No published work on visual question answering (VQA) accounts for ambiguity regarding where the content described in the question is located in the image. To fill this gap, we introduce VQ-FocusAmbiguity, the first VQA dataset that visually grounds each plausible image region a question could refer to when arriving at valid answers. We next analyze and compare our dataset to existing datasets to reveal its unique properties. Finally, we benchmark modern models for two novel tasks related to acknowledging focus ambiguity: recognizing whether a visual question has focus ambiguity and locating all plausible focus regions within the image. Results show that the dataset is challenging for modern models. To facilitate future progress on these tasks, we publicly share the dataset with an evaluation server at https://vizwiz.org/tasks-and-datasets/focus-ambiguity-in-visual-questions/.
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We present a novel approach to mesh shape editing, building on recent progress in 3D reconstruction from multi-view images. We formulate shape editing as a conditional reconstruction problem, where the model must reconstruct the input shape with the exception of a specified 3D region, in which the geometry should be generated from the conditional signal. To this end, we train a conditional Large Reconstruction Model (LRM) for masked reconstruction, using multi-view consistent masks rendered from a randomly generated 3D occlusion, and using one clean viewpoint as the conditional signal. During inference, we manually define a 3D region to edit and provide an edited image from a canonical viewpoint to fill that region. We demonstrate that, in just a single forward pass, our method not only preserves the input geometry in the unmasked region through reconstruction capabilities on par with SoTA, but is also expressive enough to perform a variety of mesh edits from a single image guidance that past works struggle with, while being 2-10 times faster than the top-performing prior work.
Multi-view clustering leverages complementary representations from diverse sources to enhance performance. However, real-world data often suffer incomplete cases due to factors like privacy concerns and device malfunctions. A key challenge is effectively utilizing available instances to recover missing views. Existing methods frequently overlook the heterogeneity among views during recovery, leading to significant distribution discrepancies between recovered and true data. Additionally, many approaches focus on cross-view correlations, neglecting insights from intra-view reliable structure and cross-view clustering structure. To address these issues, we propose BURG, a novel method for incomplete multi-view clustering with distriBution dUal-consistency Recovery Guidance. We treat each sample as a distinct category and perform cross-view distribution transfer to predict the distribution space of missing views. To compensate for the lack of reliable category information, we design a dual-consistency guided recovery strategy that includes intra-view alignment guided by neighbor-aware consistency and cross-view alignment guided by prototypical consistency. Extensive experiments on benchmarks demonstrate the superiority of BURG in the incomplete multi-view scenario.
Learn2Synth: Learning Optimal Data Synthesis Using Hypergradients for Brain Image Segmentation
PDF ↗Domain randomization through synthesis is a powerful strategy to train networks that are unbiased with respect to the domain of the input images. Randomization allows networks to see a virtually infinite range of intensities and artifacts during training, thereby minimizing overfitting to appearance and maximizing generalization to unseen data. Although powerful, this approach relies on the accurate tuning of a large set of hyperparameters that govern the probabilistic distribution of the synthesized images. Instead of manually tuning these parameters, we introduce Learn2Synth, a novel procedure in which synthesis parameters are learned using a small set of real labeled data. Unlike methods that impose constraints to align synthetic data with real data (e.g., contrastive or adversarial techniques), which risk misaligning the image and its label map, we tune an augmentation engine such that a segmentation network trained on synthetic data has optimal accuracy when applied to real data. This approach allows the training procedure to benefit from real labeled examples, without ever using these real examples to train the segmentation network, which avoids biasing the network towards the properties of the training set. Specifically, we develop parametric and nonparametric strategies to enhance synthetic images in a way that improves the performance of the segmentation network. We demonstrate the effectiveness of this learning strategy on synthetic and real-world brain scans. Code is available at: https://github.com/HuXiaoling/Learn2Synth.
Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data and Metric Perspectives
PDF ↗Recent advancements in Vision-Language Models (VLMs) have fueled interest in autonomous driving applications, particularly for interpretable decision-making. However, the assumption that VLMs provide visually grounded and reliable driving explanations remains unexamined. To address this, we introduce DriveBench, a benchmark evaluating 12 VLMs across 17 settings, covering 19,200 images, 20,498 QA pairs, and four key driving tasks. Our findings reveal that VLMs often generate plausible responses from general knowledge or textual cues rather than true visual grounding, especially under degraded or missing visual inputs. This behavior, concealed by dataset imbalances and insufficient evaluation metrics, poses significant risks in safety-critical scenarios like autonomous driving. We further observe that VLMs possess inherent corruption-awareness but only explicitly acknowledge these issues when directly prompted. Given the challenges and inspired by the inherent corruption awareness, we propose Robust Agentic Utilization (RAU), leveraging VLMs' corruption awareness and agentic planning with external tools to enhance perception reliability for downstream tasks. Our study challenges existing evaluation paradigms and provides a roadmap toward more robust and interpretable autonomous driving systems.
Latent diffusion models have demonstrated superior performance over traditional methods in generating highly detailed and aesthetically pleasing images, which makes them widely used for various image generation and editing tasks, including outpainting. However, most LDM-based outpainting methods impose constraints on resolution and aspect ratio, often leading to the loss of local details and blurring. One way to address these issues is progressive outpainting, where the image is extended outward incrementally. However, naive progressive outpainting suffers from two key challenges: (1) difficulty in effectively capturing global context, making it hard to maintain the original context, and (2) a tendency to generate unnatural patterns. These challenges are particularly pronounced in art, where artists pre-design the composition before painting. As a result, existing methods often introduce visual inconsistencies that distract the viewer and diminish the intended artistic emphasis. To address these limitations, we propose two types of composition planning modules that enhance progressive outpainting by leveraging global structural guidance. These modules guide a pre-trained stable diffusion model to consider the overall composition, enabling realistic and contextually appropriate artwork completion without labor-intensive user prompts. Through experiments on diverse artwork images, we show the effectiveness of our proposed method both quantitatively and qualitatively.
Recent advances in Large Multimodal Models (LMMs) lead to significant breakthroughs in both academia and industry. One question that arises is how we, as humans, can understand their internal neural representations. This paper takes an initial step towards addressing this question by presenting a versatile framework to identify and interpret the semantics within LMMs. Specifically, 1) we first apply a Sparse Autoencoder(SAE) to disentangle the representations into human understandable features. 2) We then present an automatic interpretation framework to interpreted the open-semantic features learned in SAE by the LMMs themselves. We employ this framework to analyze the LLaVA-NeXT-8B model using the LLaVA-OV-72B model, demonstrating that these features can effectively steer the model's behavior. Our results contribute to a deeper understanding of why LMMs excel in specific tasks, including EQ tests, and illuminate the nature of their mistakes along with potential strategies for their rectification. These findings offer new insights into the internal mechanisms of LMMs and suggest parallels with the cognitive processes of the human brain.
A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognition
PDF ↗Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved robustness to factors like environment appearance change, but with the downside that the required training and/or matching compute scales with the number of distinct environmental conditions encountered. Here, we propose Hyperdimensional One Place Signatures (HOPS) to simultaneously improve the performance, compute and scalability of these state-of-the-art approaches by fusing the descriptors from multiple reference sets captured under different conditions. HOPS scales to any number of environmental conditions by leveraging the Hyperdimensional Computing framework. Extensive evaluations demonstrate that our approach is highly generalizable and consistently improves recall performance across all evaluated VPR methods and datasets by large margins. Arbitrarily fusing reference images without compute penalty enables numerous other useful possibilities, three of which we demonstrate here: improved performance with reduced dimensionality descriptors, stacking synthetic images, and coarse localization to an entire traverse or environmental section.
