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Yihong Tang, Haicheng Liao, Tong Nie, Junlin He, Ao Qu, Kehua Chen, Wei Ma, Zhenning Li, Lijun Sun, Chengzhong Xu

End-to-end autonomous driving (AD) systems increasingly adopt vision-language-action (VLA) models, yet they ignore the passenger's emotional state, which is central to comfort and AD acceptance. We introduce Open-Domain End-to-End (OD-E2E) AD, where an autonomous vehicle must interpret free-form natural-language commands, infer the emotion, and plan a physically feasible trajectory. We propose E3AD, an emotion-aware VLA framework that augments semantic understanding with two cognitively inspired components: a continuous Valence-Arousal-Dominance (VAD) emotion model that captures tone and urgency from language, and a dual-pathway spatial reasoning module that fuses egocentric and allocentric views for human-like spatial cognition. A consistency-oriented training scheme, combining modality pretraining with preference-based alignment, further enforces coherence between emotional intent and driving actions. Across real-world datasets, E3AD improves visual grounding and waypoint planning and achieves state-of-the-art (SOTA) VAD correlation for emotion estimation. These results show that injecting emotion into VLA-style driving yields more human-aligned grounding, planning, and feedback.

Byungjun Kim, Taeksoo Kim, Junyoung Lee, Hanbyul Joo

Recent progress in 3D reconstruction has made it easy to create realistic digital twins from everyday environments. However, current digital twins remain largely static--limited to navigation and view synthesis without embodied interactivity. To bridge this gap, we introduce Dexterous World Model (DWM), an scene-action-conditioned video diffusion model enabling embodied interaction within static 3D scenes. Given a static 3D scene rendering and an egocentric hand motion sequence, DWM generates temporally coherent videos depicting plausible human-scene interactions. Our approach conditions video generation on (1) static scene renderings following a specified camera trajectory to ensure spatial consistency, and (2) egocentric hand mesh renderings that encode both geometry and motion cues in the egocentric view to model action-conditioned dynamics directly. We train our model on a synthetic human-scene interaction dataset and real-world object manipulation dataset, then evaluate it across both synthetic and real-world egocentric benchmarks. Experiments demonstrate that DWM enables realistic, physically grounded interactions, such as grasping, opening, or moving objects, while maintaining camera and scene consistency. This framework establishes the first step toward video diffusion-based interactive digital twins, enabling embodied simulation and 3D scene interactivity from egocentric actions.

Sen Liang, Fengbin Guan, Youliang Zhang, Xin Li, Zhibo Chen

Text-driven instruction-based video editing in complex scenes remains challenging: purely textual prompts often fail to capture precise spatial relationships and physical constraints, resulting in target ambiguity and physically implausible outcomes. To address this, we propose a plan-guide-edit framework that explicitly bridges semantic intent and spatial execution. In our framework, a Chain-of-Thought (CoT)-enhanced multimodal large language model (MLLM) serves as a planner, performing structured reasoning over the video and instructions to derive a precise sequence of bounding boxes and attribute-enriched editing directives. These spatial priors then guide a box-conditioned mask generator, transforming ambiguous global retrieval into localized, context-aware refinement and producing masks that more accurately capture object scale, contact relationships, and placement. Building on these spatial and semantic signals, a diffusion-based editor integrates the masks, enriched instructions, and frame features to render high-fidelity edits that remain temporally coherent and spatially well aligned. Trained first in a modular manner and then jointly, our framework achieves superior performance with reduced data requirements, delivering precise localization in scenes with multiple similar objects and physically consistent object additions, and extensive experiments demonstrate state-of-the-art performance over multiple strong baseline methods. More details are available at: https://github.com/flying-sky999/CoT-Edit

