quantitative reasoning in multimodal large language models (MLLMs) through three coupled abilities: enumerating query-relevant instances, temporally grounding supporting evidence, and aggregating the evidence into counts. To support this analysis, we build EC-Bench, an evidence-annotated evaluation suite with 152 untrimmed videos longer than 30 minutes, 1,699 open-ended queries across six reasoning categories, and human-verified evidence spans. We evaluate 22 open-source and proprietary MLLMs using timestamped visual frames and transcripts. The best average scores reach only 29.98% Enumeration F1 and 23.74% Counting accuracy, compared with human performance of 78.57% and 82.97%, respectively. Our analyses show that counting errors are rarely isolated arithmetic mistakes: Enumeration F1 is strongly associated with Counting accuracy, temporal grounding quality is associated with lower counting error, and Counting accuracy drops as supporting evidence becomes more distributed. These findings recast long-video counting as evidence retrieval, temporal grounding, deduplication, and aggregation across the video, rather than simple numerical prediction.
comment: The first two authors are equally contributed. The data and code are publicly available at: https://github.com/matsuolab/EC-Bench
♻ ★ AffordanceSAM: Segment Anything Once More in Affordance Grounding ACM MM 2026
Dengyang Jiang, Zanyi Wang, Hengzhuang Li, Sizhe Dang, Teli Ma, Wei Wei, Guang Dai, Lei Zhang, Harry Yang, Mengmeng Wang
Building a generalized affordance grounding model to identify actionable regions on objects is vital for real-world applications. Existing methods to train the model can be divided into weakly and fully supervised ways. However, the former method requires a complex training framework design and can not infer new actions without an auxiliary prior. While the latter often struggle with limited annotated data and components trained from scratch despite being simpler. This study focuses on fully supervised affordance grounding and overcomes its limitations by proposing AffordanceSAM, which extends SAM's generalization capacity in segmentation to affordance grounding. Specifically, we design an affordance-adaption module and curate a coarse-to-fine annotated dataset called C2F-Aff to thoroughly transfer SAM's robust performance to affordance in a three-stage training manner. Experimental results confirm that AffordanceSAM achieves state-of-the-art (SOTA) performance on the AGD20K benchmark and exhibits strong generalized capacity.
comment: [ACM MM 2026] SAM Meets Affordance Grounding
♻ ★ LUMOS: Latent Universal Medical Priors for Segmentation
General vision foundation models (VFMs) have been primarily developed on natural images, and their utility for medical image segmentation is therefore often considered to depend on costly adaptation or domain-specific fine-tuning. In this paper, we revisit this assumption from a different perspective: rather than requiring VFM segmentors to relearn visual regularities, we investigate whether the low-level visual priors necessary for anatomical delineation already lie dormant within general VFMs. We observe that frozen VFMs, despite lacking medical supervision, encode transferable visual regularities. These properties are not exclusive to natural images but are also fundamental to medical image understanding. Motivated by this observation, we propose Latent Universal Medical PriOrs for Segmentation (LUMOS), a novel framework that amplifies general VFM priors to conventional medical segmentors. LUMOS consists of two key components: (1) Pathfinder that distills visual cues from a frozen vision foundation model, and (2) Inspiror that sparks the conventional medical networks with spatial guidance from distilled visual regularities. In this way, the segmentor is relieved from learning complex visual regularities entirely from limited medical annotations and can instead focus on task-specific anatomical delineation. Across diverse medical datasets and token-based VFMs, LUMOS shows that general VFMs can serve as spatial prior generators when their frozen token spaces preserve patch-level pattern relevance. DINO provides stable matched-backbone gains, while SigLIP exposes VFM-specific sensitivity caused by its different token granularity and representation objective.
comment: 13 pages, 10 figures, 12 tables
♻ ★ White Aggregation and Restoration for Few-shot 3D Point Cloud Semantic Segmentation ECCV 2026
Few-shot 3D Point Cloud Semantic Segmentation (FS-PCS) aims to predict per-point labels for an unlabeled point cloud, given only a few labeled examples. To extract representations from the limited labeled set, existing methods have constructed prototypes with Farthest Point Sampling (FPS). However, we found that this convention results in performance instability due to its sensitivity to FPS-induced variations, while the prototype generation process remains underexplored in the field. This motivates us to investigate deterministic prototype generation method based on attention mechanism. Despite its potential, we found that vanilla attention module suffers from the distributional gap between prototypical tokens and support features. To overcome this, we provide a simple approach, White Aggregation and Restoration Module (WARM), which resolves the misalignment by wrapping cross-attention with whitening and coloring transformations. Specifically, whitening aligns the features to tokens before the attention process, and coloring subsequently restores the original distribution to the attended tokens. This design enables robust attention, thereby generating prototypes that capture the semantic relationships in support features. WARM achieves state-of-the-art performance with a significant margin on the S3DIS dataset, and competitive performance on the ScanNet dataset. Further experiments demonstrate its effectiveness in deterministic prototype generation. Code is publicly available at: https://github.com/JiyunIm00/WARM.git
comment: Accepted to ECCV 2026. 22 pages, 6 figures
♻ ★ Zero-shot 3D General Obstacle Detection via Multimodal Foundation Models and Geometry CVPR 2026
Detecting general obstacles is critical for autonomous driving, especially in long-tail scenarios with rare or unseen objects. Existing methods rely on supervision or predefined categories, limiting generalization. We propose a training-free approach that combines multimodal foundation models with geometric reasoning for 3D obstacle detection. Our key idea is to detect obstacles as deviations from the road surface, segmented in 2D and localized in 3D via temporal LiDAR aggregation. The pipeline operates in a zero-shot manner without task-specific training. Experiments show accurate localization up to 100 meters and 10-25% recall gains from foundation model priors, while enabling scalable autolabeling.
