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Benjin Zhu, Xiaogang Wang, Hongsheng Li

Scene synthesis plays a crucial role in autonomous driving by addressing data scarcity and close-loop validation. Current approaches struggle to maintain temporal consistency in synthesized videos while preserving fine-grained details. We introduce ConsistentCity, a two-stage framework with a novel Semantic Flow-guided Diffusion Transformers (SF-DiT) that convert sequential BEV semantic maps into temporally consistent driving videos. Operating in a pretrained occupancy VQ-VAE latent space, our SF-DiT generates temporally consistent 3D occupancy, which provides guidance for controlled image and video diffusion for scene synthesis. To address the temporal consistency, SF-DiT enhances standard DiT blocks with temporal semantic modeling through two designs: (1) A Semantic Flow Estimation module capturing scene motions (flow, uncertainty, and classification) from sequential BEV semantic maps, and (2) A Semantic Flow-Modulated Cross-Attention module that dynamically adapts attention based on semantic flow patterns. This integration of semantic flow modeling in DiT enables consistent scene evolution understanding. Evaluations of image and video synthesis on nuScenes dataset demonstrate state-of-the-art performance with FID 8.3 and FVD 73.6, and superior temporal occupancy generation results on nuCraft and OpenOccupancy benchmarks.

Shengrong Yuan, Runmin Wang, Ke Hao, Xuqi Ma, Changxin Gao, Li Liu, Nong Sang

Scene text image super-resolution (STISR) focuses on enhancing the clarity and readability of low-resolution text images. Existing methods often rely on text probability distribution priors derived from text recognizers to guide the super-resolution process. While effective in capturing general structural information of text, these priors lack the ability to preserve specific text style details, such as font, stereoscopic effect and spatial transformation, leading to a loss of visual quality and stylistic consistency in the super-resolved images. To address these limitations, we propose a Style embedding-based scene text image Super-Resolution Network (StyleSRN), which introduces a text style embedding mechanism to preserve and enhance text style features during the super-resolution process. The proposed architecture includes a Style Enhancement Block for capturing multi-scale cross-channel dependencies, and a Style Content Fusion Block that effectively integrates text content with style information, ensuring that the structure and style of the restored text are not distorted. Furthermore, we introduce a Text Style Loss based on the Gram matrix to supervise the reconstruction process at the style level, thereby maintaining the stylistic consistency of the restored text images. Extensive experiments on the TextZoom dataset and five scene text recognition benchmarks demonstrate the superiority of our method. The code will be released in the future.

Shengcao Cao, Zijun Wei, Jason Kuen, Kangning Liu, Lingzhi Zhang, Jiuxiang Gu, HyunJoon Jung, Liang-Yan Gui, Yu-Xiong Wang

Recent image segmentation models have advanced to segment images into high-quality masks for visual entities, and yet they cannot provide comprehensive semantic understanding for complex queries based on both language and vision. This limitation reduces their effectiveness in applications that require user-friendly interactions driven by vision-language prompts. To bridge this gap, we introduce a novel task of omnimodal referring expression segmentation (ORES). In this task, a model produces a group of masks based on arbitrary prompts specified by text only or text plus reference visual entities. To address this new challenge, we propose a novel framework to "Refer to Any Segmentation Mask Group" (RAS), which augments segmentation models with complex multimodal interactions and comprehension via a mask-centric large multimodal model. For training and benchmarking ORES models, we create datasets MaskGroups-2M and MaskGroups-HQ to include diverse mask groups specified by text and reference entities. Through extensive evaluation, we demonstrate superior performance of RAS on our new ORES task, as well as classic referring expression segmentation (RES) and generalized referring expression segmentation (GRES) tasks. Project page: https://Ref2Any.github.io.

Ruiyun Yu, Bingyang Guo, Haoyuan Li

Anomaly detection plays a crucial role in the industrial sector, especially in ensuring the quality of integrated circuits (IC), which are critical for product reliability and performance. With increasing demands for higher quality standards, anomaly detection during the IC manufacturing process has become a significant research focus. However, the progress of IC anomaly detection is hampered by the scarcity of defective samples and the shortage of well-defined annotations. To address this challenge, this paper focuses on the research in the field of IC, especially on ceramic package substrates (CPS). We construct a systematic automated optical inspection (AOI) equipment, and based on this, collected large-scale CPS 2D images to build a novel anomaly detection dataset (CPS2D-AD), which offers copious samples with precise annotations, including category, mask, and bounding box. To the best of our knowledge, CPS2D-AD is the largest dataset in the field of IC. Meanwhile, we conduct an extensive benchmark of CPS2D-AD, intending to supplement existing research by providing a baseline for the detection and localization of anomalies in high-resolution data of ceramic package substrates. In addition, we have developed a novel large vision model, Segment Any Integrated Circuits (SAIC), by embedding-based distillation mechanism based on CPS2D-AD datasets. Our CPS2D-AD is the first open-source anomaly detection dataset about ceramic package substrates, which can be accessed at https://github.com/Bingyang0410/CPS2D-AD.

Xin Qiao, Matteo Poggi, Xing Wei, Pengchao Deng, Yanhui Zhou, Stefano Mattoccia

Under-display ToF imaging aims to achieve accurate depth sensing through a ToF camera placed beneath a screen panel. However, transparent OLED (TOLED) layers introduce severe degradations--such as signal attenuation, multi-path interference (MPI), and temporal noise--that significantly compromise depth quality. To alleviate this drawback, we propose Learnable Fractional Reaction-Diffusion Dynamics (LFRD^2), a hybrid framework that combines the expressive power of neural networks with the interpretability of physical modeling. Specifically, we implement a time-fractional reaction-diffusion module that enables iterative depth refinement with dynamically generated differential orders, capturing long-term dependencies. In addition, we introduce an efficient continuous convolution operator via coefficient prediction and repeated differentiation to further improve restoration quality. Experiments on four benchmark datasets demonstrate the effectiveness of our approach. The code is publicly available at https://github.com/wudiqx106/LFRD2.

Maximilian Pittner, Joel Janai, Mario Faigle, Alexandru Paul Condurache

3D lane detection has emerged as a critical challenge in autonomous driving, encompassing identification and localization of lane markings and the 3D road surface. Conventional 3D methods detect lanes from dense birds-eye-viewed (BEV) features, though erroneous transformations often result in a poor feature representation misaligned with the true 3D road surface. While recent sparse lane detectors have surpassed dense BEV approaches, they completely disregard valuable lane-specific priors. Furthermore, existing methods fail to utilize historic lane observations, which yield the potential to resolve ambiguities in situations of poor visibility. To address these challenges, we present SparseLaneSTP, a novel method that integrates both geometric properties of the lane structure and temporal information into a sparse lane transformer. It introduces a new lane-specific spatio-temporal attention mechanism, a continuous lane representation tailored for sparse architectures as well as temporal regularization. Identifying weaknesses of existing 3D lane datasets, we also introduce a precise and consistent 3D lane dataset using a simple yet effective auto-labeling strategy. Our experimental section proves the benefits of our contributions and demonstrates state-of-the-art performance across all detection and error metrics on existing 3D lane detection benchmarks as well as on our novel dataset.

Aryan Yazdan Parast, Basim Azam, Naveed Akhtar

Deep neural networks trained with Empirical Risk Minimization (ERM) perform well when both training and test data come from the same domain, but they often fail to generalize to out-of-distribution samples. In image classification, these models may rely on spurious correlations that often exist between labels and irrelevant features of images, making predictions unreliable when those features do not exist. We propose a Diffusion Driven Balancing (DDB) technique to generate training samples with text-to-image diffusion models for addressing the spurious correlation problem. First, we compute the best describing token for the visual features pertaining to the causal components of samples by a textual inversion mechanism. Then, leveraging a language segmentation method and a diffusion model, we generate new samples by combining the causal component with the elements from other classes. We also meticulously prune the generated samples based on the prediction probabilities and attribution scores of the ERM model to ensure their correct composition for our objective. Finally, we retrain the ERM model on our augmented dataset. This process reduces the model's reliance on spurious correlations by learning from carefully crafted samples in which this correlation does not exist. Our experiments show that across different benchmarks, our technique achieves better worst-group accuracy than the existing state-of-the-art methods. Our code is available at https://github.com/ArianYp/DDB.

Lanmiao Liu, Esam Ghaleb, Asli Ozyurek, Zerrin Yumak

Creating a virtual avatar with semantically coherent gestures that are aligned with speech is a challenging task. Existing gesture generation research mainly focused on generating rhythmic beat gestures, neglecting the semantic context of the gestures. In this paper, we propose a novel approach for semantic grounding in co-speech gesture generation that integrates semantic information at both fine-grained and global levels. Our approach starts with learning the motion prior through a vector-quantized variational autoencoder. Built on this model, a second-stage module is applied to automatically generate gestures from speech, text-based semantics and speaker identity that ensures consistency between the semantic relevance of generated gestures and co-occurring speech semantics through semantic coherence and relevance modules. Experimental results demonstrate that our approach enhances the realism and coherence of semantic gestures. Extensive experiments and user studies show that our method outperforms state-of-the-art approaches across two benchmarks in co-speech gesture generation in both objective and subjective metrics. The qualitative results of our model can be viewed at https://semgesture.github.io. Our code, dataset and pre-trained models will be shared upon acceptance.

Zengyu Wan, Wei Zhai, Yang Cao, Zhengjun Zha

Visual 3D motion estimation aims to infer the motion of 2D pixels in 3D space based on visual cues. The key challenge arises from depth variation induced spatio-temporal motion inconsistencies, disrupting the assumptions of local spatial or temporal motion smoothness in previous motion estimation frameworks. In contrast, event cameras offer new possibilities for 3D motion estimation through continuous adaptive pixel-level responses to scene changes. This paper presents EMoTive, a novel event-based framework that models spatio-temporal trajectories via event-guided non-uniform parametric curves, effectively characterizing locally heterogeneous spatio-temporal motion. Specifically, we first introduce Event Kymograph - an event projection method that leverages a continuous temporal projection kernel and decouples spatial observations to encode fine-grained temporal evolution explicitly. For motion representation, we introduce a density-aware adaptation mechanism to fuse spatial and temporal features under event guidance, coupled with a non-uniform rational curve parameterization framework to adaptively model heterogeneous trajectories. The final 3D motion estimation is achieved through multi-temporal sampling of parametric trajectories, yielding optical flow and depth motion fields. To facilitate evaluation, we introduce CarlaEvent3D, a multi-dynamic synthetic dataset for comprehensive validation. Extensive experiments on both this dataset and a real-world benchmark demonstrate the effectiveness of the proposed method.

Weiming Zhang, Dingwen Xiao, Lei Chen, Lin Wang

Entity Segmentation (ES) aims at identifying and segmenting distinct entities within an image without the need for predefined class labels. This characteristic makes ES well-suited to open-world applications with adaptation to diverse and dynamically changing environments, where new and previously unseen entities may appear frequently. Existing ES methods either require large annotated datasets or high training costs, limiting their scalability and adaptability. Recently, the Segment Anything Model (SAM), especially in its Automatic Mask Generation (AMG) mode, has shown potential for holistic image segmentation. However, it struggles with over-segmentation and under-segmentation, making it less effective for ES. In this paper, we introduce E-SAM, a novel training-free framework that exhibits exceptional ES capability. Specifically, we first propose Multi-level Mask Generation (MMG) that hierarchically processes SAM's AMG outputs to generate reliable object-level masks while preserving fine details at other levels. Entity-level Mask Refinement (EMR) then refines these object-level masks into accurate entity-level masks. That is, it separates overlapping masks to address the redundancy issues inherent in SAM's outputs and merges similar masks by evaluating entity-level consistency. Lastly, Under-Segmentation Refinement (USR) addresses under-segmentation by generating additional high-confidence masks fused with EMR outputs to produce the final ES map. These three modules are seamlessly optimized to achieve the best ES without additional training overhead. Extensive experiments demonstrate that E-SAM achieves state-of-the-art performance compared to prior ES methods, demonstrating a significant improvement by +30.1 on benchmark metrics.

Nuo Chen, Chao Xiao, Yimian Dai, Shiman He, Miao Li, Wei An

Small object detection (SOD) in anti-UAV task is a challenging problem due to the small size of UAVs and complex backgrounds. Traditional frame-based cameras struggle to detect small objects in complex environments due to their low frame rates, limited dynamic range, and data redundancy. Event cameras, with microsecond temporal resolution and high dynamic range, provide a more effective solution for SOD. However, existing event-based object detection datasets are limited in scale, feature large targets size, and lack diverse backgrounds, making them unsuitable for SOD benchmarks. In this paper, we introduce a Event-based Small object detection (EVSOD) dataset (namely EV-UAV), the first large-scale, highly diverse benchmark for anti-UAV tasks. It includes 147 sequences with over 2.3 million event-level annotations, featuring extremely small targets (averaging 6.8 x 5.4 pixels) and diverse scenarios such as urban clutter and extreme lighting conditions. Furthermore, based on the observation that small moving targets form continuous curves in spatiotemporal event point clouds, we propose Event based Sparse Segmentation Network (EV-SpSegNet), a novel baseline for event segmentation in point cloud space, along with a Spatiotemporal Correlation (STC) loss that leverages motion continuity to guide the network in retaining target events. Extensive experiments on the EV-UAV dataset demonstrate the superiority of our method and provide a benchmark for future research in EVSOD.

Sebastian Schmidt, Julius Koerner, Dominik Fuchsgruber, Stefano Gasperini, Federico Tombari, Stephan Günnemann

In panoptic segmentation, individual instances must be separated within semantic classes. As state-of-the-art methods rely on a pre-defined set of classes, they struggle with novel categories and out-of-distribution (OOD) data. This is particularly problematic in safety-critical applications, such as autonomous driving, where reliability in unseen scenarios is essential. We address the gap between outstanding benchmark performance and reliability by proposing Prior2Former (P2F), the first approach for segmentation vision transformers rooted in evidential learning. P2F extends the mask vision transformer architecture by incorporating a Beta prior for computing model uncertainty in pixel-wise binary mask assignments. This design enables high-quality uncertainty estimation that effectively detects novel and OOD objects, enabling state-of-the-art anomaly instance segmentation and open-world panoptic segmentation. Unlike most segmentation models addressing unknown classes, P2F operates without access to OOD data samples or contrastive training on void (i.e., unlabeled) classes, making it highly applicable in real-world scenarios where such prior information is unavailable. Additionally, P2F can be flexibly applied to anomaly instance and panoptic segmentation. Through comprehensive experiments on the Cityscapes, COCO, SegmentMeIfYouCan, and OoDIS datasets, P2F demonstrates state-of-the-art performance. Especially in OoDIS, P2F ranks first in its category.

Jinghan You, Shanglin Li, Yuanrui Sun, Jiangchuan Wei, Mingyu Guo, Chao Feng, Jiao Ran

Vision Transformers (ViTs) have revolutionized large-scale visual modeling, yet remain underexplored in face recognition (FR) where CNNs still dominate. We identify a critical bottleneck: CNN-inspired training paradigms fail to unlock ViT's potential, leading to suboptimal performance and convergence instability.To address this challenge, we propose LVFace, a ViT-based FR model that integrates Progressive Cluster Optimization (PCO) to achieve superior results. Specifically, PCO sequentially applies negative class sub-sampling (NCS) for robust and fast feature alignment from random initialization, feature expectation penalties for centroid stabilization, performing cluster boundary refinement through full-batch training without NCS constraints. LVFace establishes a new state-of-the-art face recognition baseline, surpassing leading approaches such as UniFace and TopoFR across multiple benchmarks. Extensive experiments demonstrate that LVFace delivers consistent performance gains, while exhibiting scalability to large-scale datasets and compatibility with mainstream VLMs and LLMs. Notably, LVFace secured 1st place in the ICCV 2021 Masked Face Recognition (MFR)-Ongoing Challenge (March 2025), proving its efficacy in real-world scenarios. Project is available at https://github.com/bytedance/LVFace.

Haochen Wang, Yucheng Zhao, Tiancai Wang, Haoqiang Fan, Xiangyu Zhang, Zhaoxiang Zhang

The rapid development of Large Multimodal Models (LMMs) for 2D images and videos has spurred efforts to adapt these models for interpreting 3D scenes. However, the absence of large-scale 3D vision-language datasets has posed a significant obstacle. To address this issue, typical approaches focus on injecting 3D awareness into 2D LMMs by designing 3D input-level scene representations. This work provides a new perspective. We introduce reconstructive visual instruction tuning with 3D-awareness (ROSS3D), which integrates 3D-aware visual supervision into the training procedure. Specifically, it incorporates cross-view and global-view reconstruction. The former requires reconstructing masked views by aggregating overlapping information from other views. The latter aims to aggregate information from all available views to recover Bird's-Eye-View images, contributing to a comprehensive overview of the entire scene. Empirically, ROSS3D achieves state-of-the-art performance across various 3D scene understanding benchmarks. More importantly, our semi-supervised experiments demonstrate significant potential in leveraging large amounts of unlabeled 3D vision-only data.

Kaijie Yin, Zhiyuan Zhang, Shu Kong, Tian Gao, Cheng-Zhong Xu, Hui Kong

In this paper, we propose Binarized Change Detection (BiCD), the first binary neural network (BNN) designed specifically for change detection. Conventional network binarization approaches, which directly quantize both weights and activations in change detection models, severely limit the network's ability to represent input data and distinguish between changed and unchanged regions. This results in significantly lower detection accuracy compared to real-valued networks. To overcome these challenges, BiCD enhances both the representational power and feature separability of BNNs, improving detection performance. Specifically, we introduce an auxiliary objective based on the Information Bottleneck (IB) principle, guiding the encoder to retain essential input information while promoting better feature discrimination. Since directly computing mutual information under the IB principle is intractable, we design a compact, learnable auxiliary module as an approximation target, leading to a simple yet effective optimization strategy that minimizes both reconstruction loss and standard change detection loss.Extensive experiments on street-view and remote sensing datasets demonstrate that BiCD establishes a new benchmark for BNN-based change detection, achieving state-of-the-art performance in this domain.

Shaofeng Yin, Ting Lei, Yang Liu

Integrating external tools into Large Foundation Models (LFMs) has emerged as a promising approach to enhance their problem-solving capabilities. While existing studies have demonstrated strong performance in tool-augmented Visual Question Answering (VQA), recent benchmarks re- veal significant gaps in real-world tool-use proficiency, particularly in functionally diverse multimodal settings re- quiring multi-step reasoning. In this work, we intro- duce ToolVQA, a large-scale multimodal dataset compris- ing 23K samples, designed to bridge this gap. Unlike pre- vious datasets that rely on synthetic scenarios and sim- plified queries, ToolVQA features real-world visual con- texts and challenging implicit multi-step reasoning tasks, better aligning with real user interactions. To construct this dataset, we propose ToolEngine, a novel data genera- tion pipeline that employs image-guided Depth-First Search (DFS) with a Longest Common Subsequence (LCS)-based example matching mechanism to simulate human-like tool- use reasoning. ToolVQA encompasses 10 multimodal tools across 7 diverse domains, with an average inference length of 2.78 reasoning steps per sample. The LLaVA-7B model fine-tuned on ToolVQA not only achieves impressive per- formance on the ToolVQA test set, but also surpasses the large closed-source model GPT-3.5-turbo on five out-of- distribution (OOD) datasets, showing strong generalizabil- ity in real-world tool-use scenarios. Code is available at https://github.com/Fugtemypt123/ToolVQA-release.

Chaitanya Patel, Hiroki Nakamura, Yuta Kyuragi, Kazuki Kozuka, Juan Carlos Niebles, Ehsan Adeli

Egocentric human motion generation and forecasting with scene-context is crucial for enhancing AR/VR experiences, improving human-robot interaction, advancing assistive technologies, and enabling adaptive healthcare solutions by accurately predicting and simulating movement from a first-person perspective. However, existing methods primarily focus on third-person motion synthesis with structured 3D scene contexts, limiting their effectiveness in real-world egocentric settings where limited field of view, frequent occlusions, and dynamic cameras hinder scene perception. To bridge this gap, we introduce Egocentric Motion Generation and Egocentric Motion Forecasting, two novel tasks that utilize first-person images for scene-aware motion synthesis without relying on explicit 3D scene. We propose UniEgoMotion, a unified conditional motion diffusion model with a novel head-centric motion representation tailored for egocentric devices. UniEgoMotion's simple yet effective design supports egocentric motion reconstruction, forecasting, and generation from first-person visual inputs in a unified framework. Unlike previous works that overlook scene semantics, our model effectively extracts image-based scene context to infer plausible 3D motion. To facilitate training, we introduce EE4D-Motion, a large-scale dataset derived from EgoExo4D, augmented with pseudo-ground-truth 3D motion annotations. UniEgoMotion achieves state-of-the-art performance in egocentric motion reconstruction and is the first to generate motion from a single egocentric image. Extensive evaluations demonstrate the effectiveness of our unified framework, setting a new benchmark for egocentric motion modeling and unlocking new possibilities for egocentric applications.

Keon-Hee Park, Seun-An Choe, Gyeong-Moon Park

Source-free object detection adapts a detector pre-trained on a source domain to an unlabeled target domain without requiring access to labeled source data. While this setting is practical as it eliminates the need for the source dataset during domain adaptation, it operates under the restrictive assumption that only pre-defined objects from the source domain exist in the target domain. This closed-set setting prevents the detector from detecting undefined objects. To ease this assumption, we propose Source-Free Unknown Object Detection (SFUOD), a novel scenario which enables the detector to not only recognize known objects but also detect undefined objects as unknown objects. To this end, we propose CollaPAUL (Collaborative tuning and Principal Axis-based Unknown Labeling), a novel framework for SFUOD. Collaborative tuning enhances knowledge adaptation by integrating target-dependent knowledge from the auxiliary encoder with source-dependent knowledge from the pre-trained detector through a cross-domain attention mechanism. Additionally, principal axis-based unknown labeling assigns pseudo-labels to unknown objects by estimating objectness via principal axes projection and confidence scores from model predictions. The proposed CollaPAUL achieves state-of-the-art performances on SFUOD benchmarks, and extensive experiments validate its effectiveness. The code will be released after the review.

Jiaben Chen, Xin Yan, Yihang Chen, Siyuan Cen, Zixin Wang, Qinwei Ma, Haoyu Zhen, Kaizhi Qian, Lie Lu, Chuang Gan

In this work, we introduce a challenging task for simultaneously generating 3D holistic body motions and singing vocals directly from textual lyrics inputs, advancing beyond existing works that typically address these two modalities in isolation. To facilitate this, we first collect the RapVerse dataset, a large dataset containing synchronous rapping vocals, lyrics, and high-quality 3D holistic body meshes. With the RapVerse dataset, we investigate the extent to which scaling autoregressive multimodal transformers across language, audio, and motion can enhance the coherent and realistic generation of vocals and whole-body human motions. For modality unification, a vector-quantized variational autoencoder is employed to encode whole-body motion sequences into discrete motion tokens, while a vocal-to-unit model is leveraged to obtain quantized audio tokens preserving content, prosodic information and singer identity. By jointly performing transformer modeling on these three modalities in a unified way, our framework ensures a seamless and realistic blend of vocals and human motions. Extensive experiments demonstrate that our unified generation framework not only produces coherent and realistic singing vocals alongside human motions directly from textual inputs, but also rivals the performance of specialized single-modality generation systems, establishing new benchmarks for joint vocal-motion generation.

Tomasz Niewiadomski, Anastasios Yiannakidis, Hanz Cuevas-Velasquez, Soubhik Sanyal, Michael J. Black, Silvia Zuffi, Peter Kulits

The model-based estimation of 3D animal pose and shape from images enables computational modeling of animal behavior. Training models for this purpose requires large amounts of labeled image data with precise pose and shape annotations. However, capturing such data requires the use of multi-view or marker-based motion-capture systems, which are impractical to adapt to wild animals in situ and impossible to scale across a comprehensive set of animal species. Some have attempted to address the challenge of procuring training data by pseudo-labeling individual real-world images through manual 2D annotation, followed by 3D-parameter optimization to those labels. While this approach may produce silhouette-aligned samples, the obtained pose and shape parameters are often implausible due to the ill-posed nature of the monocular fitting problem. Sidestepping real-world ambiguity, others have designed complex synthetic-data-generation pipelines leveraging game engines and collections of artist-designed 3D assets. Such engines yield perfect ground-truth labels but are often lacking in visual realism and require considerable manual effort to adapt to new species or environments. We propose an alternative approach to synthetic-data generation: rendering with a conditional image-generation model. We introduce a pipeline that samples a diverse set of poses and shapes for a variety of mammalian quadrupeds and generates realistic images with corresponding ground-truth pose and shape parameters. To demonstrate the scalability of our approach, we introduce GenZoo, a synthetic dataset containing one million images of distinct subjects. We train a 3D pose and shape regressor on GenZoo, which achieves state-of-the-art performance on a real-world multi-species 3D animal pose and shape estimation benchmark, despite being trained solely on synthetic data. We release our data and pipeline at https://genzoo.is.tue.mpg.de.