Open Vocabulary Human-Object Interaction (HOI) detection aims to detect interactions between humans and objects while generalizing to novel interaction classes beyond the training set. Current methods often rely on Vision and Language Models (VLMs) but face challenges due to suboptimal image encoders, as image-level pre-training does not align well with the fine-grained region-level interaction detection required for HOI. Additionally, effectively encoding textual descriptions of visual appearances remains difficult, limiting the model's ability to capture detailed HOI relationships. To address these issues, we propose INteraction-aware Prompting with Concept Calibration (INP-CC), an end-to-end open-vocabulary HOI detector that integrates interaction-aware prompts and concept calibration. Specifically, we propose an interaction-aware prompt generator that dynamically generates a compact set of prompts based on the input scene, enabling selective sharing among similar interactions. This approach directs the model's attention to key interaction patterns rather than generic image-level semantics, enhancing HOI detection. Furthermore, we refine HOI concept representations through language model-guided calibration, which helps distinguish diverse HOI concepts by investigating visual similarities across categories. A negative sampling strategy is also employed to improve inter-modal similarity modeling, enabling the model to better differentiate visually similar but semantically distinct actions. Extensive experimental results demonstrate that INP-CC significantly outperforms state-of-the-art models on the SWIG-HOI and HICO-DET datasets. Code is available at https://github.com/ltttpku/INP-CC.
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In this paper, we present Latest Object Memory Management (LOMM) for temporally consistent video instance segmentation that significantly improves long-term instance tracking. At the core of our method is Latest Object Memory (LOM), which robustly tracks and continuously updates the latest states of objects by explicitly modeling their presence in each frame. This enables consistent tracking and accurate identity management across frames, enhancing both performance and reliability through the VIS process. Moreover, we introduce Decoupled Object Association (DOA), a strategy that separately handles newly appearing and already existing objects. By leveraging our memory system, DOA accurately assigns object indices, improving matching accuracy and ensuring stable identity consistency, even in dynamic scenes where objects frequently appear and disappear. Extensive experiments and ablation studies demonstrate the superiority of our method over traditional approaches, setting a new benchmark in VIS. Notably, our LOMM achieves state-of-the-art AP score of 54.0 on YouTube-VIS 2022, a dataset known for its challenging long videos.
One Encoder to Rule them All: Representation Learning for Model-free Visual Reinforcement Learning using Fourier Neural Operators
PDF ↗Representation learning lies at the core of deep reinforcement learning. Although CNNs have traditionally served as the primary models for encoding image observations, modifying the encoder architecture introduces challenges, especially due to the necessity of determining a new set of hyperparameters. To address this problem, we propose a powerful representation learning technique for visual reinforcement learning utilizing Fourier Neural Operators (FNO). Our findings demonstrate that the proposed FNO encoder effectively learns representations from images that encapsulate the underlying differential equations (PDEs) governing the dynamics of the environment in an online model-free RL framework. We demonstrate the applicability of our proposed architecture by replacing the CNN image encoder in PPO, A2C, and Rainbow (a Policy Gradient, Actor-Critic, and Q-Learning RL algorithm, respectively). We achieve state-of-the-art scores (in the model-free RL setting) at both the CARLA Autonomous Driving (from image observations) benchmark and the Atari 100k benchmark. Our proposed FNO encoder is compatible with all model-free reinforcement learning algorithms, enhances both rewards and sample efficiency by implicitly learning the underlying dynamics of the environment, and eliminates the need for additional hyperparameter tuning.