comment: Accepted to CVPR 2026 AUTOPILOT Workshop
♻ ★ On Motion Blur and Deblurring in Visual Place Recognition
Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such as changes in illumination, season, weather and viewpoint, the impact of motion blur is relatively unexplored despite its relevance not only in rapid motion scenarios but also in low-light conditions where longer exposure times are necessary. Similarly, the role of image deblurring in enhancing VPR performance under motion blur has received limited attention so far. This paper bridges these gaps by introducing a new benchmark designed to evaluate VPR performance under the influence of motion blur and image deblurring. The benchmark includes three datasets that encompass a wide range of motion blur intensities, providing a comprehensive platform for analysis. Experimental results with several well-established VPR and image deblurring methods provide new insights into the effects of motion blur and the potential improvements achieved through deblurring. Building on these findings, the paper proposes adaptive deblurring strategies for VPR, designed to effectively manage motion blur in dynamic, real-world scenarios.
comment: Accepted to IEEE Robotics & Automation Letters
♻ ★ Any to Full: Prompting Depth Anything for Depth Completion in One Stage ECCV 2026
Accurate, dense depth estimation is crucial for robotic perception, but commodity sensors often yield sparse or incomplete measurements due to hardware limitations. Existing RGBD-fused depth completion methods learn priors jointly conditioned on training RGB distribution and specific depth patterns, limiting domain generalization and robustness to various depth patterns. Recent efforts leverage monocular depth estimation (MDE) models to introduce domain-general geometric priors, but current two-stage integration strategies relying on explicit relative-to-metric alignment incur additional computation and introduce structured distortions. To this end, we present Any2Full, a one-stage, domain-general, and pattern-agnostic framework that reformulates completion as a scale-prompting adaptation of a pretrained MDE model. To address varying depth sparsity levels and irregular spatial distributions, we design a Scale-Aware Prompt Encoder. It distills scale cues from sparse inputs into unified scale prompts, guiding the MDE model toward globally scale-consistent predictions while preserving its geometric priors. Extensive experiments demonstrate that Any2Full achieves superior robustness and efficiency. It outperforms OMNI-DC by 32.2\% in average AbsREL and delivers a 1.4$\times$ speedup over PriorDA with the same MDE backbone, establishing a new paradigm for universal depth completion. Codes and checkpoints are available at https://github.com/zhiyuandaily/Any2Full.
comment: Accepted to ECCV 2026
♻ ★ CORGI: Consistency-Aware 3D Dog Reconstruction from a Single Image in the Wild
Reconstructing high-fidelity 3D models of highly articulated animals, such as dogs, from a single in-the-wild image remains a formidable challenge. In this paper, we introduce CORGI, a novel framework for consistency-aware 3D dog reconstruction from a single unconstrained image that completely eliminates the need for 3D supervision. To overcome generative inconsistencies and the lack of multi-view capture, our pipeline introduces three core components. First, we propose a Canonical-Driven Orbital Generation (CDOG) strategy, utilizing specialized Canonical and Orbit LoRAs to normalize arbitrary input poses and synthesize reliable 360-degree video observations. Second, we design a Consistency-aware Deformable 3DGS (CA-3DGS) module that anchors on a D-SMAL prior, explicitly modeling per-view generative errors through dedicated neural deformation fields to learn accurate vertex-level displacements. Finally, to eliminate structural distortions and recover high-frequency details, we introduce a self-supervised Deformation-Conditioned Generative Repair (DCGR) module. Extensive experiments demonstrate that CORGI achieves state-of-the-art performance, generalizing seamlessly across diverse dog breeds to produce geometrically accurate, visually coherent, and fully animatable 3D assets ready for downstream applications.
♻ ★ Memory-SAM: Human-Prompt-Free Tongue Segmentation via Retrieval-to-Prompt
Accurate tongue segmentation is crucial for reliable TCM analysis. Supervised models require large annotated datasets, while SAM-family models remain prompt-driven. We present Memory-SAM, a training-free, human-prompt-free pipeline that automatically generates effective prompts from a small memory of prior cases via dense DINOv3 features and FAISS retrieval. Given a query image, mask-constrained correspondences to the retrieved exemplar are distilled into foreground/background point prompts that guide SAM2 without manual clicks or model fine-tuning. We evaluate on 600 expert-annotated images (300 controlled, 300 in-the-wild). On the mixed test split, Memory-SAM achieves mIoU 0.9863, surpassing FCN (0.8188) and a detector-to-box SAM baseline (0.1839). On controlled data, ceiling effects above 0.98 make small differences less meaningful given annotation variability, while our method shows clear gains under real-world conditions. Results indicate that retrieval-to-prompt enables data-efficient, robust segmentation of irregular boundaries in tongue imaging. The code is publicly available at https://github.com/jw-chae/memory-sam.