Recently, Multi-modal Large Language Models (MLLMs) have shown remarkable effectiveness for multi-modal tasks due to their ability of cross-modal understanding. However, processing long sequences of visual tokens extracted from visual backbones poses challenges for deployment in real-time applications. To address this issue, we introduce FOLDER, a simple yet effective plug-and-play module designed to reduce the length of the visual token sequence, mitigating computational and memory demands during both training and inference. Through a comprehensive analysis of the token reduction process in the vision encoder, we analyze the information loss introduced by different reduction strategies and develop FOLDER to preserve key information while removing visual redundancy. We show the effectiveness of FOLDER by integrating it into the visual backbone of various MLLMs, significantly accelerating the inference phase. Furthermore, we evaluate its utility as a training accelerator or even performance booster for MLLMs. FOLDER achieves comparable or even better performance than the original models, while dramatically reducing complexity by removing up to 70% of visual tokens. Our code is available at https://github.com/anakin-skywalker-Joseph/Folder.
Single domain generalization aims to learn a model with good generalization ability from a single source domain. Recent advances in this field have focused on increasing the diversity of the training data through style (e.g., color and texture) augmentation. However, most existing methods apply uniform perturbations to the entire image, failing to simulate complex images with multiple distinct stylistic regions. To address this, we propose a "Split-And-Combine" (SAC) strategy to enhance style diversity. Specifically, SAC first performs patch-aware augmentation, which splits an image into multiple patches and applies style augmentation independently to each patch, enabling distinct color variations across regions. Then, SAC combines these patches to reconstruct a complete image and applies adaptive random convolutions, which utilizes a deformable convolution layer with random and Gaussian filters to enhance texture diversity while preserving object integrity. Notably, SAC leverages entropy as a risk assessment criterion to adaptively determine whether a sample should undergo augmentation within the iterative process of random convolutions, preventing excessive augmentation. Furthermore, SAC introduces an energy-based distribution discrepancy score to quantify out-of-distribution likelihood, systematically expanding the augmented data's distribution. SAC can serve as a plug-and-play component to improve the performance of recent methods. Extensive experiments on four datasets demonstrate the effectiveness of SAC.
We present MeshLLM, a novel framework that leverages large language models (LLMs) to understand and generate text-serialized 3D meshes. Our approach addresses key limitations in existing methods, including the limited dataset scale when catering to LLMs' token length and the loss of 3D structural information during mesh serialization. We introduce a Primitive-Mesh decomposition strategy, which divides 3D meshes into structurally meaningful subunits. This enables the creation of a large-scale dataset with 1500k+ samples, almost 50x larger than previous methods, which aligns better with the LLM scaling law principles. Furthermore, we propose inferring face connectivity from vertices and local mesh assembly training strategies, significantly enhancing the LLMs' ability to capture mesh topology and spatial structures. Experiments show that MeshLLM outperforms the state-of-the-art LLaMA-Mesh in both mesh generation quality and shape understanding, highlighting its great potential in processing text-serialized 3D meshes.
Neural fields provide a memory-efficient representation of data, which can effectively handle diverse modalities and large-scale data. However, learning to map neural fields often requires large amounts of training data and computations, which can be limited to resource-constrained edge devices. One approach to tackle this limitation is to leverage Federated Meta-Learning (FML), but traditional FML approaches suffer from privacy leakage. To address these issues, we introduce a novel FML approach called FedMeNF. FedMeNF utilizes a new privacy-preserving loss function that regulates privacy leakage in the local meta-optimization. This enables the local meta-learner to optimize quickly and efficiently without retaining the client's private data. Our experiments demonstrate that FedMeNF achieves fast optimization speed and robust reconstruction performance, even with few-shot or non-IID data across diverse data modalities, while preserving client data privacy.
