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Xuanang Gao, Xiongbin Wu, Zhiwei Ning, Runze Yang, Zhonglong Zheng, Jie Yang, Wei Liu

Self-supervised monocular depth estimation methods severely compromise accuracy in dynamic objects due to their static scene assumption. Existing approaches for dynamic scenes suffer from two critical shortcomings: 1) reliance on supervised segmentation models (requiring costly annotations) or computationally intensive multi-branch models to isolate moving objects, and 2) simple integration of 2D/3D motion flow without reliable supervision for dynamic objects. We propose AdaDepth, a two‑stage framework that jointly performs unsupervised scene decomposition and dynamic-aware depth learning. In the initial structural stage, our geometry-motion joint scene decomposition (GMoDecomp) module ensures the robust generation of a depth prior and simultaneously partitions the scene into multiple regions through the fusion of geometric and motion cues. In the region-adaptive refinement stage, we exploit the depth prior and decomposed regions to introduce motion-aware and geometry-consistent constraints, effectively improving depth estimation in dynamic scenes. AdaDepth achieves accurate depth prediction in highly dynamic scenes without relying on external labels or specialized segmentation models. Extensive experiments on KITTI, Cityscapes, and Waymo Open demonstrate its superiority over state-of-the-art approaches.

Tan Gao, Mufan Xue, Haofang Zheng, Shuo Lv, Jia Xu, Dabin Sheng, Ziming Mao, Xinyu Wu, Andrew Luo, Guoyuan Yang

Previous studies leveraging artificial neural networks have been used to investigate the semantic coding within human visual cortex. However, building an interpretable label-free framework that can effectively map brain responses to multiple coexisting semantic concepts remains largely unexplored. Here, we propose BrainLMM, a label-free framework for multi-semantic mapping of voxel responses by combining diverse vision encoders with the Describe-and-Dissect strategy, enabling a hypothesis-free analysis of the human high-level visual cortex. First, we construct voxel-wise encoding models leveraging diverse vision encoders to predict visual cortical responses to natural scene images. Then, we use BrainLMM to map individual brain voxels to multiple semantics without requiring any predefined labels. To evaluate the effectiveness of our method, we compute Pearson correlation coefficients to compare the multi-semantic mappings produced by BrainLMM and CLIP-MSM with ground-truth voxel responses within selective cortical areas. Our findings indicate that BrainLMM achieves more accurate predictions of visual responses compared to CLIP-MSM. Finally, to demonstrate the multi-semantic mapping capability of our method, we project multiple representative semantic concepts onto the cortical surface for visualization. Our method enables the discovery of voxels that exhibit strong activation in response to previously undefined semantic concepts across two independent datasets: the Natural Scenes Dataset (NSD) and the Natural Object Dataset (NOD).

Shibo Gao, Peipei Yang, Yangyang Liu, Yi Chen, Han Zhu, Xu-Yao Zhang, Linlin Huang

For video anomaly detection, it's both important to detect when the event happens and what the event is. The tasks of temporal grounding and semantic understanding can benefit from joint learning, but no existing work support it. To address this problem, we introduce VAGU (Video Anomaly Grounding and Understanding), the first benchmark designed to jointly evaluate semantic understanding and precise temporal grounding of anomalies, with comprehensive annotations and objective multiple-choice Video QA. Besides, we propose Glance then Scrutinize (GtS), the first training-free framework that achieves the best balance performance in both accuracy and efficiency. GtS uniquely balances high temporal precision and semantic interpretability while meeting practical speed requirements, outperforming previous methods in real-world scenarios. Furthermore, we introduce the JeAUG metric for holistic evaluation of both speed and accuracy. Extensive experiments demonstrate the superior effectiveness and practicality of our benchmark, framework, and metric.