♻ ★ GAP-GDRNet: Geometry-aware monocular 6D pose estimation for spacecraft using synthetic geometric supervision
Monocular spacecraft 6D pose estimation remains difficult under weak texture, thin structures, illumination variation, and occlusion. This article presents GAP-GDRNet, a geometry-aware RGB framework built on GDR-Net for a single-target synthetic spacecraft benchmark. The method strengthens the geometry-guided regression pipeline at two points. First, AFR is placed before dense geometric prediction to combine global structural attention with local weak-texture enhancement. Second, PGSA is inserted into Patch-PnP to relate downsampled geometric regions before final pose regression. Dense supervision is obtained from a Blender-based rendering and annotation process that provides masks, model-coordinate maps, camera intrinsics, and 6D pose labels. On the self-built spacecraft dataset, GAP-GDRNet achieves a rotation error of 1.96°, a translation error of 0.0165 m,and 95.16% ADD@0.02 m, outperforming the reproduced GDR-Net baseline by 3.88 percentage points while running at 35.97 FPS. Tests on T-LESS and LM-O further show consistent gains over the reproduced baseline on textureless and occluded non-spacecraft objects.
♻ ★ Lipschitz-Based Robustness Certification Under Floating-Point Execution
Lipschitz-based robustness certification bounds a network's sensitivity through concrete numerical computation rather than symbolic reasoning, and so scales efficiently. It is increasingly used even where verifiable guarantees matter. Yet, as with most prior work on robustness certification and verification, soundness is typically proved against a semantic model assuming exact real arithmetic. Deployed networks instead execute in floating-point, creating a gap between certified properties and executed behaviour.
As motivating evidence, we give counterexamples showing that real arithmetic robustness guarantees can fail under floating-point execution, even for previously verified certifiers. We then develop a formal, compositional theory relating real arithmetic Lipschitz-based sensitivity bounds to floating-point execution under standard rounding-error models for feed-forward ReLU networks. We derive sound conditions for floating-point robustness, including bounds on certificate degradation and sufficient conditions for the absence of overflow. We also give an efficient floating-point Gram iteration algorithm for Lipschitz bounds and prove that it never under-estimates the true norm. Separately, when a model is certified pre-deployment, we show how measuring its actual deviation against a high-precision execution can substantially reduce certificate degradation.
We formalise the theory and its soundness, and implement an executable certifier, evaluated across dense networks spanning image, tabular, and many-class classification. To our knowledge, ours is the first method for soundly accounting for floating-point effects in Lipschitz-based robustness certification, and, done efficiently, the first floating-point-sound robustness checking procedure of any kind to certify models' entire test set -- seven those with 500,000 examples -- while retaining enough precision to be practical.
comment: Includes supplemental appendices
♻ ★ DriveMA: Driving Vision-Language-Action Models with verifiable Meta-Actions
Driving Vision-Language-Action Models (Driving VLAs) aim to use language to improve end-to-end planning, but the language-action gap limits this promise. We propose DriveMA, a Driving VLA framework built on verifiable meta-actions, which summarize future ego motion into compact language-domain intentions and can be constructed from expert trajectories with a trajectory-grounded annotation pipeline and can be verified against generated trajectories through rule-based projection. DriveMA exploits this verifiability with action-centric supervised training and a data-efficient turn-level credit assignment reinforcement learning framework, explicitly aligning high-level decisions with low-level trajectory planning through dense rewards and precise credit assignment. DriveMA sets a new state of the art on the Waymo Open Dataset Vision-based E2E Driving, achieving a Rater Feedback Score of 8.060 with a 2B model and further improving it to 8.079 with a 4B model; it also obtains competitive closed-loop planning performance on NAVSIM. These results show that even a simple meta-action interface can achieve state-of-the-art planning when made verifiable and optimized for language-action alignment. Code, data, and models are available at https://tsinghua-mars-lab.github.io/DriveMA.
comment: arXiv admin note: text overlap with arXiv:2605.21273
♻ ★ Does It Fail to See or Fail to Know? Attributing Errors in Vision-Language Models
Vision-language models (VLMs) perform well on visual question answering with high-quality images but struggle when questions require knowledge beyond what is clearly and directly visible. In such settings, uncertainty quantification should not only indicate whether the model is likely to fail but also diagnose why it is uncertain, across dimensions such as perception, entity recognition, and knowledge retrieval. While prior work has focused on individual failure modes in isolation or treated incorrect answers as monolithic failures, we propose a unified framework for disentangling these failure modes and investigate whether pre-generation signals can predict these failure sources. Across a range of datasets and model families, we find a consistent pattern in VLM errors: some failures arise from visual or recognition bottlenecks, while others persist after the relevant entity is identified. Our main finding is that these failure sources can be predicted before decoding: recognition-related failures are best captured by visual-token representations, while failures that remain after recognition are better captured by prompt-conditioned hidden states. This pre-generation signal enables efficient failure-source prediction before the model produces an answer, allowing uncertain cases to be routed to targeted interventions such as image repair, entity recognition support, or external retrieval.