Jiachen Lu, Hailan Shanbhag, Haitham Al Hassanieh

Reconstructing object geometry from radio frequency (RF) signals is fundamentally challenging due to the lensless imaging nature of RF sensing, which leads to low spatial resolution and high noise. Unlike light signals, RF signals can penetrate occlusions and thus capture information about hidden scenes. Existing Non-Line-of-Sight (NLoS) 3D neural reconstruction methods can recover coarse surfaces inside enclosed environments but often suffer from unstable optimization, noisy surface geometry, and surface ambiguity, failing to produce accurate zero-level sets from the signed distance field (SDF). These limitations largely stem from neglecting the role of Line-of-Sight (LoS) geometry outside the enclosed region, which provides valuable physical constraints for modeling signal propagation. In this paper, we introduce a Unified LoS and NLoS neural geometry reconstruction framework GeRaF 2.0 that leverages the outside LoS geometry to model and guide RF propagation from the LoS region into the NLoS region. By integrating visual LoS priors into the neural field formulation, GeRaF 2.0 achieves stable training and physically consistent reconstruction of both visible and hidden geometry, setting a new state-of-the-art in RF-based geometry reconstruction.

Hui Lu, Yi Yu, Yiming Yang, Chenyu Yi, Qixin Zhang, Bingquan Shen, Alex C. Kot, Xudong Jiang

Vision-Language-Action (VLA) models are vulnerable to adversarial attacks, yet universal and transferable attacks remain underexplored, as most existing patches overfit to a single model and fail in black-box settings. To address this gap, we present a systematic study of universal, transferable adversarial patches against VLA-driven robots under unknown architectures, finetuned variants, and sim-to-real shifts. We introduce UPA-RFAS (Universal Patch Attack via Robust Feature, Attention, and Semantics), a unified framework that learns a single physical patch in a shared feature space while promoting cross-model transfer. UPA-RFAS combines (i) a feature-space objective with an l_1 deviation prior and repulsive InfoNCE loss to induce transferable representation shifts, (ii) a robustness-augmented two-phase min-max procedure where an inner loop learns invisible sample-wise perturbations and an outer loop optimizes the universal patch against this hardened neighborhood, and (iii) two VLA-specific losses: Patch Attention Dominance to hijack text to vision attention and Patch Semantic Misalignment to induce image-text mismatch without labels. Experiments across diverse VLA models, manipulation suites, and physical executions show that UPA-RFAS consistently transfers across models, tasks, and viewpoints, exposing a practical patch-based attack surface and establishing a strong baseline for future defenses.

Di Yang, Mahmoud Ali, Xuanlong Yu, Xi Shen, Quan Kong, Gianpiero Francesca, François Brémond

Human action detection in videos requires both semantic recognition and accurate modeling of motion. While recent video foundation models have advanced visual semantics, they still struggle to capture complex and compositional actions due to the limited representation ability of motion. Human skeleton sequences, which explicitly describe the body structure and movement, provide valuable physical and geometric motions that complement RGB videos. However, combining video and skeleton modalities faces two key challenges: (i) label-driven skeleton features are too coarse to describe fine-grained motion, and (ii) skeleton motion and RGB video lie in heterogeneous feature spaces, so current fusion strategies often cause feature interference. To address these, we propose MoVie, a unified Motion-Video processing framework that uses structured human motion as a bridge between the two signals. We first propose a Structural Motion Projection module that decomposes motion into primitive components using a learnable motion dictionary, to produce fine-grained descriptors. Then, we design a Motion-guided Feature Regularization mechanism that aligns visual features with motion through an orthogonality-based transformation, so that fine-grained motion cues can guide visual representations without collapsing semantic diversity. Extensive evaluations on Toyota Smarthome Untrimmed, Charades, Multi-THUMOS and PKU-MMD datasets demonstrate that MoVie significantly improves state-of-the-art action detection performance.

Dingkun Wei, Zehong Shen, Yan Xia, Georgios Pavlakos, Yujun Shen, Xiaowei Zhou

Human motion recovered from monocular videos often appears overly smooth or dynamically inconsistent, even when joint positions are numerically accurate. We observe that this limitation stems from the absence of reliable high-order temporal cues--velocity and acceleration--which are essential for reconstructing motion that exhibits realistic momentum, timing, and high-frequency detail. We introduce HTD-Refine, a post-processing framework that augments existing Human Motion Recovery (HMR) pipelines using explicitly estimated high-order temporal dynamics. At the core of our system is PVA-Net, a temporal transformer that infers per-joint 2D positions, 3D velocities, and 3D accelerations directly from a monocular video. These predicted dynamics serve as soft yet informative constraints in a global optimization procedure that refines world-space trajectories, significantly reducing jitter, suppressing oversmoothing, and restoring physically plausible motion. Extensive experiments on challenging in-the-wild benchmarks show that HTD-Refine consistently improves state-of-the-art HMR methods, yielding more accurate global trajectories and substantially more natural motion dynamics. Our results highlight the critical role of high-order temporal modeling in advancing monocular human motion recovery.

