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Han Ling, Quansen Sun, Yinghua Yao, Ivor Tsang, Yinghui Sun

Although depth-assisted scene flow estimation has advanced rapidly, mainstream dense frameworks (e.g., RAFT-3D) still rely primarily on 2D feature correlations to optimize 3D motion fields, which hinders their ability to exploit 3D structural priors effectively and consequently limits robustness in complex scenes. We present SEA-Flow3D, a simple, efficient, and accurate framework for dense scene flow estimation. At its core lies a Spatial Vector Sampling (SVS) module that jointly samples 3D coordinates and correlation volumes within the local neighborhood of matched points, producing a direction-aware correlation representation with explicit spatial vectors and providing strong geometric guidance for subsequent optimization. Following the simplicity-and-efficiency principle, SEA-Flow3D adopts a RAFT-style multi-scale recurrent refinement architecture, integrating an RNN-based optimizer with context-guided upsampling to achieve higher accuracy with fewer iterations. Extensive experiments on KITTI and Sintel demonstrate that SEA-Flow3D achieves state-of-the-art performance while maintaining remarkable efficiency and a lightweight design. Code page: https://github.com/HanLingsgjk/SEAFLOW3D.

Ao Li, Yuxiang Duan, Jinghui Zhang, Congbo Ma, Yutong Xie, Gustavo Carneiro, Mohammad Yaqub, Hu Wang

Large Vision-Language Models (LVLMs) have advanced multimodal learning but face high computational cost issues due to the input of large number of visual tokens, motivating token pruning to improve inference efficiency.The key challenge lies in identifying which tokens are truly important.Most existing approaches rely on attention- or similarity-based criteria to estimate token importance.However, they inherently suffer from certain limitations, such as being task-agnostic and exhibiting positional bias.In this work, we explore a new perspective on token importance assignment based on token transitions in LVLMs, where token transitions are defined as the changes in token representations occurring as they propagate through the model's modules.We observe that the transition of token representations provides a meaningful signal of semantic information.Based on this insight, we propose TransPrune, a training-free and efficient token pruning method.Specifically, TransPrune progressively prunes tokens by assessing their importance through a combination of Token Transition Variation (TTV), which measures changes in both the magnitude and direction of token representations; as well as Instruction-Guided Attention (IGA), which measures how strongly the instruction attends to visual tokens via attention.Extensive experiments on various LVLM architectures, such as LLaVA-v1.5, LLaVA-Next and Qwen2.5-VL, demonstrate that TransPrune maintains comparable multimodal performance while reducing inference TFLOPs by more than half. The code is available at https://github.com/liaolea/TransPrune.

Jiahao Zhang, Joseph Liu, Young-Yoon Lee, Seonghyeon Moon, Victor Zordan, Guy Tevet, C. Karen Liu, Stephen Gould, Oren Jacob, Haomiao Jiang 等

Success in generative modeling across language, image, and video demonstrates that large, well-curated datasets are the key driver for building capable models. 3D Human motion, however, has lagged behind, constrained by an unsatisfying choice between small, high-fidelity motion capture datasets and large-scale in-the-wild collections dominated by static or low-quality sequences.We introduce RoMo, a rich, large-scale, carefully curated dataset of in-the-wild human motions that resolves these tradeoffs. To ensure quality, we introduce a taxonomy-aware filtering pipeline that aggressively removes static and artifact-prone sequences. Every sequence is annotated with detailed captions and organized by a novel three-level semantic taxonomy. This hierarchical structure provides the first benchmark for fine-grained, per-category evaluation, revealing model strengths and weaknesses obscured by global metrics. We demonstrate that models trained on RoMo achieve state-of-the-art fidelity and diversity while gaining a superior understanding of complex, subtle text prompts. Finally, we release the Motion Toolbox to standardize metrics, data conversion, and visualization, establishing a foundation for reproducible and interpretable motion generation research.