♻ ★ Looking Locally: Object-Centric Vision Transformers as Foundation Models for Efficient Segmentation
Current state-of-the-art segmentation models encode entire images before focusing on specific objects. This wastes computational resources. We introduce FLIP (Fovea-Like Input Patching), a parameter-efficient vision model that realizes object segmentation through biologically-inspired top-down attention. FLIP selectively samples multi-resolution patches centered on objects of interest from the input. As a result, it allocates high-resolution processing to object centers while maintaining coarser peripheral context. This off-grid, scale-invariant design enables FLIP to outperform META's Segment Anything models (SAM, SAM2 and fast variants) by large margins: With more than 440$\times$ fewer parameters, FLIP-Tiny (0.51M parameters) reaches a mean IoU of 79.90% while SAM2-L reaches 75.87% IoU (224.45M parameters). FLIP-Large even achieves 83.26% mean IoU (96.6M parameters), still running about $2\times$ faster than SAM2-L. We evaluate on six benchmarks in total. In five established benchmarks (Hypersim, KITTI-360, OpenImages, COCO, LVIS) FLIP consistently outperforms SAM and various variants of it. In our novel ObjaScale dataset, which stress-tests scale invariance with objects ranging from 0.0001% up to 25% of the image area, we show that FLIP segments even very small objects accurately, where existing models fail severely. FLIP opens new possibilities for real-time, object-centric vision and offers much higher energy efficiency. We believe that FLIP can act as a powerful foundation model, as it is very well-suited to track objects over time, for example, when being integrated into slot-based scene segmentation architectures.
♻ ★ Human Vision Constrained Super-Resolution
Modern deep-learning super-resolution (SR) techniques process images and videos independently of the underlying content and viewing conditions. However, the sensitivity of the human visual system (HVS) to image details changes depending on the underlying image characteristics, such as spatial frequency, luminance, color, contrast, or motion; as well viewing condition aspects such as ambient lighting and distance to the display. This observation suggests that computational resources spent on up-sampling images/videos may be wasted whenever a viewer cannot resolve the synthesized details i.e the resolution of details exceeds the resolving capability of human vision. Motivated by this observation, we propose a human vision inspired and architecture-agnostic approach for controlling SR techniques to deliver visually optimal results while limiting computational complexity. Its core is an explicit Human Visual Processing Framework (HVPF) that dynamically and locally guides SR methods according to human sensitivity to specific image details and viewing conditions. We demonstrate the application of our framework in combination with network branching to improve the computational efficiency of SR methods. Quantitative and qualitative evaluations, including user studies, demonstrate the effectiveness of our approach in reducing FLOPS by factors of 2$\times$ and greater, without sacrificing perceived quality.
♻ ★ Self-transcendence: Is External Feature Guidance Indispensable for Accelerating Diffusion Transformer Training?
Recent works such as REPA have shown that guiding diffusion models with external semantic features (e.g., DINO) can significantly accelerate the training of diffusion transformers (DiTs). However, the use of pretrained external features as guidance signals introduces additional dependencies. We argue that DiTs actually have the power to guide the training of themselves, and propose SelfTranscendence, an effective method that achieves fast convergence using internal feature supervision only. The desired internal guidance features should meet two requirements: structurally clean to help shallow blocks separate noise from signal, and semantically discriminative to help shallow layers learn effective representations. With this consideration, we first align the DiT features with the clean VAE latent features, a native component of latent diffusion, for a short training phase (e.g., 40 epochs) to improve their structural representations, then apply the classifier-free guidance to the intermediate features, enhancing their discriminative capability and semantic expressiveness. These enriched internal features, learned entirely within the model, are used as supervision signals to guide a new DiT training from scratch. Compared to existing self-contained methods, our approach achieves a significant performance boost. It can even surpass REPA, which uses the external DINO features as guidance, in both generation quality and convergence speed for both class-to-image and text-to-image generation tasks. The source code of our method can be found at https://github.com/csslc/Self-Transcendence.
♻ ★ Robust Self-Supervised Cross-Modal Super-Resolution against Real-World Misaligned Observations ECCV 2026
Cross-modal super-resolution (SR) on real-world misaligned data is challenging, as only unlabeled low-resolution (LR) source and high-resolution (HR) guide images with complex spatial misalignment are available. Previous methods either rely on simulated training data or adopt suboptimal alignment strategies that overlook cross-modal dependencies, limiting their practical performance. To address these issues, we propose RobSelf, a self-supervised model that jointly optimizes a misalignment-aware feature translator and a content-aware reference filter online. The translator resolves unsupervised cross-modal and cross-resolution alignment via weakly-supervised, misalignment-aware translation, yielding an aligned guide feature. Guided by this feature, the filter performs reference-based discriminative self-enhancement on the source, enabling SR prediction with high resolution and high fidelity. Experiments on synthesized data and collected real-world data demonstrate that RobSelf achieves state-of-the-art performance, outperforming existing self-supervised and supervised methods. Moreover, it achieves superior efficiency, being up to 15.3$\times$ faster than prior self-supervised methods.
