Event cameras rely on motion to obtain information about scene appearance. This means that appearance and motion are inherently linked: either both are present and recorded in the event data, or neither is captured. Previous works treat the recovery of these two visual quantities as separate tasks, which does not fit with the above-mentioned nature of event cameras and overlooks the inherent relations between them. We propose an unsupervised learning framework that jointly estimates optical flow (motion) and image intensity (appearance) using a single network. From the data generation model, we newly derive the event-based photometric error as a function of optical flow and image intensity. This error is further combined with the contrast maximization framework to form a comprehensive loss function that provides proper constraints for both flow and intensity estimation. Exhaustive experiments show our method's state-of-the-art performance: in optical flow estimation, it reduces EPE by 20% and AE by 25% compared to unsupervised approaches, while delivering competitive intensity estimation results, particularly in high dynamic range scenarios. Our method also achieves shorter inference time than all other optical flow methods and many of the image reconstruction methods, while they output only one quantity. Project page: https://github.com/tub-rip/E2FAI
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Controllable scene generation could reduce the cost of diverse data collection substantially for autonomous driving. Prior works formulate the traffic layout generation as a predictive progress, either by denoising entire sequences at once or by iteratively predicting the next frame. However, full sequence denoising hinders online reaction, while the latter's short-sighted next-frame prediction lacks precise goal-state guidance. Further, the learned model struggles to generate complex or challenging scenarios due to a large number of safe and ordinary driving behaviors from open datasets. To overcome these, we introduce Nexus, a decoupled scene generation framework that improves reactivity and goal conditioning by simulating both ordinal and challenging scenarios from fine-grained tokens with independent noise states. At the core of the decoupled pipeline is the integration of a partial noise-masking training strategy and a noise-aware schedule that ensures timely environmental updates throughout the denoising process. To complement challenging scenario generation, we collect a dataset consisting of complex corner cases. It covers 540 hours of simulated data, including high-risk interactions such as cut-in, sudden braking, and collision. Nexus achieves superior generation realism while preserving reactivity and goal orientation, with a 40% reduction in displacement error. We further demonstrate that Nexus improves closed-loop planning by 20% through data augmentation and showcase its capability in safety-critical data generation.
In this paper, we address the problem of novel class discovery (NCD), which aims to cluster novel classes by leveraging knowledge from disjoint known classes. While recent advances have made significant progress in this area, existing NCD methods face two major limitations. First, they primarily focus on single-view data (e.g., images), overlooking the increasingly common multi-view data, such as multi-omics datasets used in disease diagnosis. Second, their reliance on pseudo-labels to supervise novel class clustering often results in unstable performance, as pseudo-label quality is highly sensitive to factors such as data noise and feature dimensionality. To address these challenges, we propose a novel framework named Intra-view and Inter-view Correlation Guided Multi-view Novel Class Discovery (IICMVNCD), which is the first attempt to explore NCD in multi-view setting so far. Specifically, at the intra-view level, leveraging the distributional similarity between known and novel classes, we employ matrix factorization to decompose features into view-specific shared base matrices and factor matrices. The base matrices capture distributional consistency among the two datasets, while the factor matrices model pairwise relationships between samples. At the inter-view level, we utilize view relationships among known classes to guide the clustering of novel classes. This includes generating predicted labels through the weighted fusion of factor matrices and dynamically adjusting view weights of known classes based on the supervision loss, which are then transferred to novel class learning. Experimental results validate the effectiveness of our proposed approach.
Towards Video Thinking Test: A Holistic Benchmark for Advanced Video Reasoning and Understanding
PDF ↗Human intelligence requires both correctness and robustness, with the former being foundational for the latter. In video understanding, correctness ensures the accurate interpretation of visual content, and robustness maintains consistent performance in challenging conditions. Despite advances in video large language models (video LLMs), existing benchmarks inadequately reflect the gap between these models and human intelligence in maintaining correctness and robustness in video interpretation. We introduce the Video Turing Test (Video-TT), a benchmark designed to assess if video LLMs can interpret real-world videos as effectively as humans.Video-TT differentiates between errors due to inadequate frame sampling and 1) genuine gaps in understanding complex visual narratives, and 2) evaluates robustness against natural adversarial questions. Video-TT comprises 1,000 YouTube Shorts videos, each with one open-ended question and four adversarial questions that probe visual and narrative complexity. Our evaluation shows a significant gap between video LLMs and human performance, underscoring the need for benchmarks like Video-TT to advance video understanding.