Chunji Lv, Zequn Chen, Donglin Di, Weinan Zhang, Hao Li, Chen Wei, Yinjie Lei, Changsheng Li

Despite advances in physics-based 3D motion synthesis, current methods face key limitations: reliance on pre-reconstructed 3D Gaussian Splatting (3DGS) built from dense multi-view images with time-consuming per-scene optimization; physics integration via either inflexible, hand-specified attributes or unstable, optimization-heavy guidance from video models using Score Distillation Sampling (SDS); and naive concatenation of prebuilt 3DGS with physics modules, which ignores physical information embedded in appearance and yields suboptimal performance. To address these issues, we propose PhysGM, a feed-forward framework that jointly predicts 3D Gaussian representation and physical properties from a single image, enabling immediate simulation and high-fidelity 4D rendering. Unlike slow appearance-agnostic optimization methods, we first pre-train a physics-aware reconstruction model that directly infers both Gaussian and physical parameters. We further refine the model with Direct Preference Optimization (DPO), aligning simulations with the physically plausible reference videos and avoiding the high-cost SDS optimization. To address the absence of a supporting dataset for this task, we propose PhysAssets, a dataset of 50K+ 3D assets annotated with physical properties and corresponding reference videos. Experiments show that PhysGM produces high-fidelity 4D simulations from a single image in one minute, achieving a significant speedup over prior work while delivering realistic renderings.

Haoze Zheng, Zihao Wang, Xianfeng Wu, Yajing Bai, Yexin Liu, Yun Li, Xiaogang Xu, Harry Yang

Single-image relighting is highly under-constrained: small illumination changes can produce large, nonlinear variations in shading, shadows, and specularities, while geometry and materials remain unobserved. Existing diffusion-based approaches either rely on intrinsic- or G-buffer-based pipelines that require dense and fragile supervision, or operate purely in latent space without physical grounding, making fine-grained control of direction, intensity, and color unreliable. We observe that full intrinsic decomposition is unnecessary for accurate relighting. Instead, sparse but physically meaningful cues--indicating where illumination should change and how materials should respond--are sufficient to guide a diffusion model. Based on this insight, we introduce LightCtrl that integrates minimal physical priors at two levels: a few-shot latent proxy encoder that extracts compact material-geometry cues from limited PBR supervision, and a lighting-aware mask that identifies illumination-sensitive regions and steers the denoiser toward shading-relevant pixels. To compensate for scarce PBR data, we refine the proxy branch using a DPO-based objective that aligns predicted cues with perceptually preferred relighting behavior. We further present ScaLight, a large-scale object-level dataset with systematically varied illumination and complete camera-light metadata, enabling physically consistent and controllable training. Across object- and scene-level benchmarks, our method achieves photometrically faithful relighting with accurate continuous control, surpassing prior diffusion- and intrinsic-based baselines, including gains of up to +2.4 dB PSNR and 35% lower RMSE under controlled lighting shifts.

Kiseok Choi, Jaemin Cho, Inchul Kim, Min H. Kim

X-ray computed tomography (CT) suffers from severe metal artifacts when high-attenuation objects such as dental fillings or orthopedic implants are present. These artifacts originate from the polychromatic nature of X-rays, where attenuation varies strongly with photon energy and material composition, breaking the monochromatic assumption used by conventional reconstruction algorithms. Recent neural rendering approaches attempt to address this mismatch through differentiable polychromatic projection models, but they still struggle with smoothness bias, loss of fine structures, and prohibitive computation when extended to large-scale cone-beam CT. We introduce a splat-based metal artifact reduction framework that incorporates a physically grounded polychromatic forward model into a continuous Gaussian representation for cone-beam CT. Each Gaussian encodes the energy-dependent attenuation of the underlying material using a compact material parameterization, which enables efficient joint optimization of geometric and material properties without relying on a metal mask. This compact attenuation formulation captures the essential variation across biological tissues and metallic implants, allowing our model to explain metal-induced nonlinearity while preserving high-frequency structure. Experiments on simulated and real cone-beam CT scans show that our method converges significantly faster and suppresses metal artifacts more effectively than existing reconstruction and neural field-based approaches.

Ying Shen, Jerry Xiong, Tianjiao Yu, Ismini Lourentzou

Recent advances in generative video modeling, driven by large-scale datasets and powerful architectures, have yielded remarkable visual realism. However, emerging evidence suggests that simply scaling data and model size does not endow these systems with an understanding of the underlying physical laws that govern real-world dynamics. Existing approaches often fail to capture or enforce such physical consistency, resulting in unrealistic motion and dynamics.In this work, we investigate whether integrating the inference of latent physical properties directly into the video generation process can equip models with the ability to produce physically plausible videos. To this end, we propose PHANTOM, a Physics-Infused Video Generation model that jointly models the visual content and latent physical dynamics. Conditioned on observed video frames and inferred physical states, PHANTOM jointly predicts latent physical dynamics and generates future video frames.PHANTOM leverages a physics-aware video representation that serves as an abstract yet informative embedding of the underlying physics, facilitating the joint prediction of physical dynamics alongside video content without requiring an explicit specification of a complex set of physical dynamics and properties. By integrating the inference of physical-aware video representation directly into the video generation process, PHANTOM produces video sequences that are both visually realistic and physically consistent.Quantitative and qualitative results on both standard video generation and physics-aware benchmarks demonstrate that PHANTOM not only outperforms existing methods in terms of adherence to physical dynamics but also delivers competitive perceptual fidelity.

Zijun Deng, Yuxin Peng

While recent video generation models achieve impressive visual quality, generating physically plausible videos remains challenging, especially for fluid dynamics and rigid-body motions. To address this, we present **NS-Diff**, a physics-guided reinforcement learning framework for video diffusion. First, we design a noise-robust physical dynamics detector that distinguishes rigid and fluid regions by analyzing motion in noisy latent frames. Second, we introduce a Physics-Conditioned Latent Injection module, which encodes velocity fields, deformation gradients, and material masks, and injects them into the DiT denoiser via cross-attention. Third, we introduce a reinforcement learning optimization module that enforces simplified Navier-Stokes constraints on fluid dynamics and minimum-jerk principles on rigid bodies through policy gradients. Experiments on PhysVideoBench, UCF, and MSR-VTT show that our approach reduces jerk errors by 43%, decreases fluid divergence by 33%, and improves FVD by 22.7%, achieving higher physical plausibility and visual quality.

Mijeong Kim, Gunhee Kim, Jungyoon Choi, Wonjae Roh, Bohyung Han

We introduce PhysGaia, a novel physics-aware benchmark for Dynamic Novel View Synthesis (DyNVS) that encompasses both structured objects and unstructured physical phenomena. While existing datasets primarily focus on photorealistic appearance, PhysGaia is specifically designed to support physics-consistent dynamic reconstruction. Our benchmark features complex scenarios with rich multi-body interactions, where objects realistically collide and exchange forces. Furthermore, it incorporates a diverse range of materials, including liquid, gas, textile, and rheological substance, moving beyond the rigid-body assumptions prevalent in prior work. To ensure physical fidelity, all scenes in PhysGaia are generated using material-specific physics solvers that strictly adhere to fundamental physical laws. We provide comprehensive ground-truth information, including 3D particle trajectories and physical parameters (e.g., viscosity), enabling the quantitative evaluation of physical modeling. To facilitate research adoption, we also provide integration pipelines for recent 4D Gaussian Splatting models along with our dataset and their results. By addressing the critical shortage of physics-aware benchmarks, PhysGaia can significantly advance research in dynamic view synthesis, physics-based scene understanding, and the integration of deep learning with physical simulation, ultimately enabling more faithful reconstruction and interpretation of complex dynamic scenes.