comment: ECCV 2026. Supp: https://drive.google.com/file/d/1fqTYuSY7Qp7PFHiHViZs7y6lz6Bws7ws/view?usp=sharing
♻ ★ AV-Master: Dual-Path Comprehensive Perception Makes Better Audio-Visual Question Answering
Audio-Visual Question Answering (AVQA) requires models to effectively utilize both visual and auditory modalities to answer complex and diverse questions about audio-visual scenes. However, existing methods lack sufficient flexibility and dynamic adaptability in temporal sampling and modality preference awareness, making it difficult to focus on key information based on the question. This limits their reasoning capability in complex scenarios. To address these challenges, we propose a novel framework named AV-Master. It enhances the model's ability to extract key information from complex audio-visual scenes with substantial redundant content by dynamically modeling both temporal and modality dimensions. In the temporal dimension, we introduce a dynamic adaptive focus sampling mechanism that progressively focuses on audio-visual segments most relevant to the question, effectively mitigating redundancy and segment fragmentation in traditional sampling methods. In the modality dimension, we propose a preference-aware strategy that models each modality's contribution independently, enabling selective activation of critical features. Furthermore, we introduce a dual-path contrastive loss to reinforce consistency and complementarity across temporal and modality dimensions, guiding the model to learn question-specific cross-modal collaborative representations. Experiments on four large-scale benchmarks show that AV-Master significantly outperforms existing methods, especially in complex reasoning tasks.
comment: Accepted by IEEE Transactions on Circuits and Systems for Video Technology (TCSVT'26)
♻ ★ BUS: Brain-Inspired Unsupervised Self-Reflection via Backward Prediction for Multimodal Reasoning
Jiacheng Yang, Tongying Xiao, Yunkai Dang, Cong Wang, Yuekun Yang, Qi Fan, Tianyu Ding, Wenbin Li, Feng Miao, Yang Gao
Current Vision-Language Models (VLMs) often struggle to handle complex visual tasks that require consistent and fine-grained reasoning. Recent methods aim to train models to facilitate self-reflective reasoning, i.e., reviewing and improving the generated reasoning. However, they require large volumes of annotated data and lack explicit reflective behavior during test time. By contrast, humans perform explicit and efficient self-reflection through mechanisms such as backward prediction, i.e., predicting which current states are likely to precede a given future state. Inspired by neuroscience, this work proposes a novel solution to address these challenges. We first observe and investigate the phenomenon that mainstream VLMs can perform backward prediction, similar to the human brain. A label-free training framework named Brain-inspired Unsupervised Self-reflection (BUS) is proposed to leverage and exploit backward prediction capability to enhance reflective reasoning in complex visual tasks. BUS enables self-verification of reflective reasoning based on backward prediction, providing explicit learning signals under unsupervised conditions. In this way, BUS eliminates reliance on annotated data while improving reasoning performance. Designed as a model-agnostic plug-in, our framework is compatible with popular fine-tuning methods, such as Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL). Initialized from Qwen3-VL-8B, it improves HR-Bench-8K (+8.0%), HR-Bench-4K (+7.7%), V* Bench (+6.3%), and MME-RealWorld-Lite (+5.8%), proving backward prediction is key to advancing reflective reasoning.
♻ ★ PRISM: Latent Composition Consistency for Single-Image Reflection Removal
Single-image reflection removal (SIRR) seeks to recover the transmission layer from a mixture corrupted by reflections -- a severely ill-posed problem. Existing methods operate in pixel space, where the nonlinear sRGB formation model entangles the two layers and limits generalization. We observe that pretrained VAE latent spaces exhibit substantially lower coherence between image layers compared to pixel space, providing a more favorable working space for decomposition. Building on this finding, we propose \textbf{PRISM} (Pretrained-latent Reflection Image Separation Model), which reinterprets SIRR as a latent linear separation problem. Under an approximate additive formulation in latent space, PRISM learns a flow matching velocity field on a pretrained FLUX backbone that recovers both transmission and reflection in a single forward pass. To enforce robust disentanglement, we introduce a Latent Composition Consistency (LCC) strategy that constructs synthetic mixtures by swapping reflection latents across samples and enforces consistent decomposition via a cycle loss. We further propose a Layer Contrastive Separation (LCS) loss that promotes semantic separation between layers through patch-level contrastive learning, without requiring explicit reflection targets. Experiments on six benchmarks demonstrate that PRISM consistently outperforms state-of-the-art methods by significant margins, with strong generalization to in-the-wild images.