MeasureXpert: Automatic Anthropometric Measurement Extraction from Two Unregistered, Partial, Posed, and Dressed Body Scans
PDF ↗While automatic anthropometric measurement extraction has witnessed growth in recent years, effective, non-contact, and precise measurement methods for dressed humans in arbitrary poses are still lacking, limiting the widespread application of this technology. The occlusion caused by clothing and the adverse influence of posture on body shape significantly increase the complexity of this task. Additionally, current methods often assume the availability of a complete 3D body mesh in a canonical pose (e.g., "A" or "T" pose), which is not always the case in practice. To address these challenges, we propose MeasureXpert, a novel learning-based model that requires only two unregistered, partial, and dressed body scans as input, and accommodates entirely independent and arbitrary poses for each scan. MeasureXpert computes a comprehensive representation of the naked body shape by synergistically fusing features from the front- and back-view partial point clouds. The comprehensive representation obtained is mapped onto a 3D undressed body shape space, assuming a canonical posture and incorporating predefined measurement landmarks. A point-based offset optimization is also developed to refine the reconstructed complete body shape, enabling accurate regression of measurement values. To train the proposed model, a new large-scale dataset, consisting of 300K samples, was synthesized. The proposed model was validated using two publicly available real-world datasets and was compared with different relevant methods. Extensive experimental results demonstrate that MeasureXpert achieves superior performance compared to the reference methods. The code and dataset are available at: MeasureXpertProject.
Generalized Deep Multi-view Clustering via Causal Learning with Partially Aligned Cross-view Correspondence
PDF ↗Multi-view clustering (MVC) aims to explore the common clustering structure across multiple views. Many existing MVC methods heavily rely on the assumption of view consistency, where alignments for corresponding samples across different views are ordered in advance. However, real-world scenarios often present a challenge as only partial data is consistently aligned across different views, restricting the overall clustering performance. In this work, we consider the model performance decreasing phenomenon caused by data order shift (i.e., from fully to partially aligned) as a generalized multi-view clustering problem. To tackle this problem, we design a causal multi-view clustering network, termed CauMVC. We adopt a causal modeling approach to understand multi-view clustering procedure. To be specific, we formulate the partially aligned data as an intervention and multi-view clustering with partially aligned data as an post-intervention inference. However, obtaining invariant features directly can be challenging. Thus, we design a Variational Auto-Encoder for causal learning by incorporating an encoder from existing information to estimate the invariant features. Moreover, a decoder is designed to perform the post-intervention inference. Lastly, we design a contrastive regularizer to capture sample correlations. To the best of our knowledge, this paper is the first work to deal generalized multi-view clustering via causal learning. Empirical experiments on both fully and partially aligned data illustrate the strong generalization and effectiveness of CauMVC.
3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient objects, leading to artifacts in the rendered images. We identify that the Gaussian densification process, while enhancing scene detail capture, unintentionally contributes to these artifacts by growing additional Gaussians that model transient disturbances. To address this, we propose RobustSplat, a robust solution based on two critical designs. First, we introduce a delayed Gaussian growth strategy that prioritizes optimizing static scene structure before allowing Gaussian splitting/cloning, mitigating overfitting to transient objects in early optimization. Second, we design a scale-cascaded mask bootstrapping approach that first leverages lower-resolution feature similarity supervision for reliable initial transient mask estimation, taking advantage of its stronger semantic consistency and robustness to noise, and then progresses to high-resolution supervision to achieve more precise mask prediction. Extensive experiments on multiple challenging datasets show that our method outperforms existing methods, clearly demonstrating the robustness and effectiveness of our method. Our project page is https://fcyycf.github.io/RobustSplat/.
Vision Transformers (ViTs) have delivered remarkable performence through global self-attention, yet their quadratic complexity can become prohibitive for high-resolution inputs. In this work, we present ViT-Linearizer, a cross-architecture distillation framework that transfers rich ViT representations into a linear-time, recurrent-style model. Our approach leverages 1) activation matching, an intermediate constraint that encourages a student to align its token-wise dependencies with those produced by the teacher, and 2) masked prediction, a contextual reconstruction objective that requires the student to predict the teacher's representations for unseen (masked) tokens, to effectively distill the quadratic self-attention knowledge into the student while maintaining efficient complexity. Empirically, our method provides notable speedups particularly for high-resolution tasks, significantly addressing the hardware challenges in inference. Additionally, it also elevates Mamba-based architectures' performance on standard vision benchmarks, achieving a competitive 84.3% top-1 accuracy on ImageNet with a base-sized model. Our results underscore the good potential of RNN-based solutions for large-scale visual tasks, bridging the gap between theoretical efficiency and real-world effectiveness.