Zewei Zhou, Jiajun Zou, Jiajia Zhang, Ao Yang, Ruichao He, Haozheng Zhou, Ao Liu, Jiawei Liu, Leilei Jin, Shan Shen 等

Graph neural networks (GNNs) are increasingly applied to physical design tasks such as congestion prediction and wirelength estimation, yet progress is hindered by inconsistent circuit representations and the absence of controlled evaluation protocols. We present R2G (RTL-to-GDSII), a multi-view circuit-graph benchmark suite that standardizes five stage-aware views with information parity (every view encodes the same attribute set, differing only in where features attach) over 30 open-source IP cores (up to 106 nodes/edges). R2G provides an end-to-end DEF-to-graph pipeline spanning synthesis, placement, and routing stages, together with loaders, unified splits, domain metrics, and reproducible baselines. By decoupling representation choice from model choice, R2G isolates a confound that prior EDA and graph-ML benchmarks leave uncontrolled. In systematic studies with GINE, GAT, and ResGatedGCN, we find: (i) view choice dominates model choice, with Test R2 varying by more than 0.3 across representations for a fixed GNN; (ii) node-centric views generalize best across both placement and routing; and (iii) decoder-head depth (3-4 layers) is the primary accuracy driver, turning divergent training into near-perfect predictions (R2 > 0.99). Code and datasets: https://github.com/ShenShan123/R2G.

Dingchuan Yu, Jiatong Li, Jingwen Zhou, Zhengyue Zhuge, Yueting Chen, Qi Li

Object motion blur in static scenes is spatially heterogeneous, differing from conventional deblurring problems yet frequently occurring in real handheld capture scenarios. Existing datasets either rely on costly beam-splitting capture with residual misalignment or employ synthetic blur that fails to model the continuous photon-integration process during exposure. To overcome these limitations, we introduce OMoBlur, a physically grounded dataset that emulates realistic exposure integration via programmable sensor control, ensuring close alignment between synthetic and real blur distributions. OMoBlur provides 20,000 blur-sharp-mask pairs covering diverse object motion types. Leveraging this dataset, we further propose OMDNet, an object-motion-aware deblurring network that integrates a Motion-Appearance Extract Block, a Flow-Guided Gate Predictor, and an Adaptive Gated Fusion mechanism. This design enables the network to selectively restore blurred regions while preserving static backgrounds, without requiring pixel-accurate mask annotations. Extensive experiments demonstrate that OMoBlur's physically faithful data collection and large-scale diversity significantly enhance the network's generalization to real-world motion blur, establishing OMoBlur and OMDNet as a robust benchmark and practical solution for local motion deblurring. The dataset and code is publicly released at https://yudingchuan.github.io/OMoBlur_homepage/.

Peizheng Li, Zhenghao Zhang, David Holtz, Hang Yu, Yutong Yang, Yuzhi Lai, Rui Song, Andreas Geiger, Andreas Zell

End-to-end autonomous driving methods built on vision language models (VLMs) have undergone rapid development driven by their universal visual understanding and strong reasoning capabilities obtained from the large-scale pretraining. However, we find that current VLMs struggle to understand fine-grained 3D spatial relationships which is a fundamental requirement for systems interacting with the physical world. To address this issue, we propose SpaceDrive, a spatial-aware VLM-based driving framework that treats spatial information as explicit positional encodings (PEs) instead of textual digit tokens, enabling joint reasoning over semantic and spatial representations. SpaceDrive employs a universal positional encoder to all 3D coordinates derived from multi-view depth estimation, historical ego-states, and text prompts. These 3D PEs are first superimposed to augment the corresponding 2D visual tokens. Meanwhile, they serve as a task-agnostic coordinate representation, replacing the digit-wise numerical tokens as both inputs and outputs for the VLM. This mechanism enables the model to better index specific visual semantics in spatial reasoning and directly regress trajectory coordinates rather than generating digit-by-digit, thereby enhancing planning accuracy. Extensive experiments validate that SpaceDrive achieves state-of-the-art open-loop performance on the nuScenes dataset and the second-best Driving Score of 78.02 on the Bench2Drive closed-loop benchmark over existing VLM-based methods. Code is available at: https://github.com/zhenghao2519/SpaceDrive.