♻ ★ VerteNet -- A Multi-Context Hybrid CNN Transformer for Accurate Vertebral Landmark Localization in Lateral Spine DXA Images
Arooba Maqsood, Zaid Ilyas, Afsah Saleem, Erchuan Zhang, David Suter, Parminder Raina, Jonathan M. Hodgson, John T. Schousboe, William D. Leslie, Joshua R. Lewis, Syed Zulqarnain Gilani
Vertebral Landmarks Localization in Dual-Energy X-ray Absorptiometry based Lateral Spine Imaging plays a critical role in evaluating spinal alignment, Vertebral Fracture Assessment, and facilitating intervertebral guide placement for Abdominal Aortic Calcification quantification. While lateral spine DXA scans offer advantages such as reduced cost and lower radiation exposure, its analysis remains challenging due to a low signal-to-noise ratio and imaging artifacts. Artificial Intelligence presents a promising approach for improving the precision and accuracy of VLL. In this study, we introduce a novel architecture that employs dual-resolution attention mechanisms to capture both fine-grained local details and broader contextual information. Our approach enhances feature integration by leveraging skip connections and decoder layers through dual-resolution self-attention and cross-attention mechanisms. This design improves the ability of the model to learn complex patterns, enabling precise vertebral corner localization while maintaining both local and global contextual awareness. We evaluated the proposed framework on DXA LSI images acquired from multiple machines and found that it outperforms recent state-of-the-art architectures for VLL, achieving a normalized mean error of 4.92 and a normalized median error of 2.35. The proposed framework, VerteNet, enables highly accurate VLL in DXA LSI images from diverse acquisition systems and demonstrates strong robustness to low signal-to-noise ratios, owing to its enhanced ability to capture both fine-grained local details and broader contextual information.
comment: 12 pages with 7 figures
♻ ★ Predictive Photometric Uncertainty in Gaussian Splatting for Novel View Synthesis ECCV26
Chamuditha Jayanga Galappaththige, Thomas Gottwald, Peter Stehr, Edgar Heinert, Niko Suenderhauf, Dimity Miller, Matthias Rottmann
Recent advances in 3D Gaussian Splatting have enabled impressive photorealistic novel view synthesis. However, to transition from a pure rendering engine to a reliable spatial map for autonomous agents and safety-critical applications, knowing where the representation is uncertain is as important as the rendering fidelity itself. We bridge this critical gap by introducing a lightweight, plug-and-play framework for pixel-wise, view-dependent predictive uncertainty estimation. Our post-hoc method formulates uncertainty as a Bayesian-regularized linear least-squares optimization over reconstruction residuals. This architecture-agnostic approach extracts a per-primitive uncertainty channel without modifying the underlying scene representation or degrading baseline visual fidelity. Crucially, we demonstrate that providing this actionable reliability signal successfully translates 3D Gaussian splatting into a trustworthy spatial map, further improving state-of-the-art performance across three critical downstream perception tasks: active view selection, pose-agnostic scene change detection, and pose-agnostic anomaly detection.
comment: Accepted at ECCV26. Project Page: https://chumsy0725.github.io/3DGS-Uncertainty/
♻ ★ Prototypical Few-Shot Medical Image Semantic Segmentation with Background Fusion
Few-shot Semantic Segmentation (FSS) aims to adapt a pre-trained model to new classes with as few as a single labeled training sample per class. The existing prototypical work used in natural image scenarios biasedly focus on capturing foreground's discrimination while employing a simplistic representation for background, grounded on the inherent observation separation between foreground and background. However, a frequency spectrum entropy analysis suggests that this paradigm is not applicable to medical images where the foreground and background share numerous visual features, necessitating a more detailed description for the background. In this paper, we present a new Background-fused prototype (Bro) approach for FSS in medical images. Instead of identifying a commonality of background subjects in the support image, Bro fuses this background to discriminative prototypes, with two pivot designs. Specifically, Feature Similarity Calibration (FeaC) initially reduces noise in the support image by employing feature cross-attention with the query image. Subsequently, Hierarchical Channel-Adversarial Attention (HiCA) merges the background into comprehensive prototypes. We achieve this by a channel groups-based attention mechanism, where an adversarial Mean-Offset structure encourages a coarse-to-fine fusion. Designed as a generic plug-in, our Bro can be seamlessly integrated with existing FSS models. Extensive experiments validate the specificity of the background in medical images and the efficacy of Bro in enhancing the performance of previous FSS models on standard benchmarks.
♻ ★ H3Former: Hypergraph-based Semantic-Aware Aggregation via Hyperbolic Hierarchical Contrastive Loss for Fine-Grained Visual Classification
Fine-Grained Visual Classification (FGVC) remains a challenging task due to subtle inter-class differences and large intra-class variations. Existing approaches typically rely on feature-selection mechanisms or region-proposal strategies to localize discriminative regions for semantic analysis. However, these methods often fail to capture discriminative cues comprehensively while introducing substantial category-agnostic redundancy. To address these limitations, we propose H3Former, a novel token-to-region framework that leverages high-order semantic relations to aggregate local fine-grained representations with structured region-level modeling. Specifically, we propose the Semantic-Aware Aggregation Module (SAAM), which exploits multi-scale contextual cues to dynamically construct a weighted hypergraph among tokens. By applying hypergraph convolution, SAAM captures high-order semantic dependencies and progressively aggregates token features into compact region-level representations. Furthermore, we introduce the Hyperbolic Hierarchical Contrastive Loss (HHCL), which enforces hierarchical semantic constraints in a non-Euclidean embedding space. The HHCL enhances inter-class separability and intra-class consistency while preserving the intrinsic hierarchical relationships among fine-grained categories. Comprehensive experiments conducted on four standard FGVC benchmarks validate the superiority of our H3Former framework.