3D Gaussian Splatting (3DGS) has become one of the most promising 3D reconstruction technologies. However, label noise in real-world scenarios--such as moving objects, non-Lambertian surfaces, and shadows--often leads to reconstruction errors. Existing 3DGS-Bsed anti-noise reconstruction methods either fail to separate noise effectively or require scene-specific fine-tuning of hyperparameters, making them difficult to apply in practice. This paper re-examines the problem of anti-noise reconstruction from the perspective of epistemic uncertainty, proposing a novel framework, OCSplats. By combining key technologies such as hybrid noise assessment and observation-based cognitive correction, the accuracy of noise classification in areas with cognitive differences has been significantly improved. Moreover, to address the issue of varying noise proportions in different scenarios, we have designed a label noise classification pipeline based on dynamic anchor points. This pipeline enables OCSplats to be applied simultaneously to scenarios with vastly different noise proportions without adjusting parameters. Extensive experiments demonstrate that OCSplats always achieve leading reconstruction performance and precise label noise classification in scenes of different complexity levels. Code is available.
Unsupervised 3D object detection aims to identify objects of interest from unlabeled raw data, such as LiDAR points. Recent approaches usually adopt pseudo 3D bounding boxes (3D bboxes) from clustering algorithm to initialize the model training. However, pseudo bboxes inevitably contain noise, and such inaccuracies accumulate to the final model, compromising the performance. Therefore, in an attempt to mitigate the negative impact of inaccurate pseudo bboxes, we introduce a new uncertainty-aware framework for unsupervised 3D object detection, dubbed UA3D. In particular, our method consists of two phases: uncertainty estimation and uncertainty regularization. (1) In the uncertainty estimation phase, we incorporate an extra auxiliary detection branch alongside the original primary detector. The prediction disparity between the primary and auxiliary detectors could reflect fine-grained uncertainty at the box coordinate level. (2) Based on the assessed uncertainty, we adaptively adjust the weight of every 3D bbox coordinate via uncertainty regularization, refining the training process on pseudo bboxes. For pseudo bbox coordinate with high uncertainty, we assign a relatively low loss weight. Extensive experiments verify that UA3D is robust against the noisy pseudo bboxes, yielding substantial improvements on nuScenes and Lyft compared to existing approaches, with increases of +3.9% AP_ BEV and +1.5% AP_ 3D on nuScenes, and +2.3% AP_ BEV and +1.8% AP_ 3D on Lyft.
LightBSR: Towards Lightweight Blind Super-Resolution via Discriminative Implicit Degradation Representation Learning
PDF ↗Implicit degradation estimation-based blind super-resolution (IDE-BSR) hinges on extracting the implicit degradation representation (IDR) of the LR image and adapting it to LR image features to guide HR detail restoration. Although IDE-BSR has shown potential in dealing with noise interference and complex degradations, existing methods ignore the importance of IDR discriminability for BSR and instead over-complicate the adaptation process to improve effect, resulting in a significant increase in the model's parameters and computations. In this paper, we focus on the discriminability optimization of IDR and propose a new powerful and lightweight BSR model termed LightBSR. Specifically, we employ a knowledge distillation-based learning framework. We first introduce a well-designed degradation-prior-constrained contrastive learning technique during teacher stage to make the model more focused on distinguishing different degradation types. Then we utilize a feature alignment technique to transfer the degradation-related knowledge acquired by the teacher to the student for practical inferencing. Extensive experiments demonstrate the effectiveness of IDR discriminability-driven BSR model design. The proposed LightBSR can achieve outstanding performance with minimal complexity across a range of blind SR tasks. Our code is accessible at: https://github.com/MJ-NCEPU/LightBSR.
mmCooper: A Multi-agent Multi-stage Communication-efficient and Collaboration-robust Cooperative Perception Framework
PDF ↗Collaborative perception significantly enhances individual vehicle perception performance through the exchange of sensory information among agents. However, real-world deployment faces challenges due to bandwidth constraints and inevitable calibration errors during information exchange. To address these issues, we propose mmCooper, a novel multi-agent, multi-stage, communication-efficient, and collaboration-robust cooperative perception framework. Our framework leverages a multi-stage collaboration strategy that dynamically and adaptively balances intermediate- and late-stage information to share among agents, enhancing perceptual performance while maintaining communication efficiency. To support robust collaboration despite potential misalignments and calibration errors, our framework prevents misleading low-confidence sensing information from transmission and refines the received detection results from collaborators to improve accuracy. The extensive evaluation results on both real-world and simulated datasets demonstrate the effectiveness of the mmCooper framework and its components.