Beining Han, Yu-Wei Chao, Erwin Coumans, Clemens Eppner, Jia Deng, Stan Birchfield, Adithyavairavan Murali

We study cross-embodiment 6-DOF robot grasping. Unlike prior works, we require the model not only to generalize to novel objects / scenes but also to novel gripper morphologies and physical grasping processes. Our method extends diffusion model based generative 6-DOF grasping models to condition on the additional gripper's representation. We propose a swept-volume heuristic for encoding the gripper. We train our cross-embodiment model with procedural grippers and a large-scale dataset of 395 Million grasps. In simulation experiments, our model has the best zero-shot generalization to novel real-world grippers and objects over baseline methods. Our model also serves as a good initialization for fine-tuning to adapt to novel grippers. In ablations, we demonstrate the efficiency of our sweep-volume gripper representation and our procedural gripper training dataset. Last, we show zero-shot generalization to real-world novel grippers for 6-DOF grasping, surpassing baselines in cross-embodiment generalization.

Junhong Min, Jimin Kim, Minwook Kim, Cheol-Hui Min, Youngpil Jeon, Minyong Choi

Depth in the real world is rarely singular. Transmissive materials create layered ambiguities that confound conventional perception systems. Existing models remain passive; conventional approaches typically estimate static depth maps anchored to the nearest surface, and even recent multi-head extensions suffer from a representational bottleneck due to fixed feature representations. This stands in contrast to human vision, which actively shifts focus to perceive a desired depth. We introduce DepthFocus, a steerable Vision Transformer that redefines stereo depth estimation as condition-aware control. Instead of extracting fixed features, our model dynamically modulates its computation based on a physical reference depth, integrating dual conditional mechanisms to selectively perceive geometry aligned with the desired focus. Leveraging a newly curated large-scale synthetic dataset, DepthFocus achieves state-of-the-art results across all evaluated benchmarks, including both standard single-layer and complex multi-layered scenarios. While maintaining high precision in opaque regions, our approach effectively resolves depth ambiguities in transparent and reflective scenes by selectively reconstructing geometry at a target distance. This capability enables robust, intent-driven perception that significantly outperforms existing multi-layer methods, marking a substantial step toward active 3D perception. \noindent Project page: \href https://junhong-3dv.github.io/depthfocus-project/ this https URL .

Yuzheng Gao, Yuxing Long, Lei Kang, Yuchong Guo, Ziyan Yu, Shangqing Mao, Jiyao Zhang, Ruihai Wu, Dongjiang Li, Hui Shen 等

Existing appliance assets suffer from poor rendering, incomplete mechanisms, and misalignment with manuals, leading to simulation-reality gaps that hinder appliance manipulation development. In this work, we introduce the RealAppliance dataset, comprising 100 high-fidelity appliances with complete physical, electronic mechanisms, and program logic aligned with their manuals. Based on these assets, we propose the RealAppliance-Bench benchmark, which evaluates multimodal large language models and embodied manipulation planning models across key tasks in appliance manipulation planning: manual page retrieval, appliance part grounding, open-loop manipulation planning, and closed-loop planning adjustment. Our analysis of model performances on RealAppliance-Bench provides insights for advancing appliance manipulation research

Jinyang Bo, Fan Dou, Wenrui Quan, Shangxun Liu, Yang Xu, Yuhe Zhang, Kang Li, Guohua Geng

3D Gaussian splatting (3DGS) has emerged as a promising approach for high-fidelity 3D scene representation. However, relighting and composition of Gaussian splatting remain challenging because path tracing is not directly applicable. Existing relighting methods for Gaussian splatting typically adopt either approximate rendering formulations or rely on Gaussian ray tracing, yielding low relighting performance and low rendering efficiency. To address these limitations, we propose Gaussian hybrid path tracing (GHPT), a three-stage framework to acquire relightable Gaussian splatting models. The first stage utilizes planar-based Gaussian splatting reconstruction representation (PGSR) to enable multi-view consistent depth rendering and reconstruct the surface mesh of a scene. The second stage performs physically-based differentiable rendering on the obtained mesh to reconstruct the material maps and the environment map. The third stage utilizes factorized inverse path tracing (FIPT) on the G-buffer rendered by the PGSR, and visibility and indirect illumination are evaluated by hardware-accelerated ray tracing on the mesh with the material maps and the environment map reconstructed in the second stage. Experiments demonstrate that the relighting performance of GHPT outperforms the baselines, and our method can perform real-time relighting and composition of Gaussian splatting.