The multi-modal remote sensing foundation model (MM-RSFM) has significantly advanced various Earth observation tasks, such as urban planning, environmental monitoring, and natural disaster management. However, most existing approaches generally require the training of separate backbone networks for each data modality, leading to redundancy and inefficient parameter utilization. Moreover, prevalent pre-training methods typically apply self-supervised learning (SSL) techniques from natural images without adequately accommodating the characteristics of remote sensing (RS) images, such as the complicated semantic distribution within a single RS image. In this work, we present SkySense V2, a unified MM-RSFM that employs a single transformer backbone to handle multiple modalities. This backbone is pre-trained with a novel SSL strategy tailored to the distinct traits of RS data. In particular, SkySense V2 incorporates an innovative adaptive patch merging module and learnable modality prompt tokens to address challenges related to varying resolutions and limited feature diversity across modalities. In additional, we incorporate the mixture of experts (MoE) module to further enhance the performance of the foundation model. SkySense V2 demonstrates impressive generalization abilities through an extensive evaluation involving 16 datasets over 7 tasks, outperforming SkySense by an average of 1.8 points.
In this paper, we propose a novel diffusion-based multi-condition controllable framework for video head swapping, which seamlessly transplant a human head from a static image into a dynamic video, while preserving the original body and background of target video, and further allowing to tweak head expressions and movements during swapping as needed. Existing face-swapping methods mainly focus on localized facial replacement neglecting holistic head morphology, while head-swapping approaches struggling with hairstyle diversity and complex backgrounds, and none of these methods allow users to modify the transplanted head's expressions after swapping. To tackle these challenges, our method incorporates several innovative strategies through a unified latent diffusion paradigm. 1) Identity-preserving context fusion: We propose a shape-agnostic mask strategy to explicitly disentangle foreground head identity features from background/body contexts, combining hair enhancement strategy to achieve robust holistic head identity preservation across diverse hair types and complex backgrounds. 2) Expression-aware landmark retargeting and editing: We propose a disentangled 3DMM-driven retargeting module that decouples identity, expression, and head poses, minimizing the impact of original expressions in input images and supporting expression editing. While a scale-aware retargeting strategy is further employed to minimize cross-identity expression distortion for higher transfer precision. Experimental results demonstrate that our method excels in seamless background integration while preserving the identity of the source portrait, as well as showcasing superior expression transfer capabilities applicable to both real and virtual characters.
PersonaCraft: Personalized and Controllable Full-Body Multi-Human Scene Generation Using Occlusion-Aware 3D-Conditioned Diffusion
PDF ↗We present PersonaCraft, a framework for controllable and occlusion-robust full-body personalized image synthesis of multiple individuals in complex scenes. Current methods struggle with occlusion-heavy scenarios and complete body personalization, as 2D pose conditioning lacks 3D geometry, often leading to ambiguous occlusions and anatomical distortions, and many approaches focus solely on facial identity. In contrast, our PersonaCraft integrates diffusion models with 3D human modeling, employing SMPLx-ControlNet, to utilize 3D geometry like depth and normal maps for robust 3D-aware pose conditioning and enhanced anatomical coherence. To handle fine-grained occlusions, we propose Occlusion Boundary Enhancer Network that exploits depth edge signals with occlusion-focused training, and Occlusion-Aware Classifier-Free Guidance strategy that selectively reinforces conditioning in occluded regions without affecting unoccluded areas. PersonaCraft can seamlessly be combined with Face Identity ControlNet, achieving full-body multi-human personalization and thus marking a significant advancement beyond prior approaches that concentrate only on facial identity. Our dual-pathway body shape representation with SMPLx-based shape parameters and textual refinement, enables precise full-body personalization and flexible user-defined body shape adjustments. Extensive quantitative experiments and user studies demonstrate that PersonaCraft significantly outperforms existing methods in generating high-quality, multi-person images with accurate personalization and robust occlusion handling.