We introduce Lumina-Image 2.0, an advanced text-to-image (T2I) model that surpasses previous state-of-the-art methods across multiple benchmarks. Lumina-Image 2.0 is characterized by two key features: (1) Unification - it adopts a unified architecture (Unified Next-DiT) that treats text and image tokens as a joint sequence, enabling natural cross-modal interactions and allowing seamless task expansion. Besides, since high-quality captioners can provide semantically well-aligned text-image training pairs, we introduce a unified captioning system, Unified Captioner (UniCap), which can generate detailed and accurate multilingual captions for our model. This not only accelerates model convergence, but also enhances prompt adherence, multi-granularity prompt handling, and task expansion with customized prompt templates. (2)Efficiency - to improve the efficiency of our proposed model, we develop multi-stage progressive training strategies to optimize our model, alongside inference-time acceleration strategies without compromising image quality. We evaluate our model on academic benchmarks and T2I arenas, with results confirming that it matches or exceeds existing state-of-the-art models across various metrics, highlighting the effectiveness of our methods. We have released our training details, code, and models at https://github.com/Alpha-VLLM/Lumina-Image-2.0.
T2I-Copilot: A Training-Free Multi-Agent Text-to-Image System for Enhanced Prompt Interpretation and Interactive Generation
PDF ↗Text-to-Image (T2I) generative models have revolutionized content creation but remain highly sensitive to prompt phrasing, often requiring users to repeatedly refine prompts multiple times without clear feedback. While techniques such as automatic prompt engineering, controlled text embeddings, denoising, and multi-turn generation mitigate these issues, they offer limited controllability, or often necessitate additional training, restricting the generalization abilities. Thus, we introduce T2I-Copilot, a training-free multi-agent system that leverages collaboration between (Multimodal) Large Language Models to automate prompt phrasing, model selection, and iterative refinement. This approach significantly simplifies prompt engineering while enhancing generation quality and text-image alignment compared to direct generation. Specifically, T2I-Copilot consists of three agents: (1) Input Interpreter, which parses the input prompt, resolves ambiguities, and generates a standardized report; (2) Generation Engine, which selects the appropriate model from different types of T2I models and organizes visual and textual prompts to initiate generation; and (3) Quality Evaluator, which assesses aesthetic quality and text-image alignment, providing scores and feedback for potential regeneration. T2I-Copilot can operate fully autonomously while also supporting human-in-the-loop intervention for fine-grained control. On GenAI-Bench, using open-source generation models, T2I-Copilot achieves a VQA score comparable to commercial models RecraftV3 and Imagen 3, surpasses FLUX1.1-pro by 6.17% at only 16.59% of its cost, and outperforms FLUX.1-dev and SD 3.5 Large by 9.11% and 6.36%. Code is released at: https://github.com/SHI-Labs/T2I-Copilot.
