While computer vision models have made incredible strides in static image recognition, they still do not match human performance in tasks that require the understanding of complex, dynamic motion. This is notably true for real-world scenarios where embodied agents face complex and motion-rich environments. Our approach, BrainNRDS (Brain-Neural Representations of Dynamic Stimuli), leverages state-of-the-art video diffusion models to decouple static image representation from motion generation, enabling us to utilize fMRI brain activity for a deeper understanding of human responses to dynamic visual stimuli. Conversely, we also demonstrate that information about the brain's representation of motion can enhance the prediction of optical flow in artificial systems. Our novel approach leads to four main findings: (1) Visual motion, represented as fine-grained, object-level resolution optical flow, can be decoded from brain activity generated by participants viewing video stimuli; (2) Video encoders outperform image-based models in predicting video-driven brain activity; (3) Brain-decoded motion signals enable realistic video reanimation based only on the initial frame of the video; and (4) We extend prior work to achieve full video decoding from video-driven brain activity. BrainNRDS advances our understanding of how the brain represents spatial and temporal information in dynamic visual scenes. Our findings demonstrate the potential of combining brain imaging with video diffusion models for developing more robust and biologically-inspired computer vision systems. We show additional decoding and encoding examples on this site: https://brain-nrds.github.io/.
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DiscoVLA: Discrepancy Reduction in Vision, Language, and Alignment for Parameter-Efficient Video-Text Retrieval
PDF ↗The parameter-efficient adaptation of the image-text pretraining model CLIP for video-text retrieval is a prominent area of research. While CLIP is focused on image-level vision-language matching, video-text retrieval demands comprehensive understanding at the video level. Three key discrepancies emerge in the transfer from image-level to video-level: vision, language, and alignment. However, existing methods mainly focus on vision while neglecting language and alignment. In this paper, we propose Discrepancy Reduction in Vision, Language, and Alignment (DiscoVLA), which simultaneously mitigates all three discrepancies. Specifically, we introduce Image-Video Features Fusion to integrate image-level and video-level features, effectively tackling both vision and language discrepancies. Additionally, we generate pseudo image captions to learn fine-grained image-level alignment. To mitigate alignment discrepancies, we propose Image-to-Video Alignment Distillation, which leverages image-level alignment knowledge to enhance video-level alignment. Extensive experiments demonstrate the superiority of our DiscoVLA. In particular, on MSRVTT with CLIP (ViT-B/16), DiscoVLA outperforms previous methods by 2.2% R@1 and 7.5% R@sum. The code is available at https://github.com/LunarShen/DsicoVLA.
Show and Tell: Visually Explainable Deep Neural Nets via Spatially-Aware Concept Bottleneck Models
PDF ↗Modern deep neural networks have now reached human-level performance across a variety of tasks. However, unlike humans they lack the ability to explain their decisions by showing where and telling what concepts guided them. In this work, we present a unified framework for transforming any vision neural network into a spatially and conceptually interpretable model. We introduce a spatially-aware concept bottleneck layer that projects "black-box" features of pre-trained backbone models into interpretable concept maps, without requiring human labels. By training a classification layer over this bottleneck, we obtain a self-explaining model that articulates which concepts most influenced its prediction, along with heatmaps that ground them in the input image. Accordingly, we name this method "Spatially-Aware and Label-Free Concept Bottleneck Model" (SALF-CBM). Our results show that the proposed SALF-CBM: (1) Outperforms non-spatial CBM methods, as well as the original backbone, on a variety of classification tasks; (2) Produces high-quality spatial explanations, outperforming widely used heatmap-based methods on a zero-shot segmentation task; (3) Facilitates model exploration and debugging, enabling users to query specific image regions and refine the model's decisions by locally editing its concept maps.
This paper addresses the challenge of reconstructing dynamic 3D scenes with complex motions. Some recent works define 3D Gaussian primitives in the canonical space and use deformation fields to map canonical primitives to observation spaces, achieving real-time dynamic view synthesis. However, these methods often struggle to handle scenes with complex motions due to the difficulty of optimizing deformation fields. To overcome this problem, we propose FreeTimeGS, a novel 4D representation that allows Gaussian primitives to appear at arbitrary time and locations. In contrast to canonical Gaussian primitives, our representation possesses the strong flexibility, thus improving the ability to model dynamic 3D scenes. In addition, we endow each Gaussian primitive with an motion function, allowing it to move to neighboring regions over time, which reduces the temporal redundancy. Experiments results on several datasets show that the rendering quality of our method outperforms recent methods by a large margin. The code will be released for reproducibility.
