Recent advancements in multimodal large language models (MLLM) have shown a strong ability in visual perception, reasoning abilities, and vision-language understanding. However, the visual matching ability of MLLMs is rarely studied, despite finding the visual correspondence of objects is essential in computer vision. Our research reveals that the matching capabilities in recent MLLMs still exhibit systematic shortcomings, even with current strong MLLMs models, GPT-4o. In particular, we construct a Multimodal Visual Matching (MMVM) benchmark to fairly benchmark over 30 different MLLMs. The MMVM benchmark is built from 15 open-source datasets and Internet videos with manual annotation. In addition, we have designed an automatic annotation pipeline to generate the MMVM SFT dataset, including 220K visual matching data with reasoning annotation. To our knowledge, this is the first MLLMs dataset and benchmark for the MLLM community. Finally, we present CoLVA, a novel contrastive MLLM with two novel technical designs: fine-grained vision expert with object-level contrastive learning and instruction augmentation strategy. The former learns instance discriminative tokens, while the latter further improves instruction following ability. CoLVA-InternVL2-4B achieves an overall accuracy (OA) of 49.80% on the MMVM benchmark, surpassing GPT-4o and the best open-source MLLM, Qwen2VL-72B, by 7.15% and 11.72% OA, respectively. These results demonstrate the effectiveness of our MMVM SFT dataset and our novel technical designs. Code, benchmark, dataset, and models will be released.
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Understanding scene contexts is crucial for machines to perform tasks and adapt prior knowledge in unseen or noisy 3D environments. As data-driven learning is intractable to comprehensively encapsulate diverse ranges of layouts and open spaces, we propose teaching machines to identify relational commonalities in 3D spaces. Instead of focusing on point-wise or object-wise representations, we introduce 3D scene analogies, which are smooth maps between 3D scene regions that align spatial relationships. Unlike well-studied single instance-level maps, these scene-level maps smoothly link large scene regions, potentially enabling unique applications in trajectory transfer in AR/VR, long demonstration transfer for imitation learning, and context-aware object rearrangement. To find 3D scene analogies, we propose neural contextual scene maps, which extract descriptor fields summarizing semantic and geometric contexts, and holistically align them in a coarse-to-fine manner for map estimation. This approach reduces reliance on individual feature points, making it robust to input noise or shape variations. Experiments demonstrate the effectiveness of our approach in identifying scene analogies and transferring trajectories or object placements in diverse indoor scenes, indicating its potential for robotics and AR/VR applications. Project page including the code is available through this link: https://82magnolia.github.io/3d_scene_analogies/.
Compared to image-text pair data, interleaved corpora enable Vision-Language Models (VLMs) to understand the world more naturally like humans. However, such existing datasets are crawled from webpage, facing challenges like low knowledge density, loose image-text relations, and poor logical coherence between images. On the other hand, the internet hosts vast instructional videos (e.g., online geometry courses) that are widely used by humans to learn foundational subjects, yet these valuable resources remain underexplored in VLM training. In this paper, we introduce a high-quality multimodal textbook corpus with richer foundational knowledge for VLM pretraining. It collects over 2.5 years of instructional videos, totaling 22,000 class hours. We first use an LLM-proposed taxonomy to systematically gather instructional videos. Then we progressively extract and refine visual (keyframes), audio (ASR), and textual knowledge (OCR) from the videos, and organize as an image-text interleaved corpus based on temporal order. Compared to its counterparts, our video-centric textbook offers more coherent context, richer knowledge, and better image-text alignment. Experiments demonstrate its superb pretraining performance, particularly in knowledge- and reasoning-intensive tasks like ScienceQA and MathVista. Moreover, VLMs pre-trained on our textbook exhibit outstanding interleaved context awareness, leveraging visual and textual cues in their few-shot context for task solving. Code and dataset are available on https://multimodal-interleaved-textbook.github.io.
We introduce a novel approach for simultaneous self-supervised video alignment and action segmentation based on a unified optimal transport framework. In particular, we first tackle self-supervised video alignment by developing a fused Gromov-Wasserstein optimal transport formulation with a structural prior, which trains efficiently on GPUs and needs only a few iterations for solving the optimal transport problem. Our single-task method achieves the state-of-the-art performance on multiple video alignment benchmarks and outperforms VAVA, which relies on a traditional Kantorovich optimal transport formulation with an optimality prior. Furthermore, we extend our approach by proposing a unified optimal transport framework for joint self-supervised video alignment and action segmentation, which requires training and storing a single model and saves both time and memory consumption as compared to two different single-task models. Extensive evaluations on several video alignment and action segmentation datasets demonstrate that our multi-task method achieves comparable video alignment yet superior action segmentation results over previous methods in video alignment and action segmentation respectively. Finally, to the best of our knowledge, this is the first work to unify video alignment and action segmentation into a single model.
3D Gaussian Splatting (3DGS) has begun incorporating rich information from 2D foundation models. However, most approaches rely on a bottom-up optimization process that treats raw 2D features as ground truth, incurring increased computational costs. We propose a top-down pipeline for constructing compact and fast 3D feature fields, namely, CF3. We first perform a fast weighted fusion of multi-view 2D features with pre-trained Gaussians. This approach enables training a per-Gaussian autoencoder directly on the lifted features, instead of training autoencoders in the 2D domain. As a result, the autoencoder better aligns with the inference-time feature distribution, achieving high compression fidelity and storage efficiency. Finally, we introduce an adaptive sparsification method that prunes and merges Gaussians, constructing an efficient representation while maintaining details. Our approach achieves a competitive 3D feature field while using as little as 5% of the Gaussians compared to Feature-3DGS.
U-ViLAR: Uncertainty-Aware Visual Localization for Autonomous Driving via Differentiable Association and Registration
PDF ↗Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal quality. This issue underscores the importance of visual localization techniques in scenarios where GNSS signals are unreliable. This paper proposes U-ViLAR, a novel uncertainty-aware visual localization framework designed to address these challenges while enabling adaptive localization using high-definition (HD) maps or navigation maps. Specifically, our method first extracts features from the input visual data and maps them into Bird's-Eye-View (BEV) space to enhance spatial consistency with the map input. Subsequently, we introduce: a) Perceptual Uncertainty-guided Association, which mitigates errors caused by perception uncertainty, and b) Localization Uncertainty-guided Registration, which reduces errors introduced by localization uncertainty. By effectively balancing the coarse-grained large-scale localization capability of association with the fine-grained precise localization capability of registration, our approach achieves robust and accurate localization. Experimental results demonstrate that our method achieves state-of-the-art performance across multiple localization tasks. Furthermore, our model has undergone rigorous testing on large-scale autonomous driving fleets and has demonstrated stable performance in various challenging urban scenarios.
Context modeling is essential in learned image compression for accurately estimating the distribution of latents. While recent advanced methods have expanded context modeling capacity, they still struggle to efficiently exploit long-range dependency and diverse context information across different coding steps. In this paper, we introduce a novel Hierarchical Progressive Context Model (HPCM) for more efficient context information acquisition. Specifically, HPCM employs a hierarchical coding schedule to sequentially model the contextual dependencies among latents at multiple scales, which enables more efficient long-range context modeling. Furthermore, we propose a progressive context fusion mechanism that incorporates contextual information from previous coding steps into the current step, effectively exploiting diverse contextual information. Experimental results demonstrate that our method achieves state-of-the-art rate-distortion performance and strikes a better balance between compression performance and computational complexity. The code is available at https://github.com/lyq133/LIC-HPCM.
Dynamic garment reconstruction from monocular video is an important yet challenging task due to the complex dynamics and unconstrained nature of the garments. Recent advancements in neural rendering have enabled high-quality geometric reconstruction with image/video supervision. However, implicit representation methods that use volume rendering often provide smooth geometry and fail to model high-frequency details. While template reconstruction methods model explicit geometry, they use vertex displacement for deformation which results in artifacts. Addressing these limitations, we propose NGD, a Neural Gradient-based Deformation method to reconstruct dynamically evolving textured garments from monocular videos. Additionally, we propose a novel adaptive remeshing strategy for modeling dynamically evolving surfaces like wrinkles and pleats of the skirt, leading to high-quality reconstruction. Finally, we learn dynamic texture maps to capture per-frame lighting and shadow effects. We provide extensive qualitative and quantitative evaluations to demonstrate significant improvements over existing SOTA methods and provide high-quality garment reconstructions.
