All-in-one image restoration is a fundamental low-level vision task with significant real-world applications. The primary challenge lies in addressing diverse degradations within a single model. While current methods primarily exploit task prior information to guide the restoration models, they typically employ uniform multi-task learning, overlooking the heterogeneity in model optimization across different degradation tasks. To eliminate the bias, we propose a task-aware optimization strategy, that introduces adaptive task-specific regularization for multi-task image restoration learning. Specifically, our method dynamically weights and balances losses for different restoration tasks during training, encouraging the implementation of the most reasonable optimization route. In this way, we can achieve more robust and effective model training. Notably, our approach can serve as a plug-and-play strategy to enhance existing models without requiring modifications during inference. Extensive experiments in diverse all-in-one restoration settings demonstrate the superiority and generalization of our approach. For example, AirNet retrained with TUR achieves average improvements of 1.16 dB on three distinct tasks and 1.81 dB on five distinct all-in-one tasks. These results underscore TUR's effectiveness in advancing the SOTAs in all-in-one image restoration, paving the way for more robust and versatile image restoration.
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Generalized Zero-Shot Learning for Point Cloud Segmentation with Evidence-Based Dynamic Calibration
PDF ↗Generalized zero-shot semantic segmentation of 3D point clouds aims to classify each point into both seen and unseen classes. A significant challenge with these models is their tendency to make biased predictions, often favoring the classes encountered during training. This problem is more pronounced in 3D applications, where the scale of the training data is typically smaller than in image-based tasks. To address this problem, we propose a novel method called E3DPC-GZSL, which reduces overconfident predictions towards seen classes without relying on separate classifiers for seen and unseen data. E3DPC-GZSL tackles the overconfidence problem by integrating an evidence-based uncertainty estimator into a classifier. This estimator is then used to adjust prediction probabilities using a dynamic calibrated stacking factor that accounts for pointwise prediction uncertainty. In addition, E3DPC-GZSL introduces a novel training strategy that improves uncertainty estimation by refining the semantic space. This is achieved by merging learnable parameters with text-derived features, thereby improving model optimization for unseen data. Extensive experiments demonstrate that the proposed approach achieves state-of-the-art performance on generalized zero-shot semantic segmentation datasets, including ScanNet v2 and S3DIS.
DearLLM: Enhancing Personalized Healthcare via Large Language Models-Deduced Feature Correlations
PDF ↗Exploring the correlations between medical features is essential for extracting patient health patterns from electronic health records (EHR) data, and strengthening medical predictions and decision-making. To constrain the hypothesis space of pure data-driven deep learning in the context of limited annotated data, a common trend is to incorporate external knowledge, especially knowledge priors related to personalized health contexts, to optimize model training. However, most existing methods lack flexibility and are constrained by the uncertainties brought about by fixed feature correlation priors. In addition, in utilizing knowledge, these methods overlook the knowledge informative for personalized healthcare. To this end, we propose DearLLM, a novel and effective framework that leverages feature correlations deduced by large language models (LLMs) to enhance personalized healthcare. Concretely, DearLLM captures and learns quantitative correlations between medical features by calculating the conditional perplexity of LLMs’ deduction based on personalized patient backgrounds. Then, DearLLM enhances healthcare predictions by emphasizing knowledge that carries unique patient information through a feature-frequency-aware graph pooling method. Extensive experiments on two real-world benchmark datasets show significant performance gains brought by DearLLM. Furthermore, the discovered findings align well with medical literature, offering meaningful clinical interpretations.
Current Structure-from-Motion (SfM) methods typically follow a two-stage pipeline, combining learned or geometric pairwise reasoning with a subsequent global optimization step. In contrast, we propose a data-driven multi-view reasoning approach that directly infers 3D scene geometry and camera poses from multi-view images. Our framework, DiffusionSfM, parameterizes scene geometry and cameras as pixel-wise ray origins and endpoints in a global frame and employs a transformer-based denoising diffusion model to predict them from multi-view inputs. To address practical challenges in training diffusion models with missing data and unbounded scene coordinates, we introduce specialized mechanisms that ensure robust learning. We empirically validate DiffusionSfM on both synthetic and real datasets, demonstrating that it outperforms classical and learning-based approaches while naturally modeling uncertainty.