comment: Accepted by IEEE Transactions on Image Processing
♻ ★ ProSGNeRF: Progressive Dynamic Neural Scene Graph with Frequency Modulated Foundation Model in Urban Scenes
Tianchen Deng, Yanbo Wang, Yejia Liu, Chenpeng Su, Jingchuan Wang, Danwei Wang, Shao-Yuan Lo, Weidong Chen
Implicit neural representation has demonstrated promising results in 3D reconstruction on various scenes. However, existing approaches either struggle to model fast-moving objects or are incapable of handling large-scale camera ego-motions in urban environments. This leads to low-quality synthesized views of the large-scale urban scenes. In this paper, we aim to jointly solve the problems caused by large-scale scenes and fast-moving vehicles, which are more practical and challenging. To this end, we propose a progressive scene graph network architecture to learn the local scene representations of dynamic objects and global urban scenes. The progressive learning architecture dynamically allocates a new local scene graph trained on frames within a temporal window, with the window size automatically determined, allowing us to scale up the representation to arbitrarily large scenes. Besides, according to our observations, the training views of dynamic objects are relatively sparse according to rapid movements, which leads to a significant decline in reconstruction accuracy for dynamic objects. Therefore, we utilize a foundation model network to encode the latent code. Specifically, we leverage the generalization capability of the visual foundation model DINOv2 to extract appearance and shape codes, and train the network on a large-scale urban scene object dataset to enhance its prior modeling ability for handling sparse-view dynamic inputs. In parallel, we introduce a frequency-modulated module that regularizes the frequency spectrum of objects, thereby addressing the challenge of modeling sparse image inputs from a frequency-domain perspective. Experimental results demonstrate that our method achieves state-of-the-art view synthesis accuracy, object manipulation, and scene roaming ability in various scenes.
comment: Accepted by IJCV 2026
♻ ★ LaCoVL-FER: Landmark-Guided Contrastive Learning Network with Vision-Language Enhancement for Facial Expression Recognition
Facial Expression Recognition (FER) in the wild requires models to identify subtle expression cues under large variations in pose, occlusion, illumination, and identity. Recent FER methods improve robustness by introducing visual attention, facial landmarks, or vision-language models as auxiliary priors. However, these priors are typically integrated in a static manner, failing to capture instance-specific facial variations, thereby resulting in severe attention redundancy and representation instability. To address this issue, we propose LaCoVL-FER, a landmark-guided contrastive learning network with vision-language enhancement for FER, which shifts FER from static prior injection to sample-adaptive prior refinement. Specifically, a Landmark-Guided Adaptive Encoder (LGAE) calibrates regional appearance features with landmark geometry through Bi-branch Gated Cross Attention (BGCA), suppressing noisy responses and producing expression-relevant representations. In parallel, a Vision-Language Enhancement Strategy (VLES) refines the generalizable visual features from a frozen CLIP image encoder into expression-specific visual representations. Based on them, an Expression-Conditioned Prompting (ECP) mechanism adapts fixed class-level textual prompts from the frozen CLIP text encoder into instance-aware textual representations. The resulting visual-textual representations are aligned as adaptive semantic priors to enhance robustness and generalization. Quantitative and qualitative experiments show that LaCoVL-FER outperforms state-of-the-art methods on RAF-DB, FERPlus, and AffectNet. The code is available at https://github.com/ylin06804/LaCoVL-FER.
♻ ★ M4V: Multimodal Mamba for Efficient Text-to-Video Generation CVPR 2026
Text-to-video generation has significantly enriched content creation and holds the potential to evolve into powerful world simulators. However, modeling the vast spatiotemporal space remains computationally demanding, particularly when employing Transformers, which incur quadratic complexity in sequence processing and thus limit practical applications. Recent advancements in linear-time sequence modeling, particularly the Mamba architecture, offer a more efficient alternative. Nevertheless, its plain design limits its direct applicability to multimodal and spatiotemporal video generation tasks. To address these challenges, we introduce M4V, a multimodal Mamba framework for efficient text-to-video generation. Specifically, a MultiModal diffusion Mamba (MM-DiM) block is designed within the framework to enable seamless integration of multimodal information and spatiotemporal modeling. In detail, we introduce a novel multimodal token re-composition design, which employs a bidirectional scheme for multimodal information integration through simple token arrangement, along with visual registers to enhance spatialtemporal consistency. As a result, the MM-DiM blocks in M4V reduce FLOPs by 45% compared with the attention-based alternative when generating videos at 768x1280 resolution. Additionally, several training strategies are explored in this work to provide a better understanding of training text-to-video models using only publicly available datasets. Extensive experiments on text-to-video benchmarks demonstrate M4V's ability to produce high-quality videos while significantly lowering computational costs. Project page: https://huangjch526.github.io/M4V_project/.
