Bridging the sim-to-real gap is important for applying low-cost simulation data to real-world robotic systems. However, previous methods are severely limited by treating each transfer as an isolated endeavor, demanding repeated, costly tuning and wasting prior transfer experience.To move beyond isolated sim-to-real, we build a continual cross-task sim-to-real transfer paradigm centered on knowledge accumulation across iterative transfers, thereby enabling effective and efficient adaptation to novel tasks. Thus, we propose GeCo-SRT, a geometry-aware continual adaptation method. It utilizes domain-invariant and task-invariant knowledge from local geometric features as a transferable foundation to accelerate adaptation during subsequent sim-to-real transfers. This method starts with a geometry-aware mixture-of-experts module, which dynamically activates experts to specialize in distinct geometric knowledge to bridge observation sim-to-real gap. Further, the geometry-expert-guided prioritized experience replay module preferentially samples from underutilized experts, refreshing specialized knowledge to combat forgetting and maintain robust cross-task performance.Leveraging knowledge accumulated during iterative transfer, GeCo-SRT method not only achieves 52% average performance improvement over the baseline, but also demonstrates significant data efficiency for new task adaptation with only 1/6 data.We hope this work inspires approaches for efficient, low-cost cross-task sim-to-real transfer.
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EgoXtreme: A Dataset for Robust Object Pose Estimation in Egocentric Views under Extreme Conditions
PDF ↗Smart glass is emerging as an useful device since it provides plenty of insights under hands-busy, eyes-on-task situations. To understand the context of the wearer, 6D object pose estimation in egocentric view is becoming essential. However, existing 6D object pose estimation benchmarks fail to capture the challenges of real-world egocentric applications, which are often dominated by severe motion blur, dynamic illumination, and visual obstructions. This discrepancy creates a significant gap between controlled lab data and chaotic real-world application. To bridge this gap, we introduce EgoXtreme, a new large-scale 6D pose estimation dataset captured entirely from an egocentric perspective. EgoXtreme features three challenging scenarios--industrial maintenance, sports, and emergency rescue--designed to introduce severe perceptual ambiguities through extreme lighting, heavy motion blur, and smoke. Evaluations of state-of-the-art generalizable pose estimators on EgoXtreme indicate that their generalization fails to hold in extreme conditions, especially under low light. We further demonstrate that simply applying image restoration (e.g., deblurring) offers no positive improvement for extreme conditions. While performance gain has appeared in tracking-based approach, implying using temporal information in fast-motion scenarios is meaningful. We conclude that EgoXtreme is an essential resource for developing and evaluating the next generation of pose estimation models robust enough for real-world egocentric vision. The dataset and code are available at https://taegyoun88.github.io/EgoXtreme/
We introduce GeoSAM2, a prompt-controllable framework for 3D part segmentation that casts the task as multi-view 2D mask prediction. Given a textureless object, we render normal and point maps from predefined viewpoints and accept simple 2D prompts--clicks or boxes--to guide part selection. These prompts are processed by a shared SAM2 backbone augmented with LoRA and residual geometry fusion, enabling view-specific reasoning while preserving pretrained priors. The predicted masks are back-projected to the object, aggregated across views.Our method enables fine-grained, part-specific control without requiring text prompts, per-shape optimization, or full 3D labels. In contrast to global clustering or scale-based methods, prompts are explicit, spatially grounded, and interpretable. We achieve state-of-the-art class-agnostic performance on PartObjaverse-Tiny and PartNetE, outperforming both slow optimization-based pipelines and fast but coarse feedforward approaches. Our results highlight a new paradigm: aligning the paradigm of 3D segmentation with SAM2, leveraging interactive 2D inputs to unlock controllability and precision in object-level part understanding.