Hyperdimensional Uncertainty Quantification for Multimodal Uncertainty Fusion in Autonomous Vehicles Perception
PDF ↗Uncertainty Quantification (UQ) is crucial for ensuring the reliability of machine learning models deployed in real-world autonomous systems. However, existing approaches typically quantify task-level output prediction uncertainty without considering epistemic uncertainty at the multimodal feature fusion level, leading to sub-optimal outcomes. Additionally, popular uncertainty quantification methods, e.g., Bayesian approximations, remain challenging to deploy in practice due to high computational costs in training and inference. In this paper, we propose HyperDUM, a novel deterministic uncertainty method (DUM) that efficiently quantifies feature-level epistemic uncertainty by leveraging hyperdimensional computing. Our method captures the channel and spatial uncertainties through channel and patch -wise projection and bundling techniques respectively. Multimodal sensor features are then adaptively weighted to mitigate uncertainty propagation and improve feature fusion. Our evaluations show that HyperDUM on average outperforms the state-of-the-art (SOTA) algorithms by up to 2.01%/1.27% in 3D Object Detection and up to 1.29% improvement over baselines in semantic segmentation tasks under various types of uncertainties. Notably, HyperDUM requires 2.36x less Floating Point Operations and up to 38.30x less parameters than SOTA methods, providing an efficient solution for real-world autonomous systems.
Differentiable rendering enables efficient optimization by allowing gradients to be computed through the rendering process, facilitating 3D reconstruction, inverse rendering and neural scene representation learning. To ensure differentiability, existing solutions approximate or re-formulate traditional rendering operations using smooth, probabilistic proxies such as volumes or Gaussian primitives. Consequently, they struggle to preserve sharp edges due to the lack of explicit boundary definitions. We present a novel hybrid representation, Bezier Gaussian Triangle (BG-Triangle), that combines Bezier triangle-based vector graphics primitives with Gaussian-based probabilistic models, to maintain accurate shape modeling while conducting resolution-independent differentiable rendering. We present a robust and effective discontinuity-aware rendering technique to reduce uncertainties at object boundaries. We also employ an adaptive densification and pruning scheme for efficient training while reliably handling level-of-detail (LoD) variations. Experiments show that BG-Triangle achieves comparable rendering quality as 3DGS but with superior boundary preservation. More importantly, BG-Triangle uses a much smaller number of primitives than its alternatives, showcasing the benefits of vectorized graphics primitives and the potential to bridge the gap between classic and emerging representations.
Towards Generalizable Trajectory Prediction using Dual-Level Representation Learning and Adaptive Prompting
PDF ↗Existing vehicle trajectory prediction models struggle with generalizability, prediction uncertainties, and handling complex interactions. It is often due to limitations like complex architectures customized for a specific dataset and inefficient multimodal handling. We propose Perceiver with Register queries (PerReg+), a novel trajectory prediction framework that introduces: (1) Dual-Level Representation Learning via Self-Distillation (SD) and Masked Reconstruction (MR), capturing global context and fine-grained details. Additionally, our approach of reconstructing segment-level trajectories and lane segments from masked inputs with query drop, enables effective use of contextual information and improves generalization; (2) Enhanced Multimodality using register-based queries and pretraining, eliminating the need for clustering and suppression; and (3) Adaptive Prompt Tuning during fine-tuning, freezing the main architecture and optimizing a small number of prompts for efficient adaptation. PerReg+ sets a new state-of-the-art performance on nuScenes, Argoverse 2, and Waymo Open Motion Dataset (WOMD). Remarkable, our pretrained model reduces the error by 6.8% on smaller datasets, and multi-dataset training enhances generalization. In cross-domain tests, PerReg+ reduces B-FDE by 11.8% compared to its non-pretrained variant.
Enhancing Online Continual Learning with Plug-and-Play State Space Model and Class-Conditional Mixture of Discretization
PDF ↗Online continual learning (OCL) seeks to learn new tasks from data streams that appear only once, while retaining knowledge of previously learned tasks. Most existing methods rely on replay, focusing on enhancing memory retention through regularization or distillation. However, they often overlook the adaptability of the model, limiting the ability to learn generalizable and discriminative features incrementally from online training data.To address this, we introduce a plug-and-play module, S6MOD, which can be integrated into most existing methods and directly improve adaptability. Specifically, S6MOD introduces an extra branch after the backbone, where a mixture of discretization selectively adjusts parameters in a selective state space model, enriching selective scan patterns such that the model can adaptively select the most sensitive discretization method for current dynamics.We further design a class-conditional routing algorithm for dynamic, uncertainty-based adjustment and implement a contrastive discretization loss to optimize it. Extensive experiments combining our module with various models demonstrate that S6MOD significantly enhances model adaptability, leading to substantial performance gains and achieving the state-of-the-art results. The code is available at https://github.com/MyToumaKazusa/S6MOD.