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints
PDF ↗The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial understanding required for precise manipulation tasks. Fine-tuning VLM on robotic datasets to create Vision-Language-Action Models(VLA) is a potential solution, but it is hindered by high data collection costs and generalization issues. To address these challenges, we propose a novel object-centric representation that bridges the gap between VLM's high-level reasoning and the low-level precision required for manipulation. Our key insight is that an object's canonical space, defined by its functional affordances, provides a structured and semantically meaningful way to describe interaction primitives, such as points and directions. These primitives act as a bridge, translating VLM's commonsense reasoning into actionable 3D spatial constraints. In this context, we introduce a dual closed-loop, open-vocabulary robotic manipulation system: one loop for high-level planning through primitive resampling, interaction rendering and VLM checking, and another for low-level execution via 6D pose tracking. This design ensures robust, real-time control without requiring VLM fine-tuning. Extensive experiments demonstrate strong zero-shot generalization across diverse robotic manipulation tasks, highlighting the potential of this approach for automating large-scale data generation.
Quality degradation from video compression manifests both spatially along texture edges and temporally with continuous motion changes. Despite recent advances, extracting aligned spatiotemporal information from adjacent frames remains challenging. This is mainly due to limitations in receptive field size and computational complexity, which makes existing methods struggle to efficiently enhance video quality. To address this issue, we propose RivuletMLP, an MLP-based network architecture. Specifically, our framework first employs a Dynamically Guided Deformable Alignment (DDA) module to adaptively explore and align multi-frame feature information. Subsequently, we introduce two modules for feature reconstruction: a Spatiotemporal Feature Flow (SFF) Module and a Benign Selection Compensation (BSC) module. The SFF module establishes non-local dependencies through an innovative feature permutation mechanism. Additionally, the BSC module utilizes a collaborative strategy of deep feature extraction and local region refinement to alleviate inter frame motion discontinuity caused by compression. Experimental results demonstrate that RivuletMLP achieves superior computational efficiency while maintaining powerful reconstruction capabilities.
Diffusion models with transformer architectures have demonstrated promising capabilities in generating high-fidelity images and scalability for high resolution. However, iterative sampling process required for synthesis is very resource-intensive. A line of work has focused on distilling solutions to probability flow ODEs into few-step student models. Nevertheless, existing methods have been limited by their reliance on the most recent denoised samples as input, rendering them susceptible to exposure bias. To address this limitation, we propose AutoRegressive Distillation (ARD), a novel approach that leverages the historical trajectory of the ODE to predict future steps. ARD offers two key benefits: 1) it mitigates exposure bias by utilizing a predicted historical trajectory that is less susceptible to accumulated errors, and 2) it leverages the previous history of the ODE trajectory as a more effective source of coarse-grained information. ARD modifies the teacher transformer architecture by adding token-wise time embedding to mark each input from the trajectory history and employs a block-wise causal attention mask for training. Furthermore, incorporating historical inputs only in lower transformer layers enhances performance and efficiency. We validate the effectiveness of ARD in a class-conditioned generation on ImageNet and T2I synthesis. Our model achieves a 5xreduction in FID degradation compared to the baseline methods while requiring only 1.1% extra FLOPs on ImageNet-256. Moreover, ARD reaches FID of 1.84 on ImageNet-256 in merely 4 steps and outperforms the publicly available 1024p text-to-image distilled models in prompt adherence score with a minimal drop in FID compared to the teacher. Our code is available at https://github.com/alsdudrla10/ARD.
Vision-Language Models (VLMs) have recently witnessed significant progress in visual comprehension. As the permitting length of image context grows, VLMs can now comprehend a broader range of views and spaces. Current benchmarks provide insightful analysis of VLMs in tasks involving complex visual instructions following, multi-image understanding and spatial reasoning. However, they usually focus on spatially irrelevant images or discrete images captured from varied viewpoints. The compositional characteristic of images captured from a static viewpoint remains underestimated. We term this characteristic as Continuous Space Perception. When observing a scene from a static viewpoint while shifting orientations, it produces a series of spatially continuous images, enabling the reconstruction of the entire space. In this paper, we present CoSpace, a multi-image visual understanding benchmark designed to assess the Continuous Space perception ability for VLMs. CoSpace contains 2,918 images and 1,626 question-answer pairs, covering seven types of tasks. We conduct evaluation across 19 proprietary and open-source VLMs. Results reveal that there exist pitfalls on the continuous space perception ability for most of the evaluated models, including proprietary ones. Interestingly, we find that the main discrepancy between open-source and proprietary models lies not in accuracy but in the consistency of responses. We believe that enhancing the ability of continuous space perception is essential for VLMs to perform effectively in real-world tasks and encourage further research to advance this capability.