Fan Yang, Xingping Dong, Xin Yu, Wenhan Luo, Wei Liu, Kaihao Zhang

Understanding high-resolution (HR) images remains a critical challenge for multimodal large language models (MLLMs). Recent approaches leverage vision-based retrieval-augmented generation (RAG) to retrieve query-relevant crops from HR images, improving understanding capacity of MLLMs. However, this paradigm often leads to object fragmentation, resulting in semantic bias and incomplete retrieval, while also introducing false positives from irrelevant background patches. To address these issues, we propose Multi-resolution Retrieval-Detection (MRD), a training-free framework that enhances HR image understanding from both local and global perspectives. Locally, MRD enforces cross-scale semantic consistency via multi-resolution semantic fusion to mitigate single-resolution bias and alleviate object fragmentation. Globally, it integrates open-vocabulary object detection (OVD) as localization priors within a unified framework. Extensive experiments across multiple MLLMs on HR image benchmarks demonstrate that MRD achieves state-of-the-art (SOTA) performance on both single-object and multi-object understanding tasks. Code will be available at: https://github.com/yf0412/MRD.

Matthew Strong, Wei-Jer Chang, Quentin Herau, Jiezhi Yang, Yihan Hu, Chensheng Peng, Wei Zhan

Ego-centric driving videos available online provide an abundant source of visual data for autonomous driving, yet their lack of annotations makes it difficult to learn representations that capture both semantic structure and 3D geometry. Recent advances in large feedforward spatial models demonstrate that point maps and ego-motion can be inferred in a single forward pass, suggesting a promising direction for scalable driving perception. We therefore propose a label-free, teacher-guided framework for learning autonomous driving representations directly from unposed videos. Unlike prior self-supervised approaches that focus primarily on frame-to-frame consistency, we posit that safe and reactive driving depends critically on temporal context. To this end, we leverage a feedforward architecture equipped with a lightweight autoregressive module, trained using multi-modal supervisory signals that guide the model to jointly predict current and future point maps, camera poses, semantic layouts, and motion masks. Multi-modal teachers provide sequence-level pseudo-supervision, enabling LFG to learn a unified pseudo-4D representation from raw YouTube videos without poses, labels, or LiDAR. The resulting encoder not only transfers effectively to downstream autonomous driving planning on the NAVSIM benchmark, surpassing multi-camera and LiDAR baselines with only a single monocular camera, but also yields strong performance when evaluated on a range of semantic, geometric, and motion prediction tasks. These geometry- and motion-aware features position LFG as a compelling video-centric foundation model for autonomous driving.

Yanming Hui, Fanhua Shang, Hongying Liu, Ben Wang, Zhenwei Zhang, Liang Wan, Wei Feng, Tong Xue, Bingqin Lv

We propose an integrated learning scheme of Video Super-Resolution and Enhancement in Low-Light environment, named VSRELL, which aims to recover Well-Illuminated High-Resolution (WIHR) sequence from Low-Light Low-Resolution (LLLR) counterparts. Due to the complex coupling of multiple degradations, this joint task has received relatively little attention. Our approach jointly models illumination enhancement and spatial-temporal super-resolution to disentangle intertwined degradations. Specifically, we introduce an Illumination-Noise Co-Optimization (INCO) network that employs a dynamic window partitioning strategy to explicitly model physical priors of illumination variations and noise distributions within individual frames of a long-term sequence. This effectively suppresses cross-frame noise accumulation and illumination flickering, achieving simultaneous optimization of motion compensation and brightness correction.Additionally, an Illumination-Sensitive Feature Propagation (ISFP) mechanism is introduced, which utilizes hierarchical illumination-sensing gating unit to adaptively modulate feature channel responses. By adjusting feature propagation intensity and using memory feature attenuation strategy, it can enhance the weighting of high-quality features and suppress error accumulation propagation and strengthen transmission efficiency. The experiments show that VSRELL can explicitly strengthen the brightness continuity and texture fidelity of the restored output, maintaining temporal consistency across the video.