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
PDF ↗In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it effectively. Many navigation approaches primarily define success by proximity to the target, often overlooking the necessity for optimal positioning that facilitates subsequent manipulation. To address this, we introduce \ours, a benchmark dataset comprising over 100k samples that provide training data for models to learn optimal final navigation positions for seamless transition to manipulation. Our dataset includes affordance-grounded floor labels collected from diverse kitchen environments, in which robotic mobile manipulators of different models attempt to grasp target objects amidst clutter. Using a fully automated pipeline, we simulate diverse real-world scenarios and generate affordance labels for optimal manipulation positions. Visual data are collected from RGB-D inputs captured by a first-person view camera mounted on the robotic arm, ensuring consistency in viewpoint during data collection. We also develop a lightweight baseline model, \ourmodel, for navigation affordance grounding that demonstrates promising performance on the \ours benchmark. Our approach enables models to learn affordance-based final positioning that accommodates different arm types and platform heights, thereby paving the way for more robust and generalizable integration of navigation and manipulation in embodied AI.
Efficient Input-level Backdoor Defense on Text-to-Image Synthesis via Neuron Activation Variation
PDF ↗In recent years, text-to-image (T2I) diffusion models have gained significant attention for their ability to generate high-quality images reflecting text prompts. However, their growing popularity has also led to the emergence of backdoor threats, posing substantial risks. Currently, effective defense strategies against such threats are lacking due to the diversity of backdoor targets in T2I synthesis. In this paper, we propose NaviT2I, an efficient input-level backdoor defense framework against diverse T2I backdoors. Our approach is based on the new observation that trigger tokens tend to induce significant neuron activation variation in the early stage of the diffusion generation process, a phenomenon we term Early-step Activation Variation. Leveraging this insight, NaviT2I navigates T2I models to prevent malicious inputs by analyzing Neuron activation variations caused by input tokens. Extensive experiments show that NaviT2I significantly outperforms the baselines in both effectiveness and efficiency across diverse datasets, various T2I backdoors, and different model architectures including UNet and DiT. Furthermore, we show that our method remains effective under potential adaptive attacks.
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research perform the 3D object detection task by integrating images from camera and perform modality fusion in BEV space. However, the potential of the radar and the fusion mechanism is still largely unexplored, hindering the performance improvement. In this study, we propose a cross-view two-stage fusion network called CVFusion. In the first stage, we design a radar guided iterative (RGIter) BEV fusion module to generate high-recall 3D proposal boxes. In the second stage, we aggregate features from multiple heterogeneous views including points, image, and BEV for each proposal. These comprehensive instance level features greatly help refine the proposals and generate high-quality predictions. Extensive experiments on public datasets show that our method outperforms the previous state-of-the-art methods by a large margin, with 9.10% and 3.68% mAP improvements on View-of-Delft (VoD) and TJ4DRadSet, respectively. Our code will be available at https://github.com/zhzhzhzhzhz/CVFusion.
We present TAR3D, a novel framework that consists of a 3D-aware Vector Quantized-Variational AutoEncoder (VQVAE) and a Generative Pre-trained Transformer (GPT) to generate high-quality 3D assets. The core insight of this work is to migrate the multimodal unification and promising learning capabilities of the next-token prediction paradigm to conditional 3D object generation. To achieve this, the3D VQ-VAE first encodes a wide range of 3D shapes into a compact triplane latent space and utilizes a set of discrete representations from a trainable codebook to reconstruct fine-grained geometries under the supervision of query point occupancy. Then, the 3D GPT, equipped with a custom triplane position embedding called TriPE, predicts the codebook index sequence with prefilling prompt tokensin an autoregressive manner so that the composition of 3D geometries can be modeled part by part. Extensive experiments on ShapeNet and Objaverse demonstrate that TAR3D can achieve superior generation quality over existing methods in text-to-3D and image-to-3D tasks.