AIGV-Assessor: Benchmarking and Evaluating the Perceptual Quality of Text-to-Video Generation with LMM
PDF ↗The rapid advancement of large multimodal models (LMMs) has led to the rapid expansion of artificial intelligence generated videos (AIGVs), which highlights the pressing need for effective video quality assessment (VQA) models designed specifically for AIGVs. Current VQA models generally fall short in accurately assessing the perceptual quality of AIGVs due to the presence of unique distortions, such as unrealistic objects, unnatural movements, or inconsistent visual elements. To address this challenge, we first present AIGVQA-DB, a large-scale dataset comprising 36,576 AIGVs generated by 15 advanced text-to-video models using 1,048 diverse prompts. With these AIGVs, a systematic annotation pipeline including scoring and ranking processes is devised, which collects 370k expert ratings to date. Based on AIGVQA-DB, we further introduce AIGV-Assessor, a novel VQA model that leverages spatiotemporal features and LMM frameworks to capture the intricate quality attributes of AIGVs, thereby accurately predicting precise video quality scores and video pair preferences. Through comprehensive experiments on both AIGVQA-DB and existing AIGV databases, AIGV-Assessor demonstrates state-of-the-art performance, significantly surpassing existing scoring or evaluation methods in terms of multiple perceptual quality dimensions. The dataset and code are released at https://github.com/IntMeGroup/AIGV-Assessor.
Understanding and reconstructing occluded objects is a challenging problem, especially in open-world scenarios where categories and contexts are diverse and unpredictable. Traditional methods, however, are typically restricted to closed sets of object categories, limiting their use in complex, open-world scenes. We introduce Open-World Amodal Appearance Completion, a training-free framework that expands amodal completion capabilities by accepting flexible text queries as input. Our approach generalizes to arbitrary objects specified by both direct terms and abstract queries. We term this capability reasoning amodal completion, where the system reconstructs the full appearance of the queried object based on the provided image and language query. Our framework unifies segmentation, occlusion analysis, and inpainting to handle complex occlusions and generates completed objects as RGBA elements, enabling seamless integration into applications such as 3D reconstruction and image editing. Extensive evaluations demonstrate the effectiveness of our approach in generalizing to novel objects and occlusions, establishing a new benchmark for amodal completion in open-world settings. Code and datasets available: https://github.com/saraao/amodal.
BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objects
PDF ↗We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and articulating. To achieve this, we first generate distance-based contact maps conditioned on the object trajectory with an articulation-aware feature representation, revealing rich bimanual patterns for manipulation. The learned contact prior is then used to guide our hand motion generator, producing diverse and realistic bimanual motions for object movement and articulation. Our work offers key insights into feature representation and contact prior for articulated objects, demonstrating their effectiveness in taming the complex, high-dimensional space of bimanual hand-object interactions. Through comprehensive quantitative experiments, we demonstrate a clear step towards simplified and high-quality hand-object animations that excel over the state-of-the-art in motion quality and diversity.
Both indoor and outdoor scene perceptions are essential for embodied intelligence. However, current sparse supervised 3D object detection methods focus solely on outdoor scenes without considering indoor settings. To this end, we propose a unified sparse supervised 3D object detection method for both indoor and outdoor scenes through learning class prototypes to effectively utilize unlabeled objects. Specifically, we first propose a prototype-based object mining module that converts the unlabeled object mining into a matching problem between class prototypes and unlabeled features. By using optimal transport matching results, we assign prototype labels to high-confidence features, thereby achieving the mining of unlabeled objects. We then present a multi-label cooperative refinement module to effectively recover missed detections in sparse supervised 3D object detection through pseudo label quality control and prototype label cooperation. Experiments show that our method achieves state-of-the-art performance under the one object per scene sparse supervised setting across indoor and outdoor datasets. With only one labeled object per scene, our method achieves about 78%, 90%, and 96% performance compared to the fully supervised detector on ScanNet V2, SUN RGB-D, and KITTI, respectively, highlighting the scalability of our method.
Existing Vision-Language Navigation (VLN) methods primarily focus on single-stage navigation, limiting their effectiveness in multi-stage and long-horizon tasks within complex and dynamic environments. To address these limitations, we propose a novel VLN task, named Long-Horizon Vision-Language Navigation (LH-VLN), which emphasizes long-term planning and decision consistency across consecutive subtasks. Furthermore, to support LH-VLN, we develop an automated data generation platform NavGen, which constructs datasets with complex task structures and improves data utility through a bidirectional, multi-granularity generation approach. To accurately evaluate complex tasks, we construct the Long-Horizon Planning and Reasoning in VLN (LHPR-VLN) benchmark consisting of 3,260 tasks with an average of 150 task steps, serving as the first dataset specifically designed for the long-horizon vision-language navigation task. Furthermore, we propose Independent Success Rate (ISR), Conditional Success Rate (CSR), and CSR weight by Ground Truth (CGT) metrics, to provide fine-grained assessments of task completion. To improve model adaptability in complex tasks, we propose a novel Multi-Granularity Dynamic Memory (MGDM) module that integrates short-term memory blurring with long-term memory retrieval to enable flexible navigation in dynamic environments. Our platform, benchmark and method supply LH-VLN with a robust data generation pipeline, comprehensive model evaluation dataset, reasonable metrics, and a novel VLN model, establishing a foundational framework for advancing LH-VLN.
Humans can develop internal world models that encode common sense knowledge, telling them how the world works and predicting the consequences of their actions. This concept has emerged as a promising direction for establishing general-purpose machine-learning models in recent preliminary works, e.g., for visual representation learning. In this paper, we present CheXWorld, the first effort towards a self-supervised world model for radiographic images. Specifically, our work develops a unified framework that simultaneously models three aspects of medical knowledge essential for qualified radiologists, including 1) local anatomical structures describing the fine-grained characteristics of local tissues (e.g., architectures, shapes, and textures); 2) global anatomical layouts describing the global organization of the human body (e.g., layouts of organs and skeletons); and 3) domain variations that encourage CheXWorld to model the transitions across different appearance domains of radiographs (e.g., varying clarity, contrast, and exposure caused by collecting radiographs from different hospitals, devices, or patients). Empirically, we design tailored qualitative and quantitative analyses, revealing that CheXWorld successfully captures these three dimensions of medical knowledge. Furthermore, transfer learning experiments across eight medical image classification and segmentation benchmarks showcase that CheXWorld significantly outperforms existing SSL methods and large-scale medical foundation models. Code & pre-trained models are available at https://github.com/LeapLabTHU/CheXWorld.
RePerformer: Immersive Human-centric Volumetric Videos from Playback to Photoreal Reperformance
PDF ↗Human-centric volumetric videos offer immersive free-viewpoint experiences, yet existing methods focus either on replaying general dynamic scenes or animating human avatars, limiting their ability to re-perform general dynamic scenes. In this paper, we present RePerformer, a novel Gaussian-based representation that unifies playback and re-performance for high-fidelity human-centric volumetric videos. Specifically, we hierarchically disentangle the dynamic scenes into motion Gaussians and appearance Gaussians which are associated in the canonical space. We further employ a Morton-based parameterization to efficiently encode the appearance Gaussians into 2D position and attribute maps. For enhanced generalization, we adopt 2D CNNs to map position maps to attribute maps, which can be assembled into appearance Gaussians for high-fidelity rendering of the dynamic scenes. For re-performance, we develop a semantic-aware alignment module and apply deformation transfer on motion Gaussians, enabling photo-real rendering under novel motions. Extensive experiments validate the robustness and effectiveness of RePerformer, setting a new benchmark for playback-then-reperformance paradigm in human-centric volumetric videos.