Diffusion models have achieved impressive results in generative tasks for text-to-video (T2V) synthesis. However, achieving accurate text alignment in T2V generation remains challenging due to the complex temporal dependencies across frames. Existing reinforcement learning (RL)-based approaches to enhance text alignment often require differentiable reward functions trained for video, hindering their scalability and applicability. In this paper, we propose Free^2Guide, a novel gradient-free and training-free framework for aligning generated videos with text prompts. Specifically, leveraging principles from path integral control, Free^2Guide approximates guidance for diffusion models using non-differentiable reward functions, thereby enabling the integration of powerful black-box Large Vision-Language Models (LVLMs) as reward models. To enable image-trained LVLMs to assess text-to-video alignment, we leverage stitching between video frames and use system prompts to capture sequential attributions. Our framework supports the flexible ensembling of multiple reward models to synergistically enhance alignment without significant computational overhead. Experimental results confirm that Free^2Guide using image-trained LVLMs significantly improves text-to-video alignment, thereby enhancing the overall video quality. Our results and code are available at https://free2guide.github.io/
Open-world 3D semantic occupancy prediction aims to generate a voxelized 3D representation from sensor inputs while recognizing both known and unknown objects. Transferring open-vocabulary knowledge from vision-language models (VLMs) offers a promising direction but remains challenging. However, methods based on VLM-derived 2D pseudo-labels with traditional supervision are limited by a predefined label space and lack general prediction capabilities. Direct alignment with pretrained image embeddings, on the other hand, often fails to achieve reliable performance because of inconsistent image and text representations in VLMs. To address these challenges, we propose AGO, a novel 3D occupancy prediction framework with adaptive grounding to handle diverse open-world scenarios. AGO first encodes surrounding images and class prompts into 3D and text embeddings, respectively, leveraging similarity-based grounding training with 3D pseudo-labels. Additionally, a modality adapter maps 3D embeddings into a space aligned with VLM-derived image embeddings, reducing modality gaps. Experiments on Occ3D-nuScenes show that AGO improves unknown object prediction in zero-shot and few-shot transfer while achieving state-of-the-art closed-world self-supervised performance, surpassing prior methods by 4.09 mIoU. Code is available at: https://github.com/EdwardLeeLPZ/AGO.
Amodal segmentation aims to infer the complete shape of occluded objects, even when the occluded region's appearance is unavailable. However, current amodal segmentation methods lack the capability to interact with users through text input and struggle to understand or reason about implicit and complex purposes. While methods like LISA integrate multi-modal large language models (LLMs) with segmentation for reasoning tasks, they are limited to predicting only visible object regions and face challenges in handling complex occlusion scenarios. To address these limitations, we propose a novel task named amodal reasoning segmentation, aiming to predict the complete amodal shape of occluded objects while providing answers with elaborations based on user text input. We develop a generalizable dataset generation pipeline and introduce a new dataset focusing on daily life scenarios, encompassing diverse real-world occlusions. Furthermore, we present AURA (Amodal Understanding and Reasoning Assistant), a novel model with advanced global and spatial-level designs specifically tailored to handle complex occlusions. Extensive experiments validate AURA's effectiveness on the proposed dataset. The code, model, and dataset are released on this page: https://zhixuanli.github.io/projects/li2025aura/index.html.
Joint Semantic and Rendering Enhancements in 3D Gaussian Modeling with Anisotropic Local Encoding
PDF ↗Recent works propose extending 3DGS with semantic feature vectors for simultaneous semantic segmentation and image rendering. However, these methods often treat the semantic and rendering branches separately, relying solely on 2D supervision while ignoring the 3D Gaussian geometry. Moreover, current adaptive strategies adapt the Gaussian set depending solely on rendering gradients, which can be insufficient in subtle or textureless regions. In this work, we propose a joint enhancement framework for 3D semantic Gaussian modeling that synergizes both semantic and rendering branches. Firstly, unlike conventional point cloud shape encoding, we introduce an anisotropic 3D Gaussian Chebyshev descriptor using the Laplace-Beltrami operator to capture fine-grained 3D shape details, thereby distinguishing objects with similar appearances and reducing reliance on potentially noisy 2D guidance. In addition, without relying solely on rendering gradient, we adaptively adjust Gaussian allocation and spherical harmonics (SH) with local semantic and shape signals, enhancing rendering efficiency through selective resource allocation. Finally, we employ a cross-scene knowledge transfer module to continuously update learned shape patterns, enabling faster convergence and robust representations without relearning shape information from scratch for each new scene. Experiments on multiple datasets demonstrate improvements in segmentation accuracy and rendering quality while maintaining high rendering frame rates.