Vision-Language-Action (VLA) models excel in robotic manipulation but are constrained by their heavy reliance on expert demonstrations, leading to demonstration bias and limiting performance. Reinforcement learning (RL) is a vital post-training strategy to overcome these limits, yet current VLA-RL methods, including group-based optimization approaches, are crippled by severe reward sparsity. Relying on binary success indicators wastes valuable information in failed trajectories, resulting in low training efficiency. To solve this, we propose Self-Referential Policy Optimization (SRPO), a novel VLA-RL framework. SRPO eliminates the need for external demonstrations or manual reward engineering by leveraging the model's own successful trajectories, generated within the current training batch, as a self-reference. This allows us to assign a progress-wise reward to failed attempts. A core innovation is the use of Latent World Representations to measure behavioral progress robustly. Instead of relying on raw pixels or requiring domain-specific fine-tuning, we utilize the compressed, transferable encodings from a world model's latent space. These representations naturally capture progress patterns across environments, enabling accurate, generalized trajectory comparison. Empirical evaluations on the LIBERO benchmark demonstrate SRPO's efficiency and effectiveness. Starting from a supervised baseline with 48.9% success, SRPO achieves a new state-of-the-art success rate of 99.2% in just 200 RL steps, representing a 103% relative improvement without any extra supervision. Furthermore, SRPO shows substantial robustness, achieving a 167% performance improvement on the LIBERO-Plus benchmark.
Recent progress in large language models (LLMs) has shown that reasoning improves when intermediate thoughts are externalized into explicit workspaces, such as chain-of-thought traces or tool-augmented reasoning. Yet, visual language models (VLMs) lack an analogous mechanism for spatial reasoning, limiting their ability to generate images that accurately reflect geometric relations, object identities, and compositional intent. We introduce the concept of a spatial scratchpad -- a 3D reasoning substrate that bridges linguistic intent and image synthesis. Given a text prompt, our framework parses subjects and background elements, instantiates them as editable 3D meshes, and employs agentic scene planning for placement, orientation, and viewpoint selection. The resulting 3D arrangement is rendered back into the image domain with identity-preserving cues, enabling the VLM to generate spatially consistent and visually coherent outputs. Unlike prior 2D layout-based methods, our approach supports intuitive 3D edits that propagate reliably into final images. Empirically, it achieves a 32% improvement in text alignment on GenAI-Bench, demonstrating the benefit of explicit 3D reasoning for precise, controllable image generation. Our results highlight a new paradigm for vision-language models that deliberate not only in language, but also in space. Code and visualizations at https://oindrilasaha.github.io/3DScratchpad/
We present Franca (pronounced Fran-ka): free one; the first fully open-source (data, code, weights) vision foundation model that matches and in many cases surpasses the performance of state-of-the-art proprietary models, e.g., DINOv2, CLIP, SigLIPv2, etc. Our approach is grounded in a transparent training pipeline inspired by Web-SSL and uses publicly available data: ImageNet-21K and a subset of ReLAION-2B. Beyond model release, we tackle critical limitations in self-supervised learning clustering methods. Existing approaches assign image features to large codebooks via clustering algorithms such as Sinkhorn-Knopp, but they often overlook the inherent ambiguity in cluster semantics. To address this, we introduce a multi-head clustering projector based on nested Matryoshka representations. This design progressively refines features into increasingly fine-grained clusters without increasing the model size, producing higher-quality dense representations. Additionally, we propose a novel positional disentanglement strategy that explicitly removes positional biases from dense representations.This leads to consistent gains on several downstream benchmarks, demonstrating the utility of cleaner feature spaces. Our contributions establish a new standard for transparent, high-performance vision models and open a path toward more reproducible and generalizable foundation models for the broader AI community.
Radiance field representations have recently been explored in the latent space of VAEs that are commonly used by diffusion models. This direction offers efficient rendering and seamless integration with diffusion-based pipelines. However, these methods face a fundamental limitation: The VAE latent space lacks multi-view consistency, leading to blurred textures and missing details during 3D reconstruction. Existing approaches attempt to address this by fine-tuning the VAE, at the cost of reconstruction quality, or by relying on pre-trained diffusion models to recover fine-grained details, at the risk of some hallucinations. We present Splatent, a diffusion-based enhancement framework designed to operate on top of 3D Gaussian Splatting (3DGS) in the latent space of VAEs. Our key insight departs from the conventional 3D-centric view: rather than reconstructing fine-grained details in 3D space, we recover them in 2D from input views through multi-view attention mechanisms. This approach preserves the reconstruction quality of pretrained VAEs while achieving faithful detail recovery.Evaluated across multiple benchmarks, Splatent establishes a new state-of-the-art for VAE latent radiance field reconstruction. We further demonstrate that integrating our method with existing feed-forward frameworks, consistently improves detail preservation, opening new possibilities for high-quality sparse-view 3D reconstruction. Code is available on our project page.
From Feature Learning to Spectral Basis Learning: A Unifying and Flexible Framework for Efficient and Robust Shape Matching
PDF ↗Shape matching is a fundamental task in computer graphics and vision, with deep functional maps becoming a prominent paradigm. However, existing methods primarily focus on learning informative feature representations by constraining pointwise and functional maps, while neglecting the optimization of the spectral basis--a critical component of the functional map pipeline. This oversight often leads to suboptimal matching results. Furthermore, many current approaches rely on conventional, time-consuming functional map solvers, incurring significant computational overhead. To bridge these gaps, we introduce Advanced Functional Maps, a framework that generalizes standard functional maps by replacing fixed basis functions with learnable ones, supported by rigorous theoretical guarantees. Specifically, the spectral basis is optimized through a set of learned inhibition functions. Building on this, we propose the first unsupervised spectral basis learning method for robust non-rigid 3D shape matching, enabling the joint, end-to-end optimization of feature extraction and basis functions. Our approach incorporates a novel heat diffusion module and an unsupervised loss function, alongside a streamlined architecture that bypasses expensive solvers and auxiliary losses. Extensive experiments demonstrate that our method significantly outperforms state-of-the-art feature-learning approaches, particularly in challenging non-isometric and topological noise scenarios, while maintaining high efficiency. Finally, we reveal that optimizing basis functions is equivalent to spectral convolution, where inhibition functions act as filters. This insight enables enhanced representations inspired by spectral graph networks, opening new avenues for future research. Our code is available at https://github.com/LuoFeifan77/Unsupervised-Spectral-Basis-Learning.
Deep learning-based gaze estimation methods tend to suffer from substantial performance drop in real-world scenarios with varying users and environments. To tackle this issue, most recent approaches employ Unsupervised Domain Adaptation (UDA) to bridge the gap between source and target domains. However, this paradigm is misaligned with real-world scenarios, where the system typically needs to adapt to only a single new user. Therefore, this paper advocates a more practical paradigm: Unsupervised Personal Adaptation (UPA), which calibrates a pre-trained model using a few unlabeled images from a single new user. Conventional UDA methods do not guarantee improvements for every user and often yield lower average performance in this setting. To address this problem, we propose Render-to-Adapt (R2A), a self-supervised framework specifically designed for the UPA task. Given a pretrained gaze model, R2A utilizes a gaze-conditioned renderer to synthesize new images based on the model's gaze predictions, and enforces eye-region consistency as a label-free signal to enhance personalized gaze estimation. We evaluate R2A on a re-designed cross-dataset personal adaptation benchmark. Experimental results show that R2A consistently improves performance across all individuals and significantly outperforms existing SOTA methods.
In Vision-Language-Action (VLA) models, action chunking (i.e., executing a sequence of actions without intermediate replanning) is a key technique to improve robotic manipulation abilities. However, a large chunk size reduces the model's responsiveness to new information, while a small one increases the likelihood of mode-jumping, jerky behavior resulting from discontinuities between chunks. Therefore, selecting the optimal chunk size is an urgent demand to balance the model's reactivity and consistency. Unfortunately, a dominant trend in current VLA models is an empirical fixed chunk length at inference-time, hindering their superiority and scalability across diverse manipulation tasks. To address this issue, we propose a novel Adaptive Action Chunking (AAC) strategy, which exploits action entropy as the cue to adaptively determine the chunk size based on current predictions. Extensive experiments on a wide range of simulated and real-world robotic manipulation tasks have demonstrated that our approach substantially improves performance over the state-of-the-art alternatives. The videos and source code are publicly available at https://lance-lot.github.io/adaptive-chunking.github.io.