Thermal imaging is often compromised by dynamic, complex degradations caused by hardware limitations and unpredictable environmental factors. The scarcity of high-quality infrared data, coupled with the challenges of dynamic, intricate degradations, makes it difficult to recover details using existing methods. In this paper, we introduce thermal degradation simulation integrated into the training process via a mini-max optimization, by modeling these degraded factors as adversarial attacks on thermal images. The simulation is dynamic to maximize objective functions, thus capturing a broad spectrum of degraded data distributions. This approach enables training with limited data, thereby improving model performance. Additionally, we introduce a dual-interaction network that combines the benefits of spiking neural networks with scale transformation to capture degraded features with sharp spike signal intensities. This architecture ensures compact model parameters while preserving efficient feature representation. Extensive experiments demonstrate that our method not only achieves superior visual quality under diverse single and composited degradation, but also delivers a significant reduction in processing when trained on only fifty clear images, outperforming existing techniques in efficiency and accuracy. The source code will be available at https://github.com/LiuZhu-CV/DEAL.
Supervised contrastive learning (SupCon) has proven to be a powerful alternative to the standard cross-entropy loss for classification of multi-class balanced datasets. However, it struggles to learn well-conditioned representations of datasets with long-tailed class distributions. This problem is potentially exacerbated for binary imbalanced distributions, which are commonly encountered during many real-world problems such as medical diagnosis. In experiments on seven binary datasets of natural and medical images, we show that the performance of SupCon decreases with increasing class imbalance. To substantiate these findings, we introduce two novel metrics that evaluate the quality of the learned representation space. By measuring the class distribution in local neighborhoods, we are able to uncover structural deficiencies of the representation space that classical metrics cannot detect. Informed by these insights, we propose two new supervised contrastive learning strategies tailored to binary imbalanced datasets that improve the structure of the representation space and increase downstream classification accuracy over standard SupCon by up to 35%.
We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach integrates depth and uncertainty information to enhance tracking, mapping, and rendering performance in the presence of moving objects. We introduce an uncertainty map, predicted by a shallow multi-layer perceptron and DINOv2 features, to guide dynamic object removal during both tracking and mapping.This uncertainty map enhances dense bundle adjustment and Gaussian map optimization, improving reconstruction accuracy. Our system is evaluated on multiple datasets and demonstrates artifact-free view synthesis. Results showcase WildGS-SLAM's superior performance in dynamic environments compared to state-of-the-art methods.
We consider indoor 3D object detection with respect to a single RGB(-D) frame acquired from a commodity handheld device. We seek to significantly advance the status quo with respect to both data and modeling. First, we establish that existing datasets have significant limitations to scale, accuracy, and diversity of objects. As a result, we introduce the Cubify-Anything 1M (CA-1M) dataset, which exhaustively labels over 400K 3D objects on over 1K highly accurate laser-scanned scenes with near-perfect registration to over 3.5K handheld, egocentric captures. Next, we establish Cubify Transformer (CuTR), a fully Transformer 3D object detection baseline which rather than operating in 3D on point or voxel-based representations, predicts 3D boxes directly from 2D features derived from RGB(-D) inputs. While this approach lacks any 3D inductive biases, we show that paired with CA-1M, CuTR outperforms point-based methods, accurately recalling over 62% of objects in 3D, and is significantly more capable at handling noise and uncertainty present in commodity LiDAR-derived depth maps while also providing promising RGB only performance without architecture changes. Furthermore, by pre-training on CA-1M, CuTR can outperform point-based methods on a more diverse variant of SUN RGB-D, supporting the notion that while inductive biases in 3D are useful at the smaller sizes of existing datasets, they fail to scale to the data-rich regime of CA-1M. Overall, this dataset and baseline model provide strong evidence that we are moving towards models which can effectively Cubify Anything.
Recent advances in diffusion generative models have yielded remarkable progress. While the quality of generated content continues to improve, these models have grown considerably in size and complexity. This increasing computational burden poses significant challenges, particularly in resource-constrained deployment scenarios such as mobile devices. The combination of model pruning and knowledge distillation has emerged as a promising solution to reduce computational demands while preserving generation quality. However, this technique inadvertently propagates undesirable behaviors, including the generation of copyrighted content and unsafe concepts, even when such instances are absent from the fine-tuning dataset. In this paper, we propose a novel bilevel optimization framework for pruned diffusion models that consolidates the fine-tuning and unlearning processes into a unified phase. Our approach maintains the principal advantages of distillation--namely, efficient convergence and style transfer capabilities--while selectively suppressing the generation of unwanted content. This plug-in framework is compatible with various pruning and concept unlearning methods, facilitating efficient, safe deployment of diffusion models in controlled environments.