Recently, Contrastive Language-Image Pre-training (CLIP) has shown promising performance in domain-specific data (e.g., biology), and has attracted increasing research attention. Existing works generally focus on collecting extensive domain-specific data and directly tuning the original CLIP models. Intuitively, such a paradigm takes no full consideration of the characteristics lying in domain-specific data (e.g., fine-grained nature of biological data) and so limits model capability, while mostly losing the original ability of CLIP in the general domain. In this paper, we propose a Distribution Alignment-based Language-Image Pre-Training (DALIP) method for biological data. Specifically, DALIP optimizes CLIP models by matching the similarity between feature distribution of image-text pairs instead of the original [cls] token, which can capture rich yet effective information inherent in image-text pairs as powerful representations, and so better cope with fine-grained nature of biological data. Particularly, our DALIP efficiently approximates feature distribution via its first- and second-order statistics, while presenting a Multi-head Brownian Distance Covariance (MBDC) module to acquire second-order statistics of token features efficiently. Furthermore, we collect a new dataset for plant domain (e.g., specific data in biological domain) comprising 10M plant data with 3M general-domain data (namely PlantMix-13M) according to data mixing laws. Extensive experiments show that DALIP clearly outperforms existing CLIP counterparts in biological domain, while well generalizing to remote sensing and medical imaging domains. Besides, our PlantMix-13M dataset further boosts performance of DALIP in plant domain, while preserving model ability in general domain.
Image fusion seeks to seamlessly integrate foreground objects with background scenes, producing realistic and harmonious fused images. Unlike existing methods that directly insert objects into the background, adaptive and interactive fusion remains a challenging yet appealing task. It requires the foreground to adjust or interact with the background context, enabling more coherent integration. To address this, we propose an iterative human-in-the-loop data generation pipeline, which leverages limited initial data with diverse textual prompts to generate fusion datasets across various scenarios and interactions, including placement, holding, wearing, and style transfer. Building on this, we introduce DreamFuse, a novel approach based on the Diffusion Transformer (DiT) model, to generate consistent and harmonious fused images with both foreground and background information. DreamFuse employs a Positional Affine mechanism to inject the size and position of the foreground into the background, enabling effective foreground-background interaction through shared attention. Furthermore, we apply Localized Direct Preference Optimization guided by human feedback to refine DreamFuse, enhancing background consistency and foreground harmony. DreamFuse achieves harmonious fusion while generalizing to text-driven attribute editing of the fused results.Experimental results demonstrate that our method outperforms state-of-the-art approaches across multiple metrics.
InvRGB+L: Inverse Rendering of Complex Scenes with Unified Color and LiDAR Reflectance Modeling
PDF ↗We present InvRGB+L, a novel inverse rendering model that reconstructs large, relightable, and dynamic scenes from a single RGB+LiDAR sequence. Conventional inverse graphics methods rely primarily on RGB observations and use LiDAR mainly for geometric information, often resulting in suboptimal material estimates due to visible light interference. We find that LiDAR's intensity values--captured with active illumination in a different spectral range--offer complementary cues for robust material estimation under variable lighting. Inspired by this, InvRGB+L leverages LiDAR intensity cues to overcome challenges inherent in RGB-centric inverse graphics through two key innovations: (1) a novel physics-based LiDAR shading model and (2) RGB-LiDAR material consistency losses. The model produces novel-view RGB and LiDAR renderings of urban and indoor scenes and supports relighting, night simulations, and dynamic object insertions--achieving results that surpass current state-of-the-art methods in both scene-level urban inverse rendering and LiDAR simulation.