3D Gaussian Splatting reconstructs scenes by starting from a sparse Structure-from-Motion initialization and refiningunder-reconstructed regions. This process is slow, as it requires multiple densification steps where Gaussians arerepeatedly split and adjusted, following a lengthy optimization path. Moreover, this incremental approach often yieldssuboptimal renderings in high-frequency regions. We propose a fundamentally different approach: eliminate densification with a one-step approximation of scenegeometry using triangulated pixels from dense image correspondences. This dense initialization allows us to estimatethe rough geometry of the scene while preserving rich details from input RGB images, providing each Gaussian withwell-informed color, scale, and position. As a result, we dramatically shorten the optimization path and remove theneed for densification. Unlike methods that rely on sparse keypoints, our dense initialization ensures uniform detailacross the scene, even in high-frequency regions where other methods struggle. Moreover, since all splats are initializedin parallel at the start of optimization, we remove the need to wait for densification to adjust new Gaussians.EDGS reaches LPIPS and SSIM performance of standard 3DGS significantly faster than existing efficiency-focused approaches. When trained further, it exceeds the reconstruction quality of state-of-the-art models aimed at maximizing fidelity. Our method is fully compatible with other acceleration techniques, making it a versatile and efficient solution that can be integrated with existing approaches.
TRIDENT: A Trimodal Cascade Generative Framework for Drug and RNA-Conditioned Cellular Morphology Synthesis
PDF ↗Accurately modeling the relationship between perturbations, transcriptional responses, and phenotypic changes is essential for building an AI Virtual Cell (AIVC). However, existing methods typically constrained to modeling direct associations, such as *Perturbation -> RNA* or *Perturbation -> Morphology*, overlook the crucial causal link from RNA to morphology. To bridge this gap, we propose TRIDENT, a cascade generative framework that synthesizes realistic cellular morphology by conditioning on both the perturbation and the corresponding gene expression profile. To train and evaluate this task, we construct MorphoGene, a new dataset pairing L1000 gene expression with Cell Painting images for 98 compounds. TRIDENT significantly outperforms state-of-the-art approaches, achieving up to 7-fold improvement with strong generalization to unseen compounds. In a case study on docetaxel, we validate that RNA-guided synthesis accurately produces the corresponding phenotype. An ablation study further confirms that this RNA conditioning is essential for the model's high fidelity. By explicitly modeling transcriptome-phenome mapping, TRIDENT provides a powerful in silico tool and moves us closer to a predictive virtual cell.
The aesthetic quality of a scene depends strongly on camera viewpoint. Existing approaches for aesthetic viewpoint suggestion are either single-view adjustments, predicting limited camera adjustments from a single image without understanding scene geometry, or 3D exploration approaches, which rely on dense captures or prebuilt 3D environments coupled with costly reinforcement learning (RL) searches. In this work, we introduce the notion of 3D aesthetic field that enables geometry-grounded aesthetic reasoning in 3D with sparse captures, allowing efficient viewpoint suggestions in contrast to costly RL searches. We opt to learn this 3D aesthetic field using a feedforward 3D Gaussian Splatting network that distills high-level aesthetic knowledge from a pretrained 2D aesthetic model into 3D space, enabling aesthetic prediction for novel viewpoints from only sparse input views. Building on this field, we propose a two-stage search pipeline that combines coarse viewpoint sampling with gradient-based refinement, efficiently identifying aesthetically appealing viewpoints without dense captures or RL exploration. Extensive experiments show that our method consistently suggests viewpoints with superior framing and composition compared to existing approaches, establishing a new direction toward 3D-aware aesthetic modeling.
Octopus: History-Free Gradient Orthogonalization for Continual Learning in Multimodal Large Language Models
PDF ↗Continual learning in multimodal large language models (MLLMs) aims to sequentially acquire knowledge while mitigating catastrophic forgetting, yet existing methods face inherent limitations: architecture-based approaches incur additional computational overhead and often generalize poorly to new tasks, rehearsal-based methods rely on storing historical data, raising privacy and storage concerns, and conventional regularization-based strategies alone are insufficient to fully prevent parameter interference. We propose Octopus, a two-stage continual learning framework based on History-Free Gradient Orthogonalization (HiFGO), which enforces gradient-level orthogonality without historical task data. The two-stage finetuning strategy decouples task adaptation from regularization, achieving a principled balance between plasticity and stability. Experiments on UCIT show that Octopus establishes state-of-the-art performance, surpassing prior SOTA by 2.14% and 6.82% in terms of Avg and Last.
Semantic-Guided Global-Local Collaborative Prompt Learning for Few-Shot Class Incremental Learning
PDF ↗Few-Shot Class-Incremental Learning (FSCIL) poses a critical challenge in machine learning, requiring models to continuously integrate novel classes with limited samples while preserving knowledge of previously seen classes. While existing FSCIL approaches have demonstrated promising results, they still suffer from catastrophic forgetting and few-shot overfitting due to the challenge of balancing old knowledge retention with new knowledge acquisition. To address these challenges, we propose an innovative Semantic-Guided Global-Local Collaborative Prompt Learning (SGLC) framework. Built upon powerful pre-trained Vision-Language Models (VLMs), the framework first introduces a dual-alignment mechanism: globally aligning visual features with visual-textual prototypes and locally aligning multi-view visual features with local textual attribute features, which facilitates effective knowledge learning while preserving existing knowledge via frozen prototypes of previous classes. Furthermore, to alleviate overfitting, we incorporate Large Language Models (LLMs) to generate semantically rich textual descriptions, which simultaneously guide both global and local prompt learning through knowledge distillation. Extensive experiments on the miniImageNet, CIFAR-100, and CUB200 datasets demonstrate that SGLC performs favorably against the state-of-the-art methods.
DK-DDIL: Adaptive Knowledge Retention for Dynamic Domain-Incremental Learning in Medical Imaging
PDF ↗Large-scale foundation models pretrained on massive datasets have demonstrated strong generalization capabilities in medical image analysis. However, they are typically trained on static datasets and struggle to cope with the continuously evolving nature of clinical data, where new imaging devices, institutions, and disease subtypes constantly emerge. While domain-incremental learning (DIL) provides a solution for sequential adaptation without revisiting historical data, existing methods typically assume fixed label spaces and limited domain heterogeneity, restricting their applicability to real-world clinical scenarios. To address these challenges, we propose DK-DDIL, a rehearsal-free framework for dynamic DIL that integrates two synergistic modules: a Dynamic Adaptation Module (DAM) employing dynamic rank selection and adaptive regularization to flexibly allocate model capacity under domain shifts, and a Knowledge Inheritance and Refinement (KIR) module that stabilizes cross-domain knowledge transfer through selective adapter fusion and prototype-level contrastive refinement. Experiments on the Skin Pathology Diagnosis dataset, the Cyst-X 3D MRI cohort, and the OfficeHome benchmark demonstrate that DK-DDIL consistently outperforms state-of-the-art DIL approaches, highlighting its effectiveness and versatility across dynamic 2D medical, 3D medical, and natural image domains.
UNI-OOD: Unified Object- and Image-level Out-of-Distribution Detection via Cross-Context Attentive Vision-Language Modeling
PDF ↗Out-of-distribution (OOD) detection is a key requirement for reliable deployment in open-world environments, where a model must recognize inputs that fall outside the semantic scope of known concepts. While recent advances in vision-language models (VLMs) have achieved strong results in image-level OOD detection, most methods still assume that each image contains a single dominant object. This assumption severely limits their applicability to real-world settings where scenes are naturally composed of multiple objects that each demand independent OOD assessment. Existing object-level approaches, including the current SOTA method RUNA, remain constrained by coarse global representations and insufficient modeling of contextual dependencies between objects and their backgrounds. We propose UNI-OOD, a unified framework that performs both object- and image-level OOD detection within a single VLM, without requiring prior knowledge of which task is being addressed at inference time. The key idea is to leverage cross-context attentive modeling that captures complementary visual and textual semantics. UNI-OOD learns to attend to fine-grained spatial details within each object, aligns visual and linguistic embeddings to strengthen semantic correspondence, and models interactions between target objects and their surrounding context. By jointly reasoning over object-centric and background cues, the framework disentangles informative visual evidence from spurious correlations and enables a consistent OOD scoring mechanism across different visual granularities. Extensive experiments on object- and image-level benchmarks demonstrate that UNI-OOD achieves substantial and consistent improvements over previous approaches, establishing new SOTA performance in both object-level and image-level OOD detection.
Representation-Steered Incremental Adapter-Tuning for Class-Incremental Learning with Pre-Trained Models
PDF ↗Class-Incremental Learning (CIL) aims to develop models to continuously learn new classes without forgetting learned old ones. Recent advances combine pre-trained models with parameter-efficient fine-tuning, achieving promising results. However, these approaches typically allocate new trainable parameters for each task, causing the model size to grow linearly with task number. Moreover, they lack explicit mechanisms to structure a coherent and discriminative representation space across tasks. To address these limitations, we propose Representation-Steered Incremental Adapter Tuning (RSIAT). RSIAT maintains a single shared adapter for all tasks, eliminating parameter growth during incremental learning. In the base task, we introduce a representation-steering loss that enhances discriminative feature learning while facilitating future task adaptation. During incremental tasks, a residual autoencoder-based projector aligns feature distributions between old and new tasks, preserving representation consistency without over-constraining the shared adapter. Extensive experiments on six CIL benchmarks demonstrate that RSIAT significantly outperforms state-of-the-art methods in both performance and parameter efficiency, achieving superior stability-plasticity trade-offs with minimal trainable parameters. Code is available at https://github.com/zjrzjrz/RSIAT.
Visual decoding from brain signals is a key challenge at the intersection of computer vision and neuroscience, requiring methods that bridge neural representations and computational models of vision. A field-wide goal is to achieve generalizable, cross-subject models. A major obstacle towards this goal is the substantial variability in neural representations across individuals, which has so far required training bespoke models or fine-tuning separately for each subject. To address this challenge, we introduce a meta-optimized approach for semantic visual decoding from fMRI that **generalizes to novel subjects without any fine-tuning**. By simply conditioning on a small set of image-brain activation examples from the new individual, our model rapidly infers their unique neural encoding patterns to facilitate robust and efficient visual decoding. Our approach is explicitly optimized for in-context learning of the new subject's encoding model and performs decoding by hierarchical inference, inverting the encoder. First, for multiple brain regions, we estimate the per-voxel visual response encoder parameters by constructing a context over multiple stimuli and responses. Second, we construct a context consisting of encoder parameters and response values over multiple voxels to perform aggregated functional inversion. We demonstrate strong cross-subject and cross-scanner generalization across diverse visual backbones without retraining or fine-tuning. Moreover, our approach requires neither anatomical alignment nor stimulus overlap. This work is a critical step towards a generalizable foundation model for non-invasive brain decoding.
Autoregressive (AR) models have achieved remarkable success in image synthesis, yet their sequential nature imposes significant latency constraints. Speculative Decoding offers a promising avenue for acceleration, but existing approaches are limited by token-level ambiguity and lack of spatial awareness. In this work, we introduce Multi-Scale Local Speculative Decoding (MuLo-SD), a novel framework that combines multi-resolution drafting with spatially informed verification to accelerate AR image generation. Our method leverages a low-resolution drafter paired with an up-sampling step to propose candidate image tokens, which are then verified in parallel by a high-resolution target model. Crucially, we incorporate a local rejection and resampling mechanism, enabling efficient correction of draft errors by focusing on spatial neighborhoods rather than raster-scan resampling after the first rejection. When integrated with parallel decoding resampling, \methodname achieves substantial speedups -- up to 5x -- outperforming both speculative decoding and parallel decoding baselines in terms of acceleration, while maintaining comparable semantic alignment and perceptual quality. These results are validated using GenEval, DPG-Bench, and FID/HPSv2 on the MS-COCO 5k validation split. Extensive ablations highlight the impact of up-sampling design, probability pooling, and local rejection and resampling with neighborhood expansion. Our approach sets a new state-of-the-art in speculative decoding for image synthesis, bridging the gap between efficiency and fidelity.