comment: CVPR 2026
♻ ★ RehearsalNeRF: Decoupling Intrinsic Neural Fields of Dynamic Illuminations for Scene Editing
Although there has been significant progress in neural radiance fields, an issue on dynamic illumination changes still remains unsolved. Different from relevant works that parameterize time-variant/-invariant components in scenes, subjects' radiance is highly entangled with their own emitted radiance and lighting colors in spatio-temporal domain. In this paper, we present a new effective method to learn disentangled neural fields under the severe illumination changes, named RehearsalNeRF. Our key idea is to leverage scenes captured under stable lighting like rehearsal stages, easily taken before dynamic illumination occurs, to enforce geometric consistency between the different lighting conditions. In particular, RehearsalNeRF employs a learnable vector for lighting effects which represents illumination colors in a temporal dimension and is used to disentangle projected light colors from scene radiance. Furthermore, our RehearsalNeRF is also able to reconstruct the neural fields of dynamic objects by simply adopting off-the-shelf interactive masks. To decouple the dynamic objects, we propose a new regularization leveraging optical flow, which provides coarse supervision for the color disentanglement. We demonstrate the effectiveness of RehearsalNeRF by showing robust performances on novel view synthesis and scene editing under dynamic illumination conditions. Our source code and video datasets will be publicly available.
comment: Accepted to the International Journal of Computer Vision (IJCV). Changyeon Won and Hyunjun Jung contributed equally to this work
♻ ★ Single-Frame Point-Pixel Registration via Supervised Cross-Modal Feature Matching
Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and structured images, especially under sparse single-frame LiDAR settings. Existing methods typically extract features separately from point clouds and images, then rely on hand-crafted or learned matching strategies. This separate encoding fails to bridge the modality gap effectively, and more critically, these methods struggle with the sparsity and noise of single-frame LiDAR, often requiring point cloud accumulation or additional priors to improve reliability. Inspired by recent progress in detector-free matching paradigms, we revisit the projection-based approach and introduce the detector-free framework for direct point-pixel matching between LiDAR and camera views. To further enhance matching reliability, we introduce a repeatability scoring mechanism that acts as a soft visibility prior. This guides the network to suppress unreliable matches in regions with low intensity variation, improving robustness under sparse input. Extensive experiments on KITTI, nuScenes, and MIAS-LCEC-TF70 benchmarks demonstrate that our method achieves state-of-the-art performance, outperforming prior approaches on nuScenes (even those relying on accumulated point clouds), despite using only single-frame LiDAR.
♻ ★ Render-in-the-Loop: Vector Graphics Generation via Visual Self-Feedback
Multimodal Large Language Models (MLLMs) have shown promising capabilities in generating Scalable Vector Graphics (SVG) via direct code synthesis. However, existing paradigms typically adopt an open-loop "blind drawing" approach, where models generate symbolic code sequences without perceiving intermediate visual outcomes. This methodology severely underutilizes the powerful visual priors embedded in MLLMs vision encoders, treating SVG generation as a disjointed textual sequence modeling task rather than an integrated visuo-spatial one. Consequently, models struggle to reason about partial canvas states and implicit occlusion relationships, which are visually explicit but textually ambiguous. To bridge this gap, we propose Render-in-the-Loop, a novel generation paradigm that reformulates SVG synthesis as a step-wise, visual-context-aware process. By rendering intermediate code states into a cumulative canvas, the model explicitly observes the evolving visual context at each step, leveraging on-the-fly feedback to guide subsequent generation. However, we demonstrate that applying this visual loop naively to off-the-shelf models is suboptimal due to their inability to leverage incremental visual-code mappings. To address this, we first utilize fine-grained path decomposition to construct dense multi-step visual trajectories, and then introduce a Visual Self-Feedback (VSF) training strategy to condition the next primitive generation on intermediate visual states. Furthermore, a Render-and-Verify (RaV) inference mechanism is proposed to effectively filter degenerate and redundant primitives. Our framework, instantiated on a multimodal foundation model, outperforms strong open-weight baselines on the standard MMSVGBench. This result highlights the remarkable data efficiency and generalization capability of our Render-in-the-Loop paradigm for both Text-to-SVG and Image-to-SVG tasks.
♻ ★ GrAInS: Gradient-based Attribution for Inference-Time Steering of LLMs and VLMs ACL 2026
Inference-time steering methods offer a lightweight alternative to fine-tuning large language models (LLMs) and vision-language models (VLMs) by modifying internal activations at test time without updating model weights. However, most existing approaches rely on fixed, global intervention vectors, overlook the causal influence of individual input tokens, and fail to leverage informative gradients from the model's logits, particularly in multimodal settings where visual and textual inputs contribute unevenly. To address these limitations, we introduce GrAInS, an inference-time steering approach that operates across both language-only and vision-language models and tasks. GrAInS uses contrastive, gradient-based attribution via Integrated Gradients to identify the top-k most influential tokens, both positively and negatively attributed based on their contribution to preferred versus dispreferred outputs. These tokens are then used to construct directional steering vectors that capture semantic shifts from undesirable to desirable behavior. During inference, GrAInS adjusts hidden activations at transformer layers guided by token-level attribution signals, and normalizes activations to preserve representational scale. This enables fine-grained, interpretable, and modular control over model behavior, without retraining or auxiliary supervision. Empirically, GrAInS consistently outperforms both fine-tuning and existing steering baselines: it achieves a 13.22% accuracy gain on TruthfulQA using Llama-3.1-8B, reduces hallucination rates on MMHal-Bench from 0.624 to 0.514 with LLaVA-1.6-7B, and improves alignment win rates on SPA-VL by 8.11%, all while preserving the model's fluency and general capabilities.
comment: Accepted to ACL 2026