Confound from All Sides, Distill with Resilience: Multi-Objective Adversarial Paths to Zero-Shot Robustness
PDF ↗Adversarially robust knowledge distillation transfers the robustness of a large-scale teacher model to a lightweight student while preserving natural performance. However, foundation Vision-Language Models (VLMs) also demand the transfer of zero-shot inference capabilities. We find that standard robust distillation using untargeted adversarial examples fails to transfer out-of-distribution (zero-shot) robustness, as these adversaries primarily push inputs away from their original distribution, exploring a limited portion of the teacher's decision space and missing more diverse failure modes. A natural solution is to generate multiple targeted adversaries that traverse diverse paths across decision boundaries. Thus, these adversaries probe a broader region of the teacher's decision surface. However, naive targeted adversary optimization often converges to local optima within a single category's decision region, limiting the diversity. To address this, we propose a Multi-Objective Optimization (MOO)-based adversarial distillation framework that transfers robustness from large VLMs to lightweight ones by exploiting adversaries with two main objectives: misclassification and category-level adversarial diversity. Theoretically, we show that optimizing for diversity mitigates adversarial collapse into local optima, ensuring adversaries span multiple decision regions and capture the teacher's generalizable robust features. Extensive experiments demonstrate the superiority of our method over state-of-the-art adversarial learning across diverse scenarios.
Shape-from-Template (SfT) refers to the class of methods that reconstruct the 3D shape of a deforming object from images/videos using a 3D template. Traditional SfT methods require point correspondences between images and the texture of the 3D template in order to reconstruct 3D shapes from images/videos in real time. Their performance severely degrades when encountered with severe occlusions in the images because of the unavailability of correspondences. In contrast, modern SfT methods use a correspondence-free approach by incorporating deep neural networks to reconstruct 3D objects, thus requiring huge amounts of data for supervision. Recent advances use a fully unsupervised or self-supervised approach by combining differentiable physics and graphics to deform 3D template to match input images. In this paper, we propose an unsupervised SfT which uses only image observations: color features, gradients and silhouettes along with a mesh inextensibility constraint to reconstruct at a 400xfaster pace than (best-performing) unsupervised SfT. Moreover, when it comes to generating finer details and severe occlusions, our method outperforms the existing methodologies by a large margin. Code is available at https://github.com/dvttran/nsft.
Reconstructing a 3D hand mesh from a single RGB image is challenging due to complex articulations, self-occlusions, and depth ambiguities. Traditional discriminative methods, which learn a deterministic mapping from a 2D image to a single 3D mesh, often struggle with the inherent ambiguities in 2D-to-3D mapping. To address this challenge, we propose MaskHand, a novel generative masked model for hand mesh recovery that synthesizes plausible 3D hand meshes by learning and sampling from the probabilistic distribution of the ambiguous 2D-to-3D mapping process. MaskHand consists of two key components: (1) a VQ-MANO, which encodes 3D hand articulations as discrete pose tokens in a latent space, and (2) a Context-Guided Masked Transformer that randomly masks out pose tokens and learns their joint distribution, conditioned on corrupted token sequence, image context, and 2D pose cues. This learned distribution facilitates confidence-guided sampling during inference, producing mesh reconstructions with low uncertainty and high precision. Extensive evaluations on benchmark and real-world datasets demonstrate that MaskHand achieves state-of-the-art accuracy, robustness, and realism in 3D hand mesh reconstruction. Project website: https://m-usamasaleem.github.io/publication/MaskHand/MaskHand.html.