Qinghao Gao, Jiahui Qu, Wenqian Dong

Multimodal remote sensing image joint classification has achieved significant progress. However, existing methods primarily focus on designing modality-specific networks, lacking adaptive generalization capabilities in diverse and dynamic modality combinations encountered in real-world scenarios. Inspired by the generalization capabilities of visual foundation model in downstream tasks, we propose a unified Text-guided Arbitrary Modalitiy Prompting (T-APT) framework, which leverages complementary fused features to drive the foundation model and employs text-guided modality-specific prior knowledge as cross-modal prompts to fine-tune a pretrained Vision Transformer (ViT) model. Specifically, a Mamba-Based Arbitrary Modal-Focused Feature Capture (MAMF-FC) module is designed to extract complementary joint features and modality-specific prior knowledge from arbitrary modalities through a shared-specific scanning encoder-decoder architecture. Subsequently, a Text-Guided Modality-Aware Prompt Tuning (TMPT) module is proposed to support the adaptation of fused features to the foundation model, enabling our arbitrary remote sensing image classification task. Extensive experiments on public datasets spanning multispectral (MS), hyperspectral (HS), light detection and ranging (LiDAR), and synthetic aperture radar (SAR) modalities demonstrate that our T-APT achieves classification performance comparable to specialized networks across arbitrary modal combinations.

Qi Gao, Heng Li, Yixin Zhou, Meixuan Zhou, Jieqiong Chen, Xinyu Chai

We present VisAssist, the first large-scale video question-answering dataset with 13,413 real-world videos captured by visually impaired users, addressing a critical gap in assistive vision research. Unlike existing benchmarks relying on third-person footage, VisAssist provides authentic first-person perspectives that uniquely capture challenges in blind photography—including unconventional framing, motion artifacts, and frequent information omission. Benchmark evaluations of SOTA multimodal models reveal systematic limitations: severe deficiencies in spatial reasoning when processing dynamic first-person viewpoints, an inability to distinguish missing information from poor capture quality leading to hazardous hallucinations, and fragile text understanding especially for non-Latin scripts under suboptimal conditions. This work establishes a vital real-world benchmark and underscores the need for specialized architectures in visual assistance systems.

Peng Gao, Yujian Lee, Xiaofeng Zhang, Zailong Chen, Hui Zhang

Large Vision-Language Models (LVLMs) have achieved impressive performance across a wide range of multimodal tasks. However, they still face critical challenges in modeling long-range dependencies under the usage of Rotary Positional Encoding (ROPE). Although it can facilitate precise modeling of token positions, it induces progressive attention decay as token distance increases, especially with progressive attention decay over distant token pairs, which severely impairs the model's ability to remember global context. To alleviate this issue, we propose inference-only Three-step Decay Resilience Strategies (T-DRS), comprising (1) Semantic-Driven DRS (SD-DRS), amplifying semantically meaningful but distant signals via content-aware residuals, (2) Distance-aware Control DRS (DC-DRS), which can purify attention by smoothly modulating weights based on positional distances, suppressing noise while preserving locality, and (3) re-Reinforce Distant DRS (reRD-DRS), consolidating the remaining informative remote dependencies to maintain global coherence. Together, the T-DRS recover suppressed long-range token pairs without harming local inductive biases. Extensive experiments on Vision Question Answering (VQA) benchmarks demonstrate that T-DRS can consistently improve performance in an inference-only manner.

Lishuai Gao, Jun-Yan He, Yingsen Zeng, Yujie Zhong, Xiaopeng Sun, Jie Hu, Zan Gao, Xiaoming Wei

Current text-to-image models face challenges in visual text rendering: text encoders like CLIP and T5 lack glyph-level understanding and often struggle to distinguish between the specific words to be rendered and their intended semantic meaning within prompts. In addition, inconsistencies between the base model and its plugins further compromise the quality of synthesized images. In this paper, we enhance the existing text-to-image method by addressing the following aspects: (1) Text-Glyph Alignmentin a Visual Question Answering (VQA) manner to enable glyph understanding for the text encoder. This involves establishing an explicit alignment between the representations of the glyphs and their detailed attribute descriptions, which boosts the model's ability to capture fine-grained visual features of the text. (2) Accurate and harmony visual text rendering: integrating pre-aligned glyph-visual embeddings with semantic text tokens through the Multimodal Diffusion Transformer(MMDiT) synchronously, ensuring coherent feature alignment and enhancing both the robustness and fidelity of visual text rendering. (3) Image Aesthetic Refinement: leveraging a multisource data training strategy that incorporates diverse, high-quality image-text pairs from various domains, exposing the model to extensive linguistic and visual diversity while maintaining superior aesthetic quality throughout training. Our experiments demonstrate that the proposed approach significantly outperforms the existing state-of-the-art method.

Jingyuan Gao, Tianyu Shen, Ruosen Hao, Te Guo, Zhiwei Li, Kunfeng Wang

Recent advances in deep learning-based 3D representation have achieved remarkable success, particularly in modeling static high-fidelity geometries. However, the extension of these techniques to dynamic 3D scenes introduces a critical challenge of effectively representing spatio-temporal dependencies, i.e., jointly modeling detailed spatial structures within frames and temporal dynamics across frames. To address this challenge, this paper proposes that the temporal evolution observed in dynamic 3D scenes is fundamentally attributable to the deformation of underlying spatial structures. To capture this relationship, we introduce a unified continuous 4D latent space representation incorporating a structure-equivalence prior, named SEP-4D. The core of SEP-4D is an efficient 4D tensor decomposition-fusion approach. This method fuses decomposed learnable 2D feature planes via a plane-wise spatio-temporal fusion mechanism of planar distributions, explicitly enforcing the principle that temporal evolution originates from geometric deformations of the 3D structure. To mitigate the associated computational demands, we sample the 3D probability volumes generated by VAE-based fusion into a spatio-temporally consistent 4D latent representation. The efficacy of our approach is validated through experiments on the fundamental task of 4D occupancy reconstruction. Extensive results demonstrate that, by leveraging the inherent equivalence of temporal dynamics and structural deformation, our method achieves high-quality reconstruction across various sequence lengths. Notably, for 4-frame scenes, we attain an impressive 91.68% mIoU, significantly outperforming state-of-the-art baselines on standard benchmarks.

Hong Gao, Yiming Bao, Xuezhen Tu, Bin Zhong, Linan Yue, Min-Ling Zhang

Current multimodal large language models (MLLMs) struggle with hour-level video understanding, facing significant challenges not only in modeling the substantial information volume of long videos but also in overcoming the memory wall and resource constraints during both training and inference. Although recent training-free approaches have alleviated resource demands by compressing visual features, their reliance on incomplete visual information limits the performance potential. To address these limitations, we propose Adaptive Pivot Visual information Retrieval (APVR), a training-free framework that hierarchically retrieves and retains sufficient and important visual information. It breakthroughs the memory wall limitation via two complementary components: Pivot Frame Retrieval employs query expansion and iterative spatio-semantic confidence scoring to identify relevant video frames, and Pivot Token Retrieval performs query-aware attention-driven token selection within up to 1024 pivot frames. This dual granularity approach enables the processing of hour-long videos while maintaining semantic fidelity. Experimental validations on three different baseline MLLMs demonstrate significant performance improvements up to 9.5%, 4.6% and 9.7% on LongVideoBench, VideoMME and MLVU, respectively. APVR achieves state-of-the-art results for both training-free and training-based approaches.

Dawei Gao, Angello Huerta Gomez, Mingchen Li, Marcel El-Mokahal, Huaxiao Yang, Yunhe Feng

Accurately forecasting the spatiotemporal dynamics of biological systems, such as human pluripotent stem cell (hPSC)-derived cardiac organoids, from microscopy time-series is a critical challenge in biomedicine with profound implications for drug discovery. Existing generative models often fail to capture the intricate dynamics of organoid development, struggling with their irregular morphology, indistinct boundaries, and complex spatiotemporal patterns. To overcome these limitations, we introduce OrgaCast, a novel multimodal conditional diffusion model for high-fidelity organoid forecasting. OrgaCast uniquely conditions the generative process on three synergistic modalities: (i) historical image sequences, captured by a dedicated spatiotemporal control module; (ii) structured numerical metadata defining experimental conditions; and (iii) descriptive text captions summarizing the biological context. This comprehensive conditioning enables the generation of forecasts with high visual accuracy and biological plausibility. Furthermore, to enhance the model's utility in critical research settings, we introduce a post-hoc uncertainty quantification method that produces intuitive confidence maps, bolstering the interpretability and trustworthiness of predictions. Extensive experiments on a challenging cardiac organoid dataset demonstrate that OrgaCast outperforms baselines in metrics such as SSIM, PSNR, and LPIPS. Our framework presents a robust solution for biological forecasting, promising to accelerate research discovery while minimizing experimental costs and manual effort.

Bin-Bin Gao, Yue Zhou, Jiangtao Yan, Yuezhi Cai, Weixi Zhang, Meng Wang, Jun Liu, Yong Liu, Lei Wang, Chengjie Wang

Universal visual anomaly detection aims to identify anomalies from novel or unseen vision domains without additional fine-tuning, which is critical in open scenarios. Recent studies have demonstrated that pre-trained vision-language models like CLIP exhibit strong generalization with just zero or a few normal images. However, existing methods struggle to design prompt templates, handle complex token interactions, or require fine-tuning on target domains, resulting in limited flexibility. In this work, we present a simple yet effective AdaptCLIP based on two key insights. First, adaptive visual and textual representations should be learned alternately rather than jointly. Second, comparative learning between query and normal image prompt should incorporate both contextual and aligned residual features, rather than relying solely on residual features. AdaptCLIP treats CLIP models as a foundational service, adding only three simple adapters, visual adapter, textual adapter, and prompt-query adapter, at its input or output ends. AdaptCLIP supports zero-/few-shot generalization across domains and provides a training-free approach on target domains once trained on a base dataset. AdaptCLIP achieves state-of-the-art performance on 12 anomaly detection benchmarks from industrial and medical domains, significantly outperforming existing competitive methods.

Zhenliang Gan, Chunya Liu, Yichao Tang, Binghao Wang, Shiwen Cui, Weiqiang Wang, Xinpeng Zhang

The proliferation of generative image models has revolutionized AIGC creation while amplifying concerns over content provenance and manipulation forensics. Existing methods are typically either unable to localize tampering or restricted to specific generative settings, limiting their practical utility. We propose GenPTW, a General watermarking framework that unifies Provenance tracing and Tamper localization in latent space. It supports both in-generation and post-generation embedding without altering the generative process, and is plug-and-play compatible with latent diffusion models (LDMs) and visual autoregressive (VAR) models. To achieve precise provenance tracing and tamper localization, we embed the watermark using two complementary mechanisms: cross-attention fusion aligned with latent semantics and spatial fusion providing explicit spatial guidance for edit sensitivity. A tamper-aware extractor jointly conducts provenance tracing and tamper localization by leveraging watermark features together with high-frequency features. Experiments show that GenPTW maintains high visual fidelity and strong robustness against diverse AIGC-editing.

Jinfang Gan, Wenzheng Zeng, Yang Xiao, Xintao Zhang, Chaoyang Zheng, Ran Zhao, Ran Wang, Min Du, Zhiguo Cao

Multi-person eyeblink detection in untrimmed in-the-wild videos is a recently emerged and challenging task. Due to its significant spatio-temporal fine-grained characteristics compared to general actions, we empirically find that general action detectors, though effective in general domains, struggle with this task (i.e., Blink-AP < 2%). Specialized eyeblink detection methods alleviate it through fine-grained spatio-temporal operations. SOTA method proposes a unified model combining instance-aware face localization and eyeblink detection through joint multi-task learning and feature sharing. While effective, it exhibits two critical limitations that may contribute to its unsatisfactory performance (i.e., Blink-AP=10.11%): (1) Face localization and eyeblink detection require distinct spatio-temporal feature granularities, making joint modeling in a unified feature space suboptimal. (2) Eyeblink task training could be largely affected by unstable face-eye feature learning under the joint training paradigm. To address this, we propose DeFB, a decomposed feature learning paradigm with favorable effectiveness and efficiency: (1) We model faces and eyes in granularity-specific feature spaces, which enhances fine-grained perception while reducing computational costs compared to a unified feature space. (2) To mitigate face-eye feature learning instability, we adopt an asynchronous learning mechanism where eye feature learning refines well-trained coarse face features, with shared queries acting as a bridge between stages to retain the efficient feature sharing of existing unified models. Compared with SOTA method, DeFB doubles the performance (Blink-AP: 24.65% v.s. 10.11%) while boosting efficiency by nearly 35%. DeFB can also be integrated as a plug-in to substantially augment the eyeblink detection capabilities of general action detectors.