Estimating camera motion and intrinsics from casual videos is a core challenge in computer vision. Traditional bundle-adjustment based methods, such as SfM and SLAM, struggle to perform reliably on arbitrary data. Although specialized SfM approaches have been developed for handling dynamic scenes, they either require intrinsics or computationally expensive test-time optimization and often fall short in performance. Recently, methods like Dust3r have reformulated the SfM problem in a more data-driven way. While such techniques show promising results, they are still 1) not robust towards dynamic objects and 2) require labeled data for supervised training. As an alternative, we propose AnyCam, a fast transformer model that directly estimates camera poses and intrinsics from a dynamic video sequence in feed-forward fashion. Our intuition is that such a network can learn strong priors over realistic camera poses. To scale up our training, we rely on an uncertainty-based loss formulation and pre-trained depth and flow networks instead of motion or trajectory supervision. This allows us to use diverse, unlabelled video datasets obtained mostly from YouTube. Additionally, we ensure that the predicted trajectory does not accumulate drift over time through a lightweight trajectory refinement step. We test AnyCam on established datasets, where it delivers accurate camera poses and intrinsics both qualitatively and quantitatively. Furthermore, even with trajectory refinement, AnyCam is significantly faster than existing works for SfM in dynamic settings. Finally, by combining camera information, uncertainty, and depth, our model can produce high-quality 4D pointclouds. For more details and code, please check out our project page: https://fwmb.github.io/anycam
Cross-modal retrieval aims to match related samples across distinct modalities, facilitating the retrieval and discovery of heterogeneous information. Although existing methods show promising performance, most are deterministic models and are unable to capture the uncertainty inherent in the retrieval outputs, leading to potentially unreliable results. To address this issue, we propose a novel framework called FUzzy Multimodal lEarning (FUME), which is able to self-estimate epistemic uncertainty, thereby embracing trusted cross-modal retrieval. Specifically, our FUME leverages the Fuzzy Set Theory to view the outputs of the classification network as a set of membership degrees and quantify category credibility by incorporating both possibility and necessity measures. However, directly optimizing the category credibility could mislead the model by over-optimizing the necessity for unmatched categories. To overcome this challenge, we present a novel fuzzy multimodal learning strategy, which utilizes label information to guide necessity optimization in the right direction, thereby indirectly optimizing category credibility and achieving accurate decision uncertainty quantification. Furthermore, we design an uncertainty merging scheme that accounts for decision uncertainties, thus further refining uncertainty estimates and boosting the trustworthiness of retrieval results. Extensive experiments on five benchmark datasets demonstrate that FUME remarkably improves both retrieval performance and reliability, offering a prospective solution for cross-modal retrieval in high-stakes applications. Code is available at https://github.com/siyuancncd/FUME .
Vision-language models pre-trained at large scale have shown unprecedented adaptability and generalization to downstream tasks. Although its discriminative potential has been widely explored, its reliability and uncertainty are still overlooked. In this work, we investigate the capabilities of CLIP models under the split conformal prediction paradigm, which provides theoretical guarantees to black-box models based on a small, labeled calibration set. In contrast to the main body of literature on conformal predictors in vision classifiers, foundation models exhibit a particular characteristic: they are pre-trained on a one-time basis on an inaccessible source domain, different from the transferred task. This domain drift negatively affects the efficiency of the conformal sets and poses additional challenges. To alleviate this issue, we propose Conf-OT, a transfer learning setting that operates transductive over the combined calibration and query sets. Solving an optimal transport problem, the proposed method bridges the domain gap between pre-training and adaptation without requiring additional data splits but still maintaining coverage guarantees. We comprehensively explore this conformal prediction strategy on a broad span of 15 datasets and three non-conformity scores. Conf-OT provides consistent relative improvements of up to 20% on set efficiency while being 15 times faster than popular transductive approaches.
Uncertainty Meets Diversity: A Comprehensive Active Learning Framework for Indoor 3D Object Detection
PDF ↗Active learning has emerged as a promising approach to reduce the substantial annotation burden in 3D object detection tasks, spurring several initiatives in outdoor environments. However, its application in indoor environments remains unexplored. Compared to outdoor 3D datasets, indoor datasets face significant challenges, including fewer training samples per class, a greater number of classes, more severe class imbalance, and more diverse scene types and intra-class variances.This paper presents the first study on active learning for indoor 3D object detection, where we propose a novel framework tailored for this task. Our method incorporates two key criteria - uncertainty and diversity - to actively select the most ambiguous and informative unlabeled samples for annotation. The uncertainty criterion accounts for both inaccurate detections and undetected objects, ensuring that the most ambiguous samples are prioritized. Meanwhile, the diversity criterion is formulated as a joint optimization problem that maximizes the diversity of both object class distributions and scene types, using a new Class-aware Adaptive Prototype (CAP) bank. The CAP bank dynamically allocates representative prototypes to each class, helping to capture varying intra-class diversity across different categories.We evaluate our method on SUN RGB-D and ScanNetV2, where it outperforms baselines by a significant margin, achieving over 85% of fully-supervised performance with just 10% of the annotation budget.
We consider the challenging problem of learning Signed Distance Functions (SDF) from sparse and noisy 3D point clouds. In contrast to recent methods that depend on smoothness priors, our method, rooted in a distributionally robust optimization (DRO) framework, incorporates a regularization term that leverages samples from the uncertainty regions of the model to improve the learned SDFs. Thanks to tractable dual formulations, we show that this framework enables a stable and efficient optimization of SDFs in the absence of ground truth supervision. Using a variety of synthetic and real data evaluations from different modalities, we show that of our DRO based learning framework can improve SDF learning with respect to baselines and the state-of-the-art.
Open world perception expands traditional closed-set frameworks, which assume a predefined set of known categories, to encompass dynamic real-world environments. Open World Object Detection (OWOD) and Open Vocabulary Object Detection (OVD) are two main research directions, each addressing unique challenges in dynamic environments. However, existing studies often focus on only one of these tasks, leaving the combined challenges of OWOD and OVD largely underexplored. In this paper, we propose a novel detector, OW-OVD, which inherits the zero-shot generalization capability of OVD detectors while incorporating the ability to actively detect unknown objects and progressively optimize performance through incremental learning, as seen in OWOD detectors. To achieve this, we start with a standard OVD detector and adapt it for OWOD tasks. For attribute selection, we propose the Visual Similarity Attribute Selection (VSAS) method, which identifies the most generalizable attributes by computing similarity distributions across annotated and unannotated regions. Additionally, to ensure the diversity of attributes, we incorporate a similarity constraint in the iterative process. Finally, to preserve the standard inference process of OVD, we propose the Hybrid Attribute-Uncertainty Fusion (HAUF) method. This method combines attribute similarity with known class uncertainty to infer the likelihood of an object belonging to an unknown class. We validated the effectiveness of OW-OVD through evaluations on two OWOD benchmarks, M-OWODB and S-OWODB. The results demonstrate that OW-OVD outperforms existing state-of-the-art models, achieving a +15.3 improvement in unknown object recall (U-Recall) and a +15.5 increase in unknown class average precision (U-mAP). Our code is available at: https://github.com/xxyzll/OW_OVD.
3D point cloud segmentation is essential across a range of applications; however, conventional methods often struggle in evolving environments, particularly when tasked with identifying novel categories under limited supervision. Few-Shot Learning (FSL) and Class Incremental Learning (CIL) have been adapted previously to address these challenges in isolation, yet the combined paradigm of Few-Shot Class Incremental Learning (FSCIL) remains largely unexplored for point cloud segmentation. To address this gap, we introduce Hyperbolic Ideal Prototypes Optimization (HIPO), a novel framework that harnesses hyperbolic embeddings for FSCIL in 3D point clouds. HIPO employs the Poincare Hyperbolic Sphere as its embedding space, integrating Ideal Prototypes enriched by CLIP-derived class semantics, to capture the hierarchical structure of 3D data. By enforcing orthogonality among prototypes and maximizing representational margins, HIPO constructs a resilient embedding space that mitigates forgetting and enables the seamless integration of new classes, thereby effectively countering overfitting. Extensive evaluations on S3DIS, ScanNetv2, and cross-dataset scenarios demonstrate HIPO's strong performance, significantly surpassing existing approaches in both in-domain and cross-dataset FSCIL tasks for 3D point cloud segmentation.