RoBridge: A Hierarchical Architecture Bridging Cognition and Execution for General Robotic Manipulation
PDF ↗Operating robots in open-ended scenarios with diverse tasks is a crucial research and application direction in robotics. While recent progress in natural language processing and large multimodal models has enhanced robots' ability to understand complex instructions, robot manipulation still faces the procedural skill dilemma and the declarative skill dilemma in open environments. Existing methods often compromise cognitive and executive capabilities. To address these challenges, in this paper, we propose RoBridge, a hierarchical intelligent architecture for general robotic manipulation. It consists of a high-level cognitive planner (HCP) based on a large-scale pre-trained vision-language model (VLM), an invariant operable representation (IOR) serving as a symbolic bridge, and a generalist embodied agent (GEA). RoBridge maintains the declarative skill of VLM and unleashes the procedural skill of reinforcement learning, effectively bridging the gap between cognition and execution. RoBridge demonstrates significant performance improvements over existing baselines, achieving a 75% success rate on new tasks and an 83% average success rate in sim-to-real generalization using only five real-world data samples per task. This work represents a significant step towards integrating cognitive reasoning with physical execution in robotic systems, offering a new paradigm for general robotic manipulation.
MOSAIC: Generating Consistent, Privacy-Preserving Scenes from Multiple Depth Views in Multi-Room Environments
PDF ↗We introduce a diffusion-based approach for generating privacy-preserving digital twins of multi-room indoor environments from depth images only. Central to our approach is a novel Multi-view Overlapped Scene Alignment with Implicit Consistency (MOSAIC) model that explicitly considers cross-view dependencies within the same scene in the probabilistic sense. MOSAIC operates through a multi-channel inference-time optimization that avoids error accumulation common in sequential or single-room constraints in panorama-based approaches. MOSAIC scales to complex scenes with zero extra training and provably reduces the variance during denoising process when more overlapping views are added, leading to improved generation quality. Experiments show that MOSAIC outperforms state-of-the-art baselines on image fidelity metrics in reconstructing complex multi-room environments.
In this paper we tackle a fundamental question: "Can we train latent diffusion models together with the variational auto-encoder (VAE) tokenizer in an end-to-end manner?" Traditional deep-learning wisdom dictates that end-to-end training is often preferable when possible. However, for latent diffusion transformers, it is observed that end-to-end training both VAE and diffusion-model using standard diffusion-loss is ineffective, even causing a degradation in final performance. We show that while diffusion loss is ineffective, end-to-end training can be unlocked through the representation-alignment (REPA) loss -- allowing both VAE and diffusion model to be jointly tuned during the training process. Despite its simplicity, the proposed training recipe (REPA-E) shows remarkable performance; speeding up diffusion model training by over 17x and 45x over REPA and vanilla training recipes, respectively. Interestingly, we observe that end-to-end tuning with REPA-E also improves the VAE itself; leading to improved latent space structure and downstream generation performance. In terms of final performance, our approach sets a new state-of-the-art; achieving FID of 1.26 and 1.83 with and without classifier-free guidance on ImageNet 256x256. Code is available at https://end2end-diffusion.github.io.
Shadows introduce challenges such as reduced brightness, texture deterioration, and color distortion in images, complicating a holistic solution. This study presents ShadowHack, a divide-and-conquer strategy that tackles these complexities by decomposing the original task into luminance recovery and color remedy. To brighten shadow regions and repair the corrupted textures in the luminance space, we customize LRNet, a U-shaped network with a rectified outreach attention module, to enhance information interaction and recalibrate contaminated attention maps. With luminance recovered, CRNet then leverages cross-attention mechanisms to revive vibrant colors, producing visually compelling results. Extensive experiments on multiple datasets are conducted to demonstrate the superiority of ShadowHack over existing state-of-the-art solutions both quantitatively and qualitatively, highlighting the effectiveness of our design. Our code will be made publicly available.
High-Resolution Spatiotemporal Modeling with Global-Local State Space Models for Video-Based Human Pose Estimation
PDF ↗Modeling high-resolution spatiotemporal representations, including both global dynamic contexts (e.g., holistic human motion tendencies) and local motion details (e.g., high-frequency changes of keypoints), is essential for video-based human pose estimation (VHPE). Current state-of-the-art methods typically unify spatiotemporal learning within a single type of modeling structure (convolution or attention-based blocks), which inherently have difficulties in balancing global and local dynamic modeling and may bias the network to one of them, leading to suboptimal performance. Moreover, existing VHPE models suffer from quadratic complexity when capturing global dependencies, limiting their applicability especially for high-resolution sequences. Recently, the state space models (known as Mamba) have demonstrated significant potential in modeling long-range contexts with linear complexity; however, they are restricted to 1D sequential data. In this paper, we present a novel framework that extends Mamba from two aspects to separately learn global and local high-resolution spatiotemporal representations for VHPE. Specifically, we first propose a Global Spatiotemporal Mamba, which performs 6D selective space-time scan and spatial- and temporal-modulated scan merging to efficiently extract global representations from high-resolution sequences. We further introduce a windowed space-time scan-based Local Refinement Mamba to enhance the high-frequency details of localized keypoint motions. Extensive experiments on four benchmark datasets demonstrate that the proposed model outperforms state-of-the-art VHPE approaches while achieving better computational trade-offs.
