Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in terrestrial domains such as autonomous driving, aerial settings like autonomous flying remain largely unexplored, thereby limiting progress on downstream applications. Furthermore, LiDAR sensors are the primary modality for SSC data generation, which poses challenges for most uncrewed aerial vehicles (UAVs) due to flight regulations, mass and energy constraints, and the sparsity of LiDAR point clouds from elevated viewpoints. To address these limitations, we propose a LiDAR-free, camera-based data generation framework. By leveraging classical 3D reconstruction, our framework automates semantic label transfer by lifting <10% of annotated images into the reconstructed point cloud, substantially minimizing manual 3D annotation effort. Based on this framework, we introduce OccuFly, the first real-world, camera-based aerial SSC benchmark, captured across multiple altitudes and all seasons. OccuFly provides over 20,000 samples of images, semantic voxel grids, and metric depth maps across 21 semantic classes in urban, industrial, and rural environments, and follows established data organization for seamless integration. We benchmark both SSC and metric monocular depth estimation on OccuFly, revealing fundamental limitations of current vision foundation models in aerial settings and establishing new challenges for robust 3D scene understanding in the aerial domain. Visit https://github.com/markus-42/occufly.
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Abstract visual reasoning benchmarks such as ARC-AGI evaluate the ability to infer generalizable transformation rules from few graphical demonstrations, a capability where current deep learning models severely underperform. Mainstream LLMs achieve only 15.8% (DeepSeek-R1) and 34.5% (o3-mini-high) accuracy. The core reason lies in their static processing of task examples: unlike humans, who iteratively refine their understanding of examples while solving problems, these models lack mechanisms for dynamically aligning understanding and solving. We address this gap with the Understanding and Solving Reasoning Loop (USRL) framework. The architecture comprises two explicitly interacting modules: an Understanding Module (UM) that encodes and refines rule representations of examples, and a Solving Module (SM) that generates a draft solution informed by these evolving rule representations. Through recurrent interaction, the model iteratively aligns its draft solution with its understanding about task examples continuously. Furthermore, we introduce an adaptive reasoning halting mechanism that autonomously terminates the reasoning loop based on the consistency between the generated draft solution and the examples. With 7M parameters, our model achieves 47.2% accuracy on ARC-AGI-1.
Recent advances in multimodal large language models (MLLMs) have led to remarkable progress in visual grounding, enabling fine-grained cross-modal alignment between textual queries and image regions. However, transferring such capabilities to remote sensing imagery remains challenging, as targets are often extremely small within kilometer-scale scenes, and queries typically involve intricate geospatial relations such as relative positions, spatial hierarchies, or contextual dependencies across distant objects.To address these challenges, we propose GeoViS, a Geospatially Rewarded Visual Search framework that reformulates remote sensing visual grounding as a progressive search-and-reasoning process. Rather than directly predicting the target location in a single step, GeoViS actively explores the global image through a tree-structured sequence of visual cues, integrating multimodal perception, spatial reasoning, and reward-guided exploration to refine geospatial hypotheses iteratively. This design enables the model to detect subtle small-scale targets while maintaining holistic scene awareness.Extensive experiments on five remote sensing grounding benchmarks demonstrate that GeoViS achieves precise geospatial understanding and consistently surpasses existing methods across key visual grounding metrics, highlighting its strong cross-domain generalization and interpretability.
GenieDrive: Towards Physics-Aware Driving World Model with 4D Occupancy Guided Video Generation
PDF ↗Physics-aware driving world model is essential for drive planning, out-of-distribution data synthesis, and closed-loop evaluation. However, existing methods often rely on a single diffusion model to directly map driving actions to videos, which makes learning difficult and leads to physically inconsistent outputs. To overcome these challenges, we propose GenieDrive, a novel framework designed for physics-aware driving video generation. Our approach starts by generating 4D occupancy, which serves as a physics-informed foundation for subsequent video generation. 4D occupancy contains rich physical information, including high-resolution 3D structures and dynamics. To facilitate effective compression of such high-resolution occupancy, we propose a VAE that encodes occupancy into a latent tri-plane representation, reducing the latent size to only 58% of that used in previous methods. We further introduce Mutual Control Attention (MCA) to accurately model the influence of control on occupancy evolution, and we jointly train the VAE and the subsequent prediction module in an end-to-end manner to maximize forecasting accuracy. Together, these designs yield a 7.2% improvement in forecasting mIoU at an inference speed of 41 FPS, while using only 3.47 M parameters. Additionally, a Normalized Multi-View Attention is introduced in the video generation model to generate multi-view driving videos with guidance from our 4D occupancy, significantly improving video quality with a 20.7% reduction in FVD. Experiments demonstrate that GenieDrive enables highly controllable, multi-view consistent, and physics-aware driving video generation.
Retrieve-to-Restore: Efficient All-in-One Image Restoration with a Retrieval-Based Degradation Bank
PDF ↗All-in-one image restoration aims to recover clean images from heterogeneous degradations with a single model, but joint training on multiple degradations with a shared backbone often induces cross-task interference and unstable optimization, making it hard to maintain strong performance across all tasks. To address this, we propose Retrieve-to-Restore (R2R), a lightweight framework that decouples degradation adaptation from backbone computation through a retrieval-based degradation bank. Specifically, R2R externalizes degradation knowledge as unified, degradation-specific priors stored in a compact degradation bank. A degradation amalgamator aggregates intra-class features guided by ground truth into task-level clean priors during training, while degradation matching retrieves the most relevant prior at inference to modulate backbone features for restoration. This retrieval-guided design explicitly separates degradation cues from shared reconstruction capacity, enabling stable multi-degradation training and straightforward scaling to additional degradation types. Extensive comparisons on benchmarks with one, three, and five degradations show that R2R achieves PSNR on par with state-of-the-art all-in-one methods while using about 91% fewer MACs.
Text-to-image generation powers content creation across design, media, and data augmentation. Post-training of text-to-image generative models is a promising path to improve human preference alignment, factuality, and aesthetics. We introduce SOLACE (Self-Originating LAtent Confidence Estimation), a post-training framework that replaces external reward supervision with an internal self-confidence signal: we re-noise the model's own outputs and measure how accurately it recovers the injected noise, treating low reconstruction error as high self-confidence. SOLACE converts this intrinsic signal into scalar rewards for reinforcement learning, requiring no external reward models, annotators, or preference data. By reinforcing high-confidence generations, SOLACE delivers consistent gains in compositional generation, text rendering, and text-image alignment. Integrating SOLACE with external rewards yields complementary improvements while alleviating reward hacking.
Synthetic datasets are a crucial ingredient for training stereo matching networks, but the question of what makes a stereo dataset effective remains underexplored. We investigate the design space of synthetic datasets by varying the parameters of a procedural dataset generator, and report the effects on zero-shot stereo matching performance using standard benchmarks. We validate our findings by collecting the best settings and creating a large-scale dataset. Training only on this dataset achieves better performance than training on a mixture of widely used datasets, and is competitive with training on the FoundationStereo dataset, with the additional benefit of open-source generation code and an accompanying parameter analysis to enable further research. We open-source our system to enable further research on procedural stereo datasets.
Towards Uncertainty-aware Unsupervised Domain Adaptation for Videos and Time-Series with Causal Optimal Transport
PDF ↗Unsupervised domain adaptation (UDA) for videos and 1D time-series data faces significant challenges due to domain shifts in terms of both temporal dynamics and feature distributions. Existing UDA approaches for time-series data often address temporal alignment and uncertainty mitigation as separate objectives, leading to unstable training, noisy pseudo-labels, and incomplete feature transfer. This disjoint treatment fails to capture inter-channel causal dependencies and also overlooks the impact of prediction uncertainty on adaptation quality. This limits the transferability of learned representations and results in suboptimal adaptation. To address the aforementioned limitations, we propose a novel UDA framework, named Causally-Regularized Optimal Transport (in short Causal-OT), that preserves domain-invariant causal mechanisms by embedding causal graph regularization into robust OT alignment process. First we estimate inter-channel causal graphs in both source and target domains and learn a transport plan that not only aligns feature distributions but also improves interpretability and minimizes the discrepancy between causal structures of the Granger graphs. However, pseudo-labeling may still prone to error propagation allowing incorrect target predictions during self-training, degrading the model stability and transfer quality across domains. To mitigate this, we further introduce a causality-aware pseudo-labeling strategy that selects high-confidence target samples based on both entropy and structural consistency with the causal graph of the source domain. This enhances robustness against pseudo-label noise.Extensive experiments on six time-series benchmarks achieving 4.5% gain in accuracy and a 3.8% improvement in F1-score. We conduct experiments on four benchmark video datasets that achieve a 2.5% gain in accuracy.
B$^3$-Seg: Camera-Free, Training-Free 3DGS Segmentation via Analytic EIG and Beta-Bernoulli Bayesian Updates
PDF ↗Interactive 3D Gaussian Splatting (3DGS) segmentation is essential for real-time editing of pre-reconstructed assets in film and game production.However, existing methods rely on predefined camera viewpoints, ground-truth labels, or costly retraining, making them impractical for low-latency use.We propose B^3-Seg (Beta--Bernoulli Bayesian Segmentation for 3DGS), a fast and theoretically grounded method for open-vocabulary 3DGS segmentation under camera-free and training-free conditions.Our approach reformulates segmentation as sequential Beta-Bernoulli Bayesian updates and actively selects the next view via analytic Expected Information Gain (EIG).This Bayesian formulation guarantees the adaptive monotonicity and submodularity of EIG, which produces a greedy (1-1/e) approximation to the optimal view sampling policy.Experiments on multiple datasets show that B^3-Seg achieves competitive results to high-cost supervised methods while operating end-to-end segmentation within a few seconds.The results demonstrate that B^3-Seg enables practical, interactive 3DGS segmentation with provable information efficiency.
Continual Learning for fMRI-Based Brain Disorder Diagnosis via Functional Connectivity Matrices Generative Replay
PDF ↗Functional magnetic resonance imaging (fMRI) is widely used for studying and diagnosing brain disorders, with functional connectivity (FC) matrices providing powerful representations of large-scale neural interactions. However, existing diagnostic models are trained either on a single site or under full multi-site access, making them unsuitable for real-world scenarios where clinical data arrive sequentially from different institutions. This results in limited generalization and severe catastrophic forgetting.This paper presents the first continual learning framework specifically designed for fMRI-based diagnosis across heterogeneous clinical sites. Our framework introduces a structure-aware variational autoencoder that synthesizes realistic FC matrices for both patient and control groups. Built on this generative backbone, we develop a multi-level knowledge distillation strategy that aligns predictions and graph representations between new-site data and replayed samples. To further enhance efficiency, we incorporate a hierarchical contextual bandit scheme for adaptive replay sampling.Experiments on multi-site datasets for major depressive disorder (MDD), schizophrenia (SZ), and autism spectrum disorder (ASD) show that the proposed generative model enhances data augmentation quality, and the overall continual learning framework substantially outperforms existing methods in mitigating catastrophic forgetting. Our code is available at https://github.com/4me808/FORGE.
The threat of Audio-Video (AV) forgery is rapidly evolving beyond human-centric deepfakes to include more diverse manipulations across complex natural scenes. However, existing benchmarks are still confined to DeepFake-based forgeries and single-granularity annotations, thus failing to capture the diversity and complexity of real-world forgery scenarios. To address this, we introduce AVFakeBench, the first comprehensive audio-video forgery detection benchmark that spans rich forgery semantics across both human subject and general subject. AVFakeBench comprises 12K carefully curated audio-video questions, covering seven forgery types and four levels of annotations. To ensure high-quality and diverse forgeries, we propose a multi-stage hybrid forgery framework that integrates proprietary models for task planning with expert generative models for precise manipulation. The benchmark establishes a multi-task evaluation framework covering binary judgment, forgery types classification, forgery detail selection, and explanatory reasoning. We evaluate 11 Audio-Video Large Language Models (AV-LMMs) and 2 prevalent detection methods on AVFakeBench, demonstrating the potential of AV-LMMs as emerging forgery detectors while revealing their notable weaknesses in fine-grained perception and reasoning.
3D anomaly detection targets the detection and localization of defects in 3D point clouds trained solely on normal data. While a unified model improves scalability by learning across multiple categories, it often suffers from Inter-Category Entanglement (ICE)--where latent features from different categories overlap, causing the model to adopt incorrect semantic priors during reconstruction and ultimately yielding unreliable anomaly scores. To address this issue, we propose the Semantically Disentangled Unified Model for 3D Anomaly Detection, which reconstructs features conditioned on disentangled semantic representations. Our framework consists of three key components: (i) Coarse-to-Fine Global Tokenization for forming instance-level semantic identity, (ii) Category-Conditioned Contrastive Learning for disentangling category semantics, and (iii) a Geometry-Guided Decoder for semantically consistent reconstruction. Extensive experiments on Real3D-AD and Anomaly-ShapeNet demonstrate that our method achieves state-of-the-art for both unified and category-specific models, improving object-level AUROC by 2.8% and 9.1%, respectively, while enhancing the reliability of unified 3D anomaly detection.
Video panoptic segmentation (VPS) aims to jointly detect, segment, and track all objects while partitioning the video into semantically consistent regions. We introduce the task setting of unsupervised VPS, omitting any human supervision. Existing unsupervised scene understanding works mainly focused on image segmentation tasks; the video domain remains underexplored. We propose VideoCUPS, the first unsupervised VPS approach. VideoCUPS generates temporally consistent panoptic video pseudo-labels from scene-centric videos by exploiting unsupervised depth, motion, and visual cues. Training on these pseudo-labels using a novel Video DropLoss yields an accurate, unsupervised VPS model. To benchmark progress, we introduce a comprehensive evaluation protocol and four competitive baselines, extending state-of-the-art unsupervised panoptic image and instance video segmentation models to VPS. VideoCUPS outperforms all baselines and demonstrates strong label-efficient learning. With VideoCUPS, our evaluation protocol, and baselines, we provide a strong foundation for future research on unsupervised VPS.
Editing a 3D indoor scene from natural language is conceptually straightforward but technically challenging. Existing open-vocabulary systems often regenerate large portions of a scene or rely on image-space edits that disrupt spatial structure, resulting in unintended global changes or physically inconsistent layouts. These limitations stem from treating editing primarily as a generative task.We take a different view. A user instruction defines a desired world state, and editing should be the minimal sequence of actions that makes this state true while preserving everything else. This perspective motivates Edit-As-Act, a framework that performs open-vocabulary scene editing as goal-regressive planning in 3D space.Given a source scene and free-form instruction, Edit-As-Act predicts symbolic goal predicates and plans in EditLang, a PDDL-inspired action language that we design with explicit preconditions and effects encoding support, contact, collision, and other geometric relations. A language-driven planner proposes actions, and a validator enforces goal-directedness, monotonicity, and physical feasibility, producing interpretable and physically coherent transformations.By separating reasoning from low-level generation, Edit-As-Act achieves instruction fidelity, semantic consistency, and physical plausibility--three criteria that existing paradigms cannot satisfy together. On E2A-Bench, our benchmark of 63 editing tasks across 9 indoor environments, Edit-As-Act significantly outperforms prior approaches across all edit types and scene categories.
GazeOnce360: Fisheye-Based 360deg Multi-Person Gaze Estimation with Global-Local Feature Fusion
PDF ↗We present GazeOnce360, a novel end-to-end model for multi-person gaze estimation from a single tabletop-mounted upward-facing fisheye camera. Unlike conventional approaches that rely on forward-facing cameras in constrained viewpoints, we address the underexplored setting of estimating the 3D gaze direction of multiple people distributed across a 360deg scene from an upward fisheye perspective. To support research in this setting, we introduce MPSGaze360, a large-scale synthetic dataset rendered using Unreal Engine, featuring diverse multi-person configurations with accurate 3D gaze and eye landmark annotations. Our model tackles the severe distortion and perspective variation inherent in fisheye imagery by incorporating rotational convolutions and eye landmark supervision. To better capture fine-grained eye features crucial for gaze estimation, we propose a dual-resolution architecture that fuses global low-resolution context with high-resolution local eye regions. Experimental results demonstrate the effectiveness of each component in our model. This work highlights the feasibility and potential of fisheye-based 360deg gaze estimation in practical multi-person scenarios. Project page: https://caizhuojiang.github.io/GazeOnce360/.
Video reasoning segmentation (VRS) endeavors to delineate referred objects in videos guided by implicit instructions that encapsulate human intent and temporal logic. Previous approaches leverage large vision language models (LVLMs) to encode object semantics into \SEG tokens for mask prediction. However, this paradigm suffers from limited interpretability during inference and suboptimal performance due to inadequate spatiotemporal reasoning. Drawing inspiration from seminal breakthroughs in reinforcement learning, we introduce Veason-R1, a specialized LVLM for VRS that emphasizes structured reasoning in segmentation. Veason-R1 is trained through Group Relative Policy Optimization (GRPO) augmented with Chain-of-Thought (CoT) initialization. To begin with, we curate high-quality CoT training data to instill structured reasoning trajectories, bridging video-level semantics and frame-level spatial grounding, yielding the supervised fine-tuned model Veason-SFT. Subsequently, GRPO fine-tuning encourages efficient exploration of the reasoning space by optimizing reasoning chains. To this end, we incorporate a holistic reward mechanism that synergistically enhances spatial alignment and temporal consistency, bolstering keyframe localization and fine-grained grounding. Comprehensive empirical evaluations demonstrate that Veason-R1 achieves state-of-the-art performance on multiple benchmarks, surpassing prior art by significant margins (e.g., +1.3 \mathcal J &\mathcal F in ReVOS and +10.0 \mathcal J &\mathcal F in ReasonVOS), while exhibiting robustness to hallucinations (+8.8 \mathcal R ).
Learning from Itself: Mining Internal Knowledge from Vision Language Models for Continual Learning
PDF ↗Vision-language models like CLIP excel at zero-shot recognition but struggle with continual learning due to two critical issues: (1) severe distribution gap between pretraining captions and post-training class names, and (2) performance mismatch between vision-only and dual-encoder approaches--vision-only methods achieve 20% higher accuracy on fine-grained tasks while CLIP dominates on natural images. We propose Learning from Itself (LfI), which mines CLIP's internal knowledge to address both challenges. First, we generate pseudo-captions by optimizing learnable tokens to minimize CLIP's contrastive loss, creating auxiliary training signals that bridge the pretraining-finetuning distribution gap without external models. Second, we introduce adaptive mutual distillation that dynamically weights knowledge transfer between CLIP's text encoder and a temporary vision classifier based on their instantaneous performance--stronger branches teach more, weaker ones learn more. At inference, only the original CLIP architecture is used, having absorbed discriminative knowledge from both branches. LfI achieves state-of-the-art results across multiple continual learning benchmarks, demonstrating that CLIP can effectively teach itself to continually learn new tasks. Code is available at: https://github.com/jordangong/continual-learning.
Panoptic occupancy prediction aims to jointly infer voxel-wise semantics and instance identities within a unified 3D scene representation. Nevertheless, progress in this field remains constrained by the absence of high-quality 3D mesh resources, instance-level annotations, and physically consistent occupancy datasets. Existing benchmarks typically provide incomplete and low-resolution geometry without instance-level annotations, limiting the development of models capable of achieving precise geometric reconstruction, reliable occlusion reasoning, and holistic 3D understanding. To address these challenges, this paper presents an instance-centric benchmark for the 3D panoptic occupancy prediction task. Specifically, we introduce ADMesh, the first unified 3D mesh library tailored for autonomous driving, which integrates over 15K high-quality 3D models with diverse textures and rich semantic annotations. Building upon ADMesh, we further construct CarlaOcc, a large-scale, physically consistent panoptic occupancy dataset generated using the CARLA simulator. This dataset contains over 100K frames with fine-grained, instance-level occupancy ground truth at voxel resolutions as fine as 0.05 m. Furthermore, standardized evaluation metrics are introduced to quantify the quality of existing occupancy datasets. Finally, a systematic benchmark of representative models is established on the proposed dataset, which provides a unified platform for fair comparison and reproducible research in the field of 3D panoptic perception. Code and dataset are available at https://mias.group/CarlaOcc.
GaussianZoom: Progressive Zoom-in Generative 3D Gaussian Splatting with Geometric and Semantic Guidance
PDF ↗We introduce GaussianZoom, a generative zoom-in 3D reconstruction system with an iterative progressive framework that combines geometry-consistent scene modeling and multi-scale semantic reasoning to enable high-fidelity extreme zoom-in rendering from low-resolution inputs. To achieve this, we develop a novel multi-view consistent super-resolution module with depth-based feature warping and VLM-driven detail synthesis, ensuring accurate multi-view correspondence while enriching fine-scale appearance beyond the observed resolution. To support zooming across large magnification ranges, we further introduce a new expandable continuous Level-of-Detail hierarchy that dynamically modulates Gaussian visibility for smooth, alias-free cross-scale rendering. Experiments on Mip-NeRF360 and Tanks&Temples demonstrate that GaussianZoom achieves superior perceptual quality, multi-view consistency, and robustness under extreme magnification, establishing a strong baseline for generative zoom-in 3D scene reconstruction.
The dominant 3D Gaussian splatting (3DGS) acceleration methods fail to properly regulate the number of Gaussians during training, causing redundant computational time overhead. In this paper, we propose FastGS, a novel, simple, and general acceleration framework that fully considers the importance of each Gaussian based on multi-view consistency, efficiently solving the trade-off between training time and rendering quality. We innovatively design a densification and pruning strategy based on multi-view consistency, dispensing with the budgeting mechanism. Extensive experiments on Mip-NeRF 360, Tanks & Temples, and Deep Blending datasets demonstrate that our method significantly outperforms the state-of-the-art methods in training speed, achieving a 3.29x training acceleration and comparable rendering quality compared with DashGaussian on the Mip-NeRF 360 dataset and a 15.45x acceleration compared with vanilla 3DGS on the Deep Blending dataset. We demonstrate that FastGS exhibits strong generality, delivering 2-6x training acceleration across various tasks, including dynamic scene reconstruction, surface reconstruction, sparse-view reconstruction, large-scale reconstruction, and simultaneous localization and mapping.