Chenfeng Yin, De Cheng, Wenlong Luo, Mingyue Zeng, Shizhou Zhang, Nannan Wang, Xinbo Gao

Incremental Object Detection (IOD) enables AI systems to continuously acquire new object classes while preserving knowledge of previously learned ones, an ability essential for deployment in dynamic, real-world environments. Existing IOD methods typically rely on knowledge distillation to mitigate catastrophic forgetting. However, the tight coupling between the student model's detection head and backbone causes distillation gradients to conflict with new-class supervision at the head, injecting head-specific bias into the backbone and ultimately weakening distillation effectiveness. To address this issue, we propose a decoupled training mechanism for the model's backbone and classification head. Specifically, we introduce the Future-aware decoupled Cross-head Distillation (FaCHD) method, which utilizes two frozen complementary teachers (historical and intermediate teachers) to decode the student's ROI features for cross-head distillation. This strategy implicitly alleviates prediction conflicts caused by detection-head bias and provides richer task-relevant guidance, thereby improving distillation efficiency. To further address the detection head bias and model recency problem, we propose a Prototype Semantic Drift Compensation module, which recalibrates multi-granularity prototypes of old classes, effectively correcting semantic drift and enhancing the stability of the detection head. Extensive experiments on two standard IOD benchmarks demonstrate the effectiveness and superiority of the proposed method.

Qinfeng Xiao, Guofeng Mei, Bo Yang, Liying Zhang, Jian Zhang, Kit-lun Yick

Establishing dense correspondences between shapes is a crucial task in computer vision and graphics, while prior approaches depend on near-isometric assumptions and homogeneous subject types (i.e., only operate for human shapes). However, building semantic correspondences for cross-category objects remains challenging and has received relatively little attention. To achieve this, we propose UniMatch, a semantic-aware, coarse-to-fine framework for constructing dense semantic correspondences between strongly non-isometric shapes without restricting object categories. The key insight is to lift "coarse" semantic cues into "fine" correspondence, which is achieved through two stages. In the "coarse" stage, we perform class-agnostic 3D segmentation to obtain non-overlapping semantic parts and prompt multimodal large language models (MLLMs) to identify part names. Then, we employ pretrained vision language models (VLMs) to extract text embeddings, enabling the construction of matched semantic parts. In the "fine" stage, we leverage these coarse correspondences to guide the learning of dense correspondences through a dedicated rank-based contrastive scheme. Thanks to class-agnostic segmentation, language guiding, and rank-based contrastive learning, our method is versatile for universal object categories and requires no predefined part proposals, enabling universal matching for inter-class and non-isometric shapes. Extensive experiments demonstrate UniMatch consistently outperforms competing methods in various challenging scenarios.

Jiayuan Du, Yiming Zhao, Zhenglong Guo, Yong Pan, Wenbo Hou, Zhihui Hao, Kun Zhan, Qijun Chen

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently limit representational capacity, our approach predicts multi-frame future occupancy in an end-to-end manner directly from raw image features. Inspired by the success of attention-based transformer architectures in foundational vision and language models such as GPT and VGGT, we employ a sparse occupancy representation that bypasses the intermediate bird's eye view (BEV) projection and its explicit geometric priors. This design allows the transformer to capture spatiotemporal dependencies more effectively. By avoiding both the finite-capacity constraint of discrete tokenization and the structural limitations of BEV representations, our method achieves state-of-the-art performance on the nuScenes benchmark for 1-3 second occupancy forecasting, outperforming existing approaches by a significant margin. Furthermore, it demonstrates robust scene dynamics understanding, consistently delivering high accuracy under arbitrary future trajectory conditioning.

Yuanbo Li, Tianyang Xu, Cong Hu, Tao Zhou, Xiao-Jun Wu, Josef Kittler

The rapid progress of Multi-Modal Large Language Models (MLLMs) has significantly advanced downstream applications. However, this progress also exposes serious transferable adversarial vulnerabilities. In general, existing adversarial attacks against MLLMs typically rely on surrogate models trained within a single learning paradigm and perform independent optimisation in their respective feature spaces. This straightforward setting naturally restricts the richness of feature representations, