Obtaining enough high-quality correspondences is crucial for robust registration. Existing correspondence refinement methods mostly follow the paradigm of outlier removal, which either fails to correctly identify the accurate correspondences under extreme outlier ratios, or select too few correct correspondences to support robust registration. To address this challenge, we propose a novel approach named Regor, which is a progressive correspondence regenerator that generates higher-quality matches whist sufficiently robust for numerous outliers. In each iteration, we first apply prior-guided local grouping and generalized mutual matching to generate the local region correspondences. A powerful center-aware three-point consistency is then presented to achieve local correspondence correction, instead of removal. Further, we employ global correspondence refinement to obtain accurate correspondences from a global perspective. Through progressive iterations, this process yields a large number of high-quality correspondences. Extensive experiments on both indoor and outdoor datasets demonstrate that the proposed Regor significantly outperforms existing outlier removal techniques. More critically, our approach obtain 10 times more correct correspondences than outlier removal methods. As a result, our method is able to achieve robust registration even with weak features. The code is available at https://github.com/GuiyuZhao/Regor.
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Current research on generating 3D hand-object interaction motion primarily focuses on in-domain objects. Generalization to unseen objects is essential for practical applications, yet it remains both challenging and largely unexplored.In this paper, we propose LatentHOI, a novel approach designed to tackle the challenges of generalizing hand-object interaction to unseen objects.Our main insight lies in decoupling high-level temporal motion from fine-grained spatial hand-object interactions with a latent diffusion model coupled with a Grasping Variational Autoencoder (GraspVAE). This configuration not only enhances the conditional dependency between spatial grasp and temporal motion but also improves data utilization and reduces overfitting through regularization in the latent space. We conducted extensive experiments in an unseen-object setting on both single-hand grasping and bi-manual motion datasets, including GRAB, DexYCB, and OakInk.Quantitative and qualitative evaluations demonstrate that our method significantly enhances the realism and physical plausibility of generated motions for unseen objects, both in single and bimanual manipulations, compared to the state-of-the-art.
In this paper, we introduce a novel, truly prior-free 3D object tracking method that operates without given any model or training priors. Unlike existing methods that typically require pre-defined 3D models or specific training datasets as priors, which limit their applicability, our method is free from these constraints. Our method consists of a geometry generation module and a pose optimization module. Its core idea is to enable these two modules to automatically and iteratively enhance each other, thereby gradually building all the necessary information for the tracking task. We thus call the method as Bidirectional Iterative Tracking(BIT). The geometry generation module starts without priors and gradually generates high-precision mesh models for tracking, while the pose optimization module generates additional data during object tracking to further refine the generated models. Moreover, the generated 3D models can be stored and easily reused, allowing for seamless integration into various other tracking systems, not just our methods. Experimental results demonstrate that BIT outperforms many existing methods, even those that extensively utilize prior knowledge, while BIT does not rely on such information. Additionally, the generated 3D models deliver results comparable to actual 3D models, highlighting their superior and innovative qualities. The code is available at https://github.com/songxiuqiang/BIT.git.
Towards Fine-Grained Interpretability: Counterfactual Explanations for Misclassification with Saliency Partition
PDF ↗Attribution-based explanation techniques capture key patterns to enhance visual interpretability. However, these patterns often lack the granularity needed for insight in fine-grained tasks, particularly in cases of model misclassification, where explanations may be insufficiently detailed. To address this limitation, we propose a fine-grained counterfactual explanation framework that generates both object-level and part-level interpretability, addressing two fundamental questions: (1) which fine-grained features contribute to model misclassification, and (2) where dominant local features influence counterfactual adjustments. Our approach yields explainable counterfactuals in a non-generative manner by quantifying similarity and weighting component contributions within regions of interest between correctly classified and misclassified samples. Furthermore, we introduce an importance-isolation module grounded in Shapley value contributions, isolating features with region-specific relevance. Extensive experiments demonstrate the superiority of our approach in capturing more granular, intuitively meaningful regions, surpassing fine-grained methods.
Despite advancements in Computer-Aided-Design (CAD) generation, direct generation of complex Boundary Representation (B-rep) CAD models remains challenging. This difficulty arises from the parametric nature of B-rep data, complicating the encoding and generation of its geometric and topological information. To address this, we introduce BrepGiff, a lightweight generation approach for high-quality and complex B-rep model based on 3D Graph Diffusion. First, we transfer B-rep models into 3D graphs representation. Specifically, BrepGiff extracts and integrates topological and geometric features to construct a 3D graph where nodes correspond to face centroids in 3D space, preserving adjacency and degree information. Geometric features are derived by sampling points in the UV domain and extracting face and edge features. Then, BrepGiff applies a Graph Attention Network (GAT) to enforce topological constraints from local to global during the degree-guided diffusion process. With the 3D graph representation and efficient diffusion process, our method significantly reduces the computational cost and improves the quality, thus achieving lightweight generation of complex models. Experiments show that BrepGiff can generate complex B-rep models (>100 faces) using only 2 RTX4090 GPUs, achieving state-of-the-art performance in B-rep generation.
RAEncoder: A Label-Free Reversible Adversarial Examples Encoder for Dataset Intellectual Property Protection
PDF ↗Reversible Adversarial Examples (RAE) are designed to protect the intellectual property of datasets. Such examples can function as imperceptible adversarial examples to erode the model performance of unauthorized users while allowing authorized users to remove the adversarial perturbations and recover the original samples for normal model training. With the rise of Self-Supervised Learning (SSL), an increasing number of unlabeled datasets and pre-trained encoders are available in the community. However, existing RAE methods not only rely on well-labeled datasets for training Supervised Learning (SL) models but also exhibit poor adversarial transferability when attacking SSL pre-trained encoders. To address these challenges, we propose RAEncoder, the first framework for RAEs without the need for labeled samples. RAEncoder aims to generate universal adversarial perturbations by targeting SSL pre-trained encoders. Unlike traditional RAE approaches, the pre-trained encoder outputs the feature distribution of the protected dataset rather than classification labels, enhancing both the attack success rate and transferability of RAEs. Extensive experiments are conducted on six pre-trained encoders and four SL models, covering aspects such as imperceptibility and transferability. Our results demonstrate that RAEncoder effectively protects unlabeled datasets from malicious infringements. Additional robustness experiments further confirm the security of RAEncoder in practical application scenarios.
We introduce EgoLife, a project to develop an egocentric life assistant that accompanies and enhances personal efficiency through AI-powered wearable glasses. To lay the foundation for this assistant, we conducted a comprehensive data collection study where six participants lived together for one week, continuously recording their daily activities - including discussions, shopping, cooking, socializing, and entertainment - using AI glasses for multimodal egocentric video capture, along with synchronized third-person-view video references. This effort resulted in the EgoLife Dataset, a comprehensive 300-hour egocentric, interpersonal, multiview, and multimodal daily life dataset with intensive annotation. Leveraging this dataset, we introduce EgoLifeQA, a suite of long-context, life-oriented question-answering tasks designed to provide meaningful assistance in daily life by addressing practical questions such as recalling past relevant events, monitoring health habits, and offering personalized recommendations. To address the key technical challenges of (1) developing robust visual-audio models for egocentric data, (2) enabling identity recognition, and (3) facilitating long-context question answering over extensive temporal information, we introduce EgoButler, an integrated system comprising EgoGPT and EgoRAG. EgoGPT is an omni-modal model trained on egocentric datasets, achieving state-of-the-art performance on egocentric video understanding. EgoRAG is a retrieval-based component that supports answering ultra-long-context questions. Our experimental studies verify their working mechanisms and reveal critical factors and bottlenecks, guiding future improvements. By releasing our datasets, models, and benchmarks, we aim to stimulate further research in egocentric AI assistants.
Multi-modality image fusion, particularly infrared and visible, plays a crucial role in integrating diverse modalities to enhance scene understanding. Although early research prioritized visual quality, preserving fine details and adapting to downstream tasks remains challenging. Recent approaches attempt task-specific design but rarely achieve "The Best of Both Worlds" due to inconsistent optimization goals. To address these issues, we propose a novel method that leverages the semantic knowledge from the Segment Anything Model (SAM) to grow the quality of fusion results and enable downstream task adaptability, namely SAGE. Specifically, we design a Semantic Persistent Attention (SPA) Module that efficiently maintains source information via the persistent repository while extracting high-level semantic priors from SAM. More importantly, to eliminate the impractical dependence on SAM during inference, we introduce a bi-level optimization-driven distillation mechanism with triplet losses, which allow the student network to effectively extract knowledge. Extensive experiments show that our method achieves a balance between high-quality visual results and downstream task adaptability while maintaining practical deployment efficiency. The code is available at https://github.com/RollingPlain/SAGE_IVIF.