This paper introduces DriveArena, the first high-fidelity closed-loop simulation system designed for driving agents navigating real-world scenarios. DriveArena comprises two core components: Traffic Manager, a traffic simulator capable of generating realistic traffic flow on any global street map, and World Dreamer, a high-fidelity conditional generative model with infinite auto-regression. DriveArena supports closed-loop simulation using road networks from cities worldwide, enabling the generation of diverse traffic scenarios with varying styles. This powerful synergy empowers any driving agent capable of processing real-world images to navigate in DriveArena 's simulated environment. Furthermore, DriveArena features a flexible, modular architecture, allowing for multiple implementations of its core components and driving agents. Serving as a highly realistic arena for these players, our work provides a valuable platform for developing and evaluating driving agents across diverse and challenging scenarios. DriveArena takes a significant leap forward in leveraging generative models for driving simulation platforms, opening new avenues for closed-loop evaluation of autonomous driving systems.
AerialVG: A Challenging Benchmark for Aerial Visual Grounding by Exploring Positional Relations
PDF ↗Visual grounding (VG) aims to localize target objects in an image based on natural language descriptions. In this paper, we propose AerialVG, a new task focusing on visual grounding from aerial views. Compared to traditional VG, AerialVG poses new challenges, e.g., appearance-based grounding is insufficient to distinguish among multiple visually similar objects, and positional relations should be emphasized. Besides, existing VG models struggle when applied to aerial imagery, where high-resolution images cause significant difficulties. To address these challenges, we introduce the first AerialVG dataset, consisting of 5K real-world aerial images, 50K manually annotated descriptions, and 103K objects. Particularly, each annotation in AerialVG dataset contains multiple target objects annotated with relative spatial relations, requiring models to perform comprehensive spatial reasoning.Furthermore, we propose an innovative model especially for the AerialVG task, where a Hierarchical Cross-Attention is devised to focus on target regions, and a Relation-Aware Grounding module is designed to infer positional relations. Experimental results validate the effectiveness of our dataset and method, highlighting the importance of spatial reasoning in aerial visual grounding. The code will be released at https://github.com/Ideal-ljl/AerialVG.
While event cameras excel in capturing microsecond temporal dynamics, they suffer from sparse spatial representations compared to traditional RGB data. Thus, multi-modal event-based action recognition approaches aim to synergize complementary strengths by independently extracting and integrating paired RGB-Event features. However, this paradigm inevitably introduces additional data acquisition costs, while eroding the inherent privacy advantages of event-based sensing. Drawing inspiration from event-to-image reconstruction, texture-enriched visual representation directly reconstructed from asynchronous event streams is a promising solution. In response, we propose an Enhanced Multimodal Perceptual (EMP) framework that hierarchically explores multimodal cues (e.g., edges and textures) from raw event streams through two synergistic innovations spanning representation to feature levels. Specifically, we introduce Cross-Modal Frequency Enhancer (CFE) that leverages complementary frequency characteristics between reconstructed frames and stacked frames to refine event representations. Furthermore, to achieve unified feature encoding across modalities, we develop High-Frequency Guided Selector (HGS) for semantic consistency token selection guided by dynamic edge features while suppressing redundant multimodal information interference adaptively. Extensive experiments on four benchmark datasets demonstrate the superior effectiveness of our proposed framework.
We propose PRM, a novel photometric stereo based large reconstruction model to reconstruct high-quality meshes with fine-grained details. Previous large reconstruction models typically prepare training images under fixed and simple lighting, offering minimal photometric cues for precise reconstruction. Furthermore, images containing specular surfaces are treated as out-of-distribution samples, resulting in degraded reconstruction quality. To handle these challenges, PRM renders images by varying materials and lighting, which not only improves the local details by providing rich photometric cues but also increases the model's robustness to variations in the appearance of input images. To offer enhanced flexibility, we incorporate a real-time physically-based rendering (PBR) method and mesh rasterization for ground-truth rendering. By using an explicit mesh as 3D representation, PRM ensures the application of differentiable PBR for predicted rendering. This approach models specular color more accurately for images with varying materials and illumination than previous neural rendering methods and supports multiple supervisions for geometry optimization. Extensive experiments demonstrate that PRM significantly outperforms other models.