Few-shot image generation aims to generate diverse and high-quality images for an unseen class given only a few examples in that class. A key challenge in this task is balancing category consistency and image diversity, which often compete with each other. Moreover, existing methods offer limited control over the attributes of newly generated images. In this work, we propose Hyperbolic Diffusion Autoencoders (HypDAE), a novel approach that operates in hyperbolic space to capture hierarchical relationships among images from seen categories. By leveraging pre-trained foundation models, HypDAE generates diverse new images for unseen categories with exceptional quality by varying stochastic subcodes or semantic codes. Most importantly, the hyperbolic representation introduces an additional degree of control over semantic diversity through the adjustment of radii within the hyperbolic disk. Extensive experiments and visualizations demonstrate that HypDAE significantly outperforms prior methods by achieving a better balance between preserving category-relevant features and promoting image diversity with limited data. Furthermore, HypDAE offers a highly controllable and interpretable generation process.
Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in real scenarios due to casual object occlusions and unsatisfactory data collected by 3D sensors. To this end, existing methods focus on enhancing point cloud quality by developing dedicated denoising and completion models. However, due to the isolation between the point cloud enhancement and downstream tasks, these methods fail to work in various real-world domains. In addition, the conflicting objectives between denoising and completing tasks further limit the ensemble paradigm to preserve critical geometric features. To tackle the above challenges, we propose a unified point-level prompting method that reformulates point cloud denoising and completion as a prompting mechanism, enabling robust analysis in a parameter-efficient manner. We start by introducing a Rectification Prompter to adapt to noisy points through the predicted rectification vector prompts, effectively filtering noise while preserving intricate geometric features essential for accurate analysis. Sequentially, we further incorporate a Completion Prompter to generate auxiliary point prompts based on the rectified point clouds, facilitating their robustness and adaptability. Finally, a Shape-Aware Unit module is exploited to efficiently unify and capture the filtered geometric features for the downstream point cloud analysis. Extensive experiments on four datasets demonstrate the superiority and robustness of our method when handling noisy and incomplete point cloud data against existing state-of-the-art methods.
While numerous recent benchmarks focus on evaluating generic Vision-Language Models (VLMs), they do not effectively address the specific challenges of geospatial applications.Generic VLM benchmarks are not designed to handle the complexities of geospatial data, an essential component for applications such as environmental monitoring, urban planning, and disaster management.Key challenges in the geospatial domain include temporal change detection, large-scale object counting, tiny object detection, and understanding relationships between entities in remote sensing imagery.To bridge this gap, we present GEOBench-VLM, a comprehensive benchmark specifically designed to evaluate VLMs on geospatial tasks, including scene understanding, object counting, localization, fine-grained categorization, segmentation, and temporal analysis. Our benchmark features over 10,000 manually verified instructions and spanning diverse visual conditions, object types, and scales.We evaluate several state-of-the-art VLMs to assess performance on geospatial-specific challenges. The results indicate that although existing VLMs demonstrate potential, they face challenges when dealing with geospatial-specific tasks, highlighting the room for further improvements. Notably, the best-performing LLaVa-OneVision achieves only 41.7% accuracy on MCQs, slightly more than GPT-4o, which is approximately double the random guess performance. Our benchmark will be publicly available.
Modeling 3D human-object interaction (HOI) is a problem of great interest for computer vision and a key enabler for virtual and mixed-reality applications. Existing methods work in a one-way direction: some recover plausible human interactions conditioned on a 3D object; others recover the object pose conditioned on a human pose. Instead, we provide the first unified model - TriDi which works in any direction. Concretely, we generate Human, Object, and Interaction modalities simultaneously with a new three-way diffusion process, allowing to model seven distributions with one network. We implement TriDi as a transformer attending to the various modalities' tokens, thereby discovering conditional relations between them. The user can control the interaction either as a text description of HOI or a contact map. We embed these two representations onto a shared latent space, combining the practicality of text descriptions with the expressiveness of contact maps. Using a single network, TriDi unifies all the special cases of prior work and extends to new ones modeling a family of seven distributions. Remarkably, despite using a single model, TriDi generated samples surpass one-way specialized baselines on GRAB and BEHAVE in terms of both qualitative and quantitative metrics, and demonstrating better diversity. We show applicability of TriDi to scene population, generating object for human-contact datasets, and generalization to unseen object geometry.