Training-free Neural Architecture Search through Variance of Knowledge of Deep Network Weights
PDF ↗Deep learning has revolutionized computer vision, but it achieved its tremendous success using deep network architectures which are mostly hand-crafted and therefore likely suboptimal. Neural Architecture Search (NAS) aims to bridge this gap by following a well-defined optimization paradigm which systematically looks for the best architecture, given objective criterion such as maximal classification accuracy. The main limitation of NAS is however its astronomical computational cost, as it typically requires training each candidate network architecture from scratch.In this paper, we aim to alleviate this limitation by proposing a novel training-free proxy for image classification accuracy based on Fisher Information. The proposed proxy has a strong theoretical background in statistics and it allows estimating expected image classification accuracy of a given deep network without training the network, thus significantly reducing computational cost of standard NAS algorithms. Our training-free proxy achieves state-of-the-art results on three public datasets and in two search spaces, both when evaluated using previously proposed metrics, as well as using a new metric that we propose which we demonstrate is more informative for practical NAS applications. The source code is publicly available.
Recent advancements in generative models offer promising solutions for synthesizing realistic driving videos, aiding in training autonomous driving perception models. However, existing methods often struggle with high-resolution multi-view generation, mainly due to the significant memory and computational overhead caused by simultaneously inputting multi-view videos into denoising diffusion models.In this paper, we propose a driving video generation framework based on multi-view feature fusion named DriveScape for multi-view 3D condition-guided video generation. We introduce a Bi-Directional Modulated Transformer (BiMoT) module to encode, fuse and inject multi-view features along with various 3D road structures and objects, which enables high-resolution multi-view generation. Consequently, our approach allows precise control over video generation, greatly enhancing realism and providing a robust solution for creating high-quality, multi-view driving videos.Our framework achieves state-of-the-art results on the nuScenes dataset, demonstrating impressive generative quality metrics with an FID score of 8.34 and an FVD score of 76.39, as well as superior performance across various perception tasks. This lays the foundation for more accurate environment simulation in autonomous driving. We plan to make our code and pre-trained model publicly available.Please refer to index.html webpage in the supplementary materials for more visualization results.
High-quality Point Cloud Oriented Normal Estimation via Hybrid Angular and Euclidean Distance Encoding
PDF ↗The proliferation of Light Detection and Ranging (LiDAR) technology has facilitated the acquisition of three-dimensional point clouds, which are integral to applications in VR, AR, and Digital Twin. Oriented normals, critical for 3D reconstruction and scene analysis, cannot be directly extracted from scenes using LiDAR due to its operational principles. Previous traditional or learning-based methods are prone to inaccuracies due to uneven distribution and noise due to the dependence on local geometry features. This paper addresses the challenge of estimating oriented point normals by introducing a point cloud normal estimation framework via hybrid angular and Euclidean distance encoding (HAE). Our method overcomes the limitations of local geometric information by combining angular and Euclidean spaces to extract features from both point cloud coordinates and light rays, leading to more accurate normal estimation. The core of our network consists of an angular distance encoding module, which leverages both ray directions and point coordinates for unoriented normal refinement, and a ray feature fusion module for normal orientation, that is robust to noise. We also provide a point cloud dataset with ground truth normals, generated a virtual scanner, which reflects real scanning distributions and noise profiles.
Diffusion models indirectly estimate the probability density over a data space, which can be used to study its structure. In this work, we show that geodesics can be computed in diffusion latent space, where the norm induced by the spatially-varying inner product is inversely proportional to the probability density. In this formulation, a path that traverses a high density (that is, probable) region of image latent space is shorter than the equivalent path through a low density region. We present algorithms for solving the associated initial and boundary value problems and show how to compute the probability density along the path and the geodesic distance between two points. Using these techniques, we analyze how closely video clips approximate geodesics in a pre-trained image diffusion space. Finally, we demonstrate how these techniques can be applied to training-free image sequence interpolation and extrapolation, given a pre-trained image diffusion model.
Camouflaged Object Detection (COD) seeks to distinguish objects from their highly similar backgrounds. Existing work has essentially focused on isolating camouflaged objects from the environment, demonstrating ever-improving performance but at the cost of extensive annotations and complex optimizations. In this paper, we diverge from this paradigm and shift the lens to isolating the salient environment from the camouflaged object. We introduce EASE, an Environment-Aware unSupErvised COD framework that identifies the environment by referencing an environment prototype library and detects camouflaged objects by inverting the retrieved environmental features. Specifically, our approach (DiffPro) uses large multimodal models, diffusion models, and vision-foundation models to construct the environment prototype library. To retrieve environments from the library and refrain from confusing foreground and background, we incorporate three retrieval schemes: Kernel Density Estimation-based Adaptive Threshold (KDE-AT), Global-to-Local pixel-level retrieval (G2L), and Self-Retrieval (SR). Our experiments demonstrate significant improvements over current unsupervised methods, with EASE achieving an average gain of over 10% on the COD10K dataset. When integrated with SAM, EASE surpasses prompt-based segmentation approaches and performs competitively with state-of-the-art fully-supervised methods. Code is available at https://github.com/xiaohainku/EASE.
The integration of Vision-Language Models (VLMs) into autonomous driving systems has shown promise in addressing key challenges such as learning complexity, interpretability, and common-sense reasoning. However, existing approaches often struggle with efficient integration and real-time decision-making due to computational demands. In this paper, we introduce SOLVE, an innovative framework that synergizes VLMs with end-to-end (E2E) models to enhance autonomous vehicle planning. Our approach emphasizes knowledge sharing at the feature level through a shared visual encoder, enabling comprehensive interaction between VLM and E2E components. We propose a Trajectory Chain-of-Thought (T-CoT) paradigm, which progressively refines trajectory predictions, reducing uncertainty and improving accuracy. By employing a temporal decoupling strategy, SOLVE achieves efficient asynchronous cooperation, aligning high-quality VLM outputs with E2E real-time performance. Evaluated on the nuScenes dataset, our method demonstrates significant improvements in trajectory prediction accuracy, paving the way for more robust and reliable autonomous driving systems.
Hybrid Global-Local Representation with Augmented Spatial Guidance for Zero-Shot Referring Image Segmentation
PDF ↗Recent advances in zero-shot referring image segmentation (RIS), driven by models such as the Segment Anything Model (SAM) and CLIP, have made substantial progress in aligning visual and textual information. Despite these successes, the extraction of precise and high-quality mask region representations remains a critical challenge, limiting the full potential of RIS tasks. In this paper, we introduce a training-free, hybrid global-local feature extraction approach that integrates detailed mask-specific features with contextual information from the surrounding area, enhancing mask region representation. To further strengthen alignment between mask regions and referring expressions, we propose a spatial guidance augmentation strategy that improves spatial coherence, which is essential for accurately localizing described areas. By incorporating multiple spatial cues, this approach facilitates more robust and precise referring segmentation. Extensive experiments on standard RIS benchmarks demonstrate that our method significantly outperforms existing zero-shot referring segmentation models, achieving substantial performance gains. We believe our approach advances RIS tasks and establishes a versatile framework for region-text alignment, offering broader implications for cross-modal understanding and interaction. The code will be publicly available.
Recent advances in generalizable 3D Gaussian Splatting have demonstrated promising results in real-time high-fidelity rendering without per-scene optimization, yet existing approaches still struggle to handle unfamiliar visual content during inference on novel scenes due to limited generalizability. To address this challenge, we introduce MonoSplat, a novel framework that leverages rich visual priors from pre-trained monocular depth foundation models for robust Gaussian reconstruction. Our approach consists of two key components: a Mono-Multi Feature Adapter that transforms monocular features into multi-view representations, coupled with an Integrated Gaussian Prediction module that effectively fuses both feature types for precise Gaussian generation. Through the Adapter's lightweight attention mechanism, features are seamlessly aligned and aggregated across views while preserving valuable monocular priors, enabling the Prediction module to generate Gaussian primitives with accurate geometry and appearance. Through extensive experiments on diverse real-world datasets, we convincingly demonstrate that MonoSplat achieves superior reconstruction quality and generalization capability compared to existing methods while maintaining computational efficiency with minimal trainable parameters. Codes are available at \href https://github.com/CUHK-AIM-Group/MonoSplat https://github.com/CUHK-AIM-Group/MonoSplat .
Recent vision-language models (VLMs) face significant challenges in test-time adaptation to novel domains. While cache-based methods show promise by leveraging historical information, they struggle with both caching unreliable feature-label pairs and indiscriminately using single-class information during querying, significantly compromising adaptation accuracy. To address these limitations, we propose COSMIC (\underline C lique-\underline O riented \underline S emantic \underline M ulti-space \underline I ntegration for \underline C LIP), a robust test-time adaptation framework that enhances adaptability through multi-granular, cross-modal semantic caching and graph-based querying mechanisms. Our framework introduces two key innovations: Dual Semantics Graph (DSG) and Clique Guided Hyper-class (CGH). The Dual Semantics Graph constructs complementary semantic spaces by incorporating textual features, coarse-grained CLIP features, and fine-grained DINOv2 features to capture rich semantic relationships. Building upon these dual graphs, the Clique Guided Hyper-class component leverages structured class relationships to enhance prediction robustness through correlated class selection. Extensive experiments demonstrate COSMIC's superior performance across multiple benchmarks, achieving significant improvements over state-of-the-art methods: 15.81% gain on out-of-distribution tasks and 5.33% on cross-domain generation with CLIP RN-50.
We present an efficient encoder-free approach for video-language understanding that achieves competitive performance while significantly reducing computational overhead. Current video-language models typically rely on heavyweight image encoders (300M-1.1B parameters) or video encoders (1B-1.4B parameters), creating a substantial computational burden when processing multi-frame videos. Our method introduces a novel Spatio-Temporal Alignment Block (STAB) that directly processes video inputs without requiring pre-trained encoders while using only 45M parameters for visual processing - at least a 6.5x reduction compared to traditional approaches. The STAB architecture combines Local Spatio-Temporal Encoding for fine-grained feature extraction, efficient spatial downsampling through learned attention and separate mechanisms for modeling frame-level and video-level relationships. Our model achieves comparable or superior performance to encoder-based approaches for open-ended video question answering on standard benchmarks. The fine-grained video question-answering evaluation demonstrates our model's effectiveness, outperforming the encoder-based approaches Video-ChatGPT and Video-LLaVA in key aspects like correctness and temporal understanding. Extensive ablation studies validate our architectural choices and demonstrate the effectiveness of our spatio-temporal modeling approach while achieving 3-4x faster processing speeds than previous methods. Code is available at https://jh-yi.github.io/Video-Panda.
PersonaHOI: Effortlessly Improving Face Personalization in Human-Object Interaction Generation
PDF ↗We introduce PersonaHOI, a training- and tuning-free framework that fuses a general StableDiffusion model with a personalized face diffusion (PFD) model to generate identity-consistent human-object interaction (HOI) images. While existing PFD models have advanced significantly, they often overemphasize facial features at the expense of full-body coherence, PersonaHOI introduces an additional StableDiffusion (SD) branch guided by HOI-oriented text inputs. By incorporating cross-attention constraints in the PFD branch and spatial merging at both latent and residual levels, PersonaHOI preserves personalized facial details while ensuring interactive non-facial regions. Experiments, validated by a novel interaction alignment metric, demonstrate the superior realism and scalability of PersonaHOI, establishing a new standard for practical personalized face with HOI generation. Code is available at https://github.com/JoyHuYY1412/PersonaHOI.
Recent text-to-3D generation models have demonstrated remarkable abilities in producing high-quality 3D assets. Despite their great advancements, current models struggle to generate satisfying 3D objects with complex attributes. The difficulty for such complex attributes 3D generation arises from two aspects: (1) existing text-to-3D approaches typically lift text-to-image models to extract semantics via text encoders, while the text encoder exhibits limited comprehension ability for long descriptions, leading to deviated cross-attention focus, subsequently wrong attribute binding in generated results. (2) Objects with complex attributes often exhibit occlusion relationships between different parts, which demands a reasonable generation order as well as explicit disentanglement of different parts to enable structural coherent and attribute following results. Though some works introduce manual efforts to alleviate the above issues, their quality is unstable and highly reliant on manual information. To tackle above problems, we propose a automated method Hierarchical-Chain-of-Generation (HCoG). It leverages a large language model to analyze the long description, decomposes it into several blocks representing different object parts, and organizes an optimal generation order from in to out according to the occlusion relationship between parts, turning the whole generation process into a hierarchical chain. For optimization within each block, we first generate the necessary components coarsely, then bind their attributes precisely by target region localization and corresponding 3D Gaussian kernel optimization. For optimization between blocks, we introduce Gaussian Extension and Label Elimination to seamlessly generate new parts by extending new Gaussian kernels, re-assigning semantic labels, and eliminating unnecessary kernels, ensuring that only relevant parts are added without disrupting previously optimized parts. Experiments validate HCoG's effectiveness in handling complex attributes 3D assets and witnesses high-quality results. The code is available at https://github.com/Wakals/GASCOL.