Aligning large language models (LLMs) with human preferences relies heavily on high-quality reward models. However, existing approaches struggle with two critical challenges: noisy preference labels and the varying importance of preference samples. We introduce DORM, a method that enhances reward modeling by learning to dynamically weigh preference data.DORM initializes data importance using a combination of model uncertainty and prediction disagreement, then iteratively refines them via bilevel optimization to maximize validation performance. Using only 50k samples, DORM trains a 12B reward model that achieves 90.5% accuracy on RewardBench, matching the performance of models trained on significantly larger datasets. Furthermore, downstream alignment tasks show that fine-tuned LLMs with DORM achieve a 61.2% win rate against baseline methods, highlighting its data efficiency and generalizability.
Offline preference optimization methods are efficient for large language models (LLMs) alignment. Direct Preference optimization (DPO)-like learning, one of the most popular approaches, stands out for its efficiency in reward modeling. However, these methods typically follow the convention to use Bradley-Terry (BT) reward modeling that faces several critical assumptions, including the requirement for pairwise training data, model distribution shifting, human rationality assumption, etc. To address these limitations, we propose a general framework for offline preference optimization methods, Adaptive Preference Optimization with Utility Anchor (UAPO), which introduces an anchoring function to estimate the uncertainties brought from preference data annotation. Our method enables training even in scenarios where the data is unpaired, significantly enhancing data utilization efficiency. Moreover, the anchor design makes UAPO more robust in the training process. Experimental results demonstrate that UAPO achieves competitive outcomes without the strict dependency on data pairing, paving the way for more flexible and effective preference optimization methods.
Agentic Retrieval-Augmented Generation (RAG) systems enhance Large Language Models (LLMs) by enabling dynamic, multi-step reasoning and information retrieval. However, these systems often exhibit sub-optimal search behaviors like over-search (retrieving redundant information) and under-search (failing to retrieve necessary information), which hinder efficiency and reliability. This work formally defines and quantifies these behaviors, revealing their prevalence across multiple QA datasets and agentic RAG systems (e.g., one model could have avoided searching in 27.7% of its search steps). Furthermore, we demonstrate a crucial link between these inefficiencies and the models’ uncertainty regarding their own knowledge boundaries, where response accuracy correlates with model’s uncertainty in its search decisions. To address this, we propose β-GRPO, a reinforcement learning-based training method that incorporates confidence threshold to reward high-certainty search decisions. Experiments on seven QA benchmarks show that β-GRPO enable a 3B model with better agentic RAG ability, outperforming other strong baselines with a 4% higher average exact match score.
Language Model (LM)-based Text-to-Speech (TTS) systems often generate hallucinated speech that deviates from input text. Existing mitigation strategies either demand excessive training resources or introduce significant inference latency. In this paper, we propose GFlOwNet-guided distribution AlignmenT (GOAT) for LM-based TTS, a post-training framework that mitigates hallucinations without relying on massive resources or inference cost. Specifically, we first conduct an uncertainty analysis, revealing a strong positive correlation between hallucination and model uncertainty. Based on this, we reformulate TTS generation as a trajectory flow optimization problem and introduce an enhanced Subtrajectory Balance objective together with a sharpened internal reward as target distribution. We further integrate reward temperature decay and learning rate optimization for stability and performance balance. Extensive experiments show that GOAT reduce over 50% character error rates on challenging test cases and lowering uncertainty by up to 58%, demonstrating its strong generalization ability and effectiveness.
Sycophancy Mitigation Through Reinforcement Learning with Uncertainty-Aware Adaptive Reasoning Trajectories
PDF ↗Despite the remarkable capabilities of large language models, current training paradigms inadvertently foster sycophancy—alignment with user-provided information, regardless of factual accuracy. In this paper, we introduce SMART (Sycophancy Mitigation through Adaptive Reasoning Trajectories), reconceptualizing sycophancy as a reasoning optimization problem rather than an output alignment issue. SMART employs a two-stage approach: (1) Uncertainty-Aware Adaptive Monte Carlo Tree Search (UA-MCTS), which dynamically adjusts exploration based on state-level uncertainty; and (2) progress-based reinforcement learning that distills these improved reasoning patterns into model adaptation. Through extensive experiments, we show that SMART significantly outperforms existing baselines in effectively reducing sycophancy while maintaining performance on out-of-distribution inputs. These findings demonstrate the importance of optimizing internal reasoning processes for developing aligned truthful AI assistant.