This paper presents SeHDR, a novel high dynamic range 3D Gaussian Splatting (HDR-3DGS) approach for generating HDR novel views given multi-view LDR images. Unlike existing methods that typically require the multi-view LDR input images to be captured from different exposures, which are tedious to capture and more likely to suffer from errors (e.g., object motion blurs and calibration/alignment inaccuracies), our approach learns the HDR scene representation from multi-view LDR images of a single exposure. Our key insight to this ill-posed problem is that by first estimating **Bracketed 3D Gaussians** (i.e., with different exposures) from single-exposure multi-view LDR images, we may then be able to merge these bracketed 3D Gaussians into an HDR scene representation. Specifically, SeHDR first learns base 3D Gaussians from single-exposure LDR inputs, where the spherical harmonics parameterize colors in a linear color space. We then estimate multiple 3D Gaussians with identical geometry but varying linear colors conditioned on exposure manipulations. Finally, we propose the Differentiable Neural Exposure Fusion (NeEF) to integrate the base and estimated 3D Gaussians into HDR Gaussians for novel view rendering. Extensive experiments demonstrate that SeHDR outperforms existing methods as well as carefully designed baselines.
3D Gaussian Splatting has demonstrated notable success in large-scale scene reconstruction, but challenges persist due to high training memory consumption and storage overhead. Hybrid representations that integrate implicit and explicit features offer a way to mitigate these limitations. However, when applied in parallelized block-wise training, two critical issues arise since reconstruction accuracy deteriorates due to reduced data diversity when training each block independently, and parallel training restricts the number of divided blocks to the available number of GPUs. To address these issues, we propose Momentum-GS, a novel approach that leverages momentum-based self-distillation to promote consistency and accuracy across the blocks while decoupling the number of blocks from the physical GPU count. Our method maintains a teacher Gaussian decoder updated with momentum, ensuring a stable reference during training. This teacher provides each block with global guidance in a self-distillation manner, promoting spatial consistency in reconstruction. To further ensure consistency across the blocks, we incorporate block weighting, dynamically adjusting each block's weight according to its reconstruction accuracy. Extensive experiments on large-scale scenes show that our method consistently outperforms existing techniques, achieving a 18.7% improvement in LPIPS over CityGaussian with much fewer divided blocks and establishing a new state of the art.
Designing effective embodied multi-agent systems is critical for solving complex real-world tasks across domains. Due to the complexity of multi-agent embodied systems, existing methods fail to automatically generate safe and efficient training data for such systems. To this end, we propose the concept of compositional constraints for embodied multi-agent systems, addressing the challenges arising from collaboration among embodied agents. We design various interfaces tailored to different types of constraints, enabling seamless interaction with the physical world. Leveraging compositional constraints and specifically designed interfaces, we develop an automated data collection framework for embodied multi-agent systems and introduce the first benchmark for embodied multi-agent manipulation, RoboFactory. Based on RoboFactory benchmark, we adapt and evaluate the method of imitation learning and analyzed its performance in different difficulty agent tasks. Furthermore, we explore the architectures and training strategies for multi-agent imitation learning, aiming to build safe and efficient embodied multi-agent systems.
Integrating Task-Specific and Universal Adapters for Pre-Trained Model-based Class-Incremental Learning
PDF ↗Class-Incremental Learning (CIL) requires a learning system to continually learn new classes without forgetting. Existing pre-trained model-based CIL methods often freeze the pre-trained network and adapt to incremental tasks using additional lightweight modules such as adapters. However, incorrect module selection during inference hurts performance, and task-specific modules often overlook shared general knowledge, leading to errors on distinguishing between similar classes across tasks. To address the aforementioned challenges, we propose integrating Task-Specific and Universal Adapters (TUNA) in this paper. Specifically, we train task-specific adapters to capture the most crucial features relevant to their respective tasks and introduce an entropy-based selection mechanism to choose the most suitable adapter. Furthermore, we leverage an adapter fusion strategy to construct a universal adapter, which encodes the most discriminative features shared across tasks. We combine task-specific and universal adapter predictions to harness both specialized and general knowledge during inference. Extensive experiments on various benchmark datasets demonstrate the state-of-the-art performance of our approach. Code is available at https://github.com/LAMDA-CL/ICCV2025-TUNA