Camera control has been actively studied in text or image conditioned video generation tasks. However, altering camera trajectories of a given video remains under-explored, despite its importance in the field of video creation. It is non-trivial due to the extra constraints of maintaining multiple-frame appearance and dynamic synchronization. To address this, we present ReCamMaster, a camera-controlled generative video re-rendering framework that reproduces the dynamic scene of an input video at novel camera trajectories. The core innovation lies in harnessing the generative capabilities of pre-trained text-to-video models through an elegant yet powerful video conditioning mechanism--an aspect often overlooked in current research. To overcome the scarcity of qualified training data, we construct a comprehensive multi-camera synchronized video dataset using Unreal Engine 5, which is carefully curated to follow real-world filming characteristics, covering diverse scenes and camera movements. It helps the model generalize to in-the-wild videos. Lastly, we further improve the robustness to diverse inputs through a meticulously designed training strategy. Extensive experiments show that our method substantially outperforms existing state-of-the-art approaches and strong baselines. Our method also finds promising applications in video stabilization, super-resolution, and outpainting. Our code and dataset are publicly available.
Existing methods for image-to-3D avatar generation struggle to produce highly detailed, animation-ready avatars suitable for real-world applications. We introduce AdaHuman, a novel framework that generates high-fidelity animatable 3D avatars from a single in-the-wild image. AdaHuman incorporates two key innovations: (1) A pose-conditioned 3D joint diffusion model that synthesizes consistent multi-view images in arbitrary poses alongside corresponding 3D Gaussian Splats (3DGS) reconstruction at each diffusion step; (2) A compositional 3DGS refinement module that enhances the details of local body parts through image-to-image refinement and seamlessly integrates them using a novel crop-aware camera ray map, producing a cohesive detailed 3D avatar. These components allow AdaHuman to generate highly realistic standardized A-pose avatars with minimal self-occlusion, enabling rigging and animation with any input motion. Extensive evaluation on public benchmarks and in-the-wild images demonstrates that AdaHuman significantly outperforms state-of-the-art methods in both avatar reconstruction and reposing. Code and models will be publicly available for research purposes.
We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from camera images. UniOcc unifies the data from multiple real-world datasets (i.e., nuScenes, Waymo) and high-fidelity driving simulators (i.e., CARLA, OpenCOOD), providing 2D/3D occupancy labels and annotating innovative per-voxel flows. Unlike existing studies that rely on suboptimal pseudo labels for evaluation, UniOcc incorporates novel evaluation metrics that do not depend on ground-truth labels, enabling robust assessment on additional aspects of occupancy quality. Through extensive experiments on state-of-the-art models, we demonstrate that large-scale, diverse training data and explicit flow information significantly enhance occupancy prediction and forecasting performance. Our data and code are available at https://uniocc.github.io/.
We present PROGRESSOR, a novel framework that learns a task-agnostic reward function from videos, enabling policy training through goal-conditioned reinforcement learning (RL) without manual supervision. Underlying this reward is an estimate of the distribution over task progress as a function of the current, initial, and goal observations that is learned in a self-supervised fashion. Crucially, PROGRESSOR refines rewards adversarially during online RL training by pushing back predictions for out-of-distribution observations in order to mitigate distribution shift inherent in non-expert observations. Utilizing this progress prediction as a dense reward together with an adversarial push-back, we show that PROGRESSOR enables robots to learn complex behaviors without any external supervision. Pretrained on large-scale egocentric human video from EPIC-KITCHENS, PROGRESSOR requires no fine-tuning on in-domain task-specific data for generalization to real-robot offline RL under noisy demonstrations, outperforming contemporary methods that provide dense visual reward for robotic learning. Our findings highlight the potential of PROGRESSOR for scalable robotic applications where direct action labels and task-specific rewards are not readily available.
Bridging different modalities lies at the heart of cross-modality generation. While conventional approaches treat the text modality as a conditioning signal that gradually guides the denoising process from Gaussian noise to the target image modality, we explore a much simpler paradigm--directly evolving between text and image modalities through flow matching. This requires projecting both modalities into a shared latent space, which poses a significant challenge due to their inherently different representations: text is highly semantic and encoded as 1D tokens, whereas images are spatially redundant and represented as 2D latent embeddings. To address this, we introduce FlowTok, a minimal framework that seamlessly flows across text and images by encoding images into a compact 1D token representation. Compared to prior methods, this design reduces the latent space size by 3.3x at an image resolution of 256, eliminating the need for complex conditioning mechanisms or noise scheduling. Moreover, FlowTok naturally extends to image-to-text generation under the same formulation. With its streamlined architecture centered around compact 1D tokens, FlowTok is highly memory-efficient, requires significantly fewer training resources, and achieves much faster sampling speeds--all while delivering performance comparable to state-of-the-art models. Code is available at https://github.com/TACJu/FlowTok.
This paper presents an effective approach for learning novel 4D embodied world models, which predict the dynamic evolution of 3D scenes over time in response to an embodied agent's actions, providing both spatial and temporal consistency. We propose to learn a 4D world model by training on RGB-DN (RGB, Depth, and Normal) videos.This not only surpasses traditional 2D models by incorporating detailed shape, configuration, and temporal changes into their predictions, but also allows us to effectively learn accurate inverse dynamic models for an embodied agent. Specifically, we first extend existing robotic manipulation video datasets with depth and normal information leveraging off-the-shelf models. Next, we fine-tune a video generation model on this annotated dataset, which jointly predicts RGB-DN (RGB, Depth, and Normal) for each frame. We then present an algorithm to directly convert generated RGB, Depth, and Normal videos into a high-quality 4D scene of the world. Our method ensures temporal and spatial coherence in 4D scene predictions from embodied scenarios, enables novel view synthesis for embodied environments, and facilitates policy learning that significantly outperforms those derived from prior video-based world models.
We present DPoser-X, a diffusion-based prior model for 3D whole-body human poses. Building a versatile and robust full-body human pose prior remains challenging due to the inherent complexity of articulated human poses and the scarcity of high-quality whole-body pose datasets. To address these limitations, we introduce a Diffusion model as body Pose prior (DPoser) and extend it to DPoser-X for expressive whole-body human pose modeling.Our approach unifies various pose-centric tasks as inverse problems, solving them through variational diffusion sampling. To enhance performance on downstream applications, we introduce a novel truncated timestep scheduling method specifically designed for pose data characteristics. We also propose a masked training mechanism that effectively combines whole-body and part-specific datasets, enabling our model to capture interdependencies between body parts while avoiding overfitting to specific actions.Extensive experiments demonstrate DPoser-X's robustness and versatility across multiple benchmarks for body, hand, face, and full-body pose modeling. Our model consistently outperforms state-of-the-art alternatives, establishing a new benchmark for whole-body human pose prior modeling.
Despite significant advances in learning-based lossy compression algorithms, standardizing codecs remains a critical challenge. In this paper, we present the JPEG Processing Neural Operator (JPNeO), a next-generation JPEG algorithm that maintains full backward compatibility with the current JPEG format. Our JPNeO improves chroma component preservation and enhances reconstruction fidelity compared to existing artifact removal methods by incorporating neural operators in both the encoding and decoding stages. JPNeO achieves practical benefits in terms of reduced memory usage and parameter count. We further validate our hypothesis about the existence of a space with high mutual information through empirical evidence. In summary, the JPNeO functions as a high-performance out-of-the-box image compression pipeline without changing source coding's protocol. Our source code is available at https://github.com/WooKyoungHan/JPNeO.
Three-dimensional scene generation is crucial in computer vision, with applications spanning autonomous driving and gaming. However, current methods offer limited or non-intuitive user control. In this work, we propose a method that uses scene graph as a user-friendly control format to generate outdoor 3D scenes. We develop an interactive system that transforms a sparse scene graph into a dense Bird's Eye View (BEV) Embedding Map, which guides a conditional diffusion model to generate 3D scenes that match the scene graph description. Users can easily create or modify scene graphs to generate large-scale outdoor scenes. We create a large-scale dataset with paired scene graphs and 3D semantic scenes to train the BEV embedding and diffusion models. Experimental results show that our approach consistently produces high-quality 3D urban scenes closely aligned with the input scene graphs. To the best of our knowledge, this is the first approach to generate 3D outdoor scenes conditioned on scene graphs. Code is available at https://github.com/yuhengliu02/control-3d-scene.