Yurong Fu, Peng Dai, Yu Zhang, Feng Yiqiang, Yang Zhang, Haoqian Wang

Egocentric human pose estimation (HPE) plays a crucial role in immersive applications such as virtual and augmented reality. However, existing methods relying on either visual or sparse inertial data alone often suffer from occlusion or ill-posed problems. In this work, we propose SAME, a novel spatial-aware multimodal fusion framework combining the complementary signals from the stereo images and sparse IMUs for accurate and robust egocentric HPE. It adopts a two-stage network based on a dual coordinate frame to mitigate the coordinate inconsistencies among the stereo cameras and the IMUs. In the first stage, the IMU signals are transformed into the local frame and iteratively fused with the stereo images for estimating 3D poses in the local frame. In the second stage, the local poses are transformed into the global frame with the 6DOF head poses provided by the head-mounted display's (HMD) SLAM algorithm and then temporally aggregated via a temporal Transformer network. Meanwhile, to achieve geometric and semantic alignment among multi-modal features, we present a depth-guided spatial-aware deformable stereo attention network and a modality-aware Transformer decoder for cross-view and cross-modal feature fusion. Extensive experiments demonstrate that our approach achieves state-of-the-art performance on the public EMHI multi-modal egocentric pose estimation benchmark.

Yuanbin Fu, Xiaojie Guo

Semi-supervised semantic segmentation, which leverages a limited set of labeled images, helps to relieve the heavy annotation burden. While pseudo-labeling strategies yield promising results, there is still room for enhancing the reliability of pseudo-labels. Hence, we develop a semi-supervised framework, namely DerProp, equipped with a novel derivative label propagation to rectify imperfect pseudo-labels. Our label propagation method imposes discrete derivative operations on pixel-wise feature vectors as additional regularization, thereby generating strictly regularized similarity metrics. Doing so effectively alleviates the ill-posed problem that identical similarities correspond to different features, through constraining the solution space. Extensive experiments are conducted to verify the rationality of our design, and demonstrate our superiority over other methods.

Yibing Fu, Yunpeng Zhao, Zhitao Zeng, Cheng Chen, Yueming Jin

Multi-modal learning integrating medical images and tabular data has significantly advanced clinical decision-making in recent years. Self-Supervised Learning (SSL) has emerged as a powerful paradigm for pretraining these models on large-scale unlabeled image-tabular data, aiming to learn discriminative representations. However, existing SSL methods for image-tabular representation learning are often confined to specific data cohorts, mainly due to their rigid tabular modeling mechanisms when modeling heterogeneous tabular data. This inter-tabular barrier hinders the multi-modal SSL methods from effectively learning transferrable medical knowledge shared across diverse cohorts. In this paper, we propose a novel SSL framework, namely CITab, designed to learn powerful multi-modal feature representations in a cross-tabular manner. We design the tabular modeling mechanism from a semantic-awareness perspective by integrating column headers as semantic cues, which facilitates transferrable knowledge learning and the scalability in utilizing multiple data sources for pretraining. Additionally, we propose a prototype-guided mixture-of-linear layer (P-MoLin) module for tabular feature specialization, empowering the model to effectively handle the heterogeneity of tabular data and explore the underlying medical concepts. We conduct comprehensive evaluations on Alzheimer's disease diagnosis task across three publicly available data cohorts containing 4,461 subjects. Experimental results demonstrate that CITab outperforms state-of-the-art approaches, paving the way for effective and scalable cross-tabular multi-modal learning.

Xiaowen Fu, Yang Zhang, Yuhan Tang, Huazhong Zhang, Tianxing Zhao, Yuhang Guo, Yu Huang, Jinbao Wang

Anchor-based 3D Gaussian Splatting (GS), exemplified by Scaffold-GS, achieves remarkable storage efficiency through a hybrid explicit-implicit representation. However, their reliance on a single, monolithic network to decode anchor features imposes a severe bottleneck on model capacity, often resulting in blurred details and view-dependent artifacts in complex scenes. To break this bottleneck, we introduce the concept of Scene Experts: a strategy that decomposes the task of modeling a complex scene across a collection of specialized sub-models. To realize the paradigm, we propose MoE-GS. Our approach designs the decoder as a Sparsely-Gated Mixture of Experts (MoE), which dramatically increases the model's total capacity while maintaining comparable inference cost via sparse activation. To effectively train this high-capacity model, we propose two key innovations: (1) A progressive curriculum learning strategy that first trains all experts on a robust baseline before encouraging them to specialize on different scene components. (2) A novel opacity-aware regularization that penalizes inactive neural Gaussians, ensuring the expanded capacity is efficiently used. Extensive experiments demonstrate that MoE-GS substantially outperforms state-of-the-art methods on diverse benchmarks, significantly improving reconstruction fidelity while requiring a smaller or comparable Gaussian model size.

Teng Fu, Mengyang Zhao, Ke Niu, Kaixin Peng, Bin Li

LVLMs have been shown to perform excellently in image-level tasks such as VQA and caption. However, in many instance-level tasks, such as visual grounding and object detection, LVLMs still show performance gaps compared to previous expert models. Meanwhile, although pedestrian tracking is a classical task, there have been a number of new topics in combining object tracking and natural language, such as Referring MOT, Cross-view Referring MOT, and Semantic MOT. These tasks emphasize that models should understand the tracked object at an advanced semantic level, which is exactly where LVLMs excel. In this paper, we propose a new unified Pedestrian Tracking framework, namely OmniPT, which can track, track based on reference and generate semantic understanding of tracked objects interactively. We address two issues: how to model the tracking task into a task that foundation models can perform, and how to make the model output formatted answers. To this end, we implement a training phase consisting of RL-Mid Training-SFT-RL. Based on the pre-trained weights of the LVLM, we first perform a simple RL phase to enable the model to output fixed and supervisable bounding box format. Subsequently, we conduct a mid-training phase using a large number of pedestrian-related datasets. Finally, we perform supervised fine-tuning on several pedestrian tracking datasets, and then carry out another RL phase to improve the model's tracking performance and enhance its ability to follow instructions. We conduct experiments on tracking benchmarks and the experimental results demonstrate that the proposed method can perform better than the previous methods.

Rao Fu, Qian Li, Liang Yu, Jianmin Zheng

This paper addresses the challenge of estimating local surface differential properties, specifically surface normals and curvatures, from raw 3D point clouds. Traditional methods either rely on fitting pre-defined analytic surfaces risking model bias, or directly regress normals and curvatures overlooking their intrinsic geometric correlation. We propose a learning-based approach that locally fits osculating implicit quadrics to recover both normals and curvatures simultaneously. Drawing on classical differential geometry, we exploit the fact that every point on a C² surface admits an osculating quadric in Monge form that exactly reproduces local differential properties. However, the Monge frame itself depends on the very differential quantities being estimated. To bypass this circularity, we reformulate the Monge-form quadric as an implicit representation in a canonical local frame derived solely from point coordinates, enabling supervised learning without requiring Monge frame alignment. This reformulation allows us to construct a ground-truth dataset of such local-frame quadrics and train a neural network to predict per-point weights and offsets for a robust weighted least squares fitting process. The learned offsets account for the deviations of neighboring points from the idealized osculating surface. We further incorporate stable curvature formulations into the training loss alongside normal supervision to enhance estimation fidelity. Extensive experiments on diverse datasets demonstrate that our method outperforms prior approaches in normal and curvature estimation from raw point clouds.

Jingyun Fu, Zhiyu Xiang, Na Zhao

Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more robust in various weather conditions and can detect point-wise velocity, making it a valuable complement to LiDAR. However, radar inputs pose challenges due to noise, low resolution, and sparsity. Moreover, there is currently no dataset that combines LiDAR and radar data specifically for scene flow estimation. To address this gap, we construct a Radar-LiDAR scene flow dataset based on a public real-world automotive dataset. We propose an effective preprocessing strategy for radar denoising and scene flow label generation, deriving more reliable flow ground truth for radar points out of the object boundaries. Additionally, we introduce RaLiFlow, the first joint scene flow learning framework for 4D radar and LiDAR, which achieves effective radar-LiDAR fusion through a novel Dynamic-aware Bidirectional Cross-modal Fusion (DBCF) module and a carefully designed set of loss functions. The DBCF module integrates dynamic cues from radar into the local cross-attention mechanism, enabling the propagation of contextual information across modalities. Meanwhile, the proposed loss functions mitigate the adverse effects of unreliable radar data during training and enhance the instance-level consistency in scene flow predictions from both modalities, particularly for dynamic foreground areas. Extensive experiments on the repurposed scene flow dataset demonstrate that our method outperforms existing LiDAR-based and radar-based single-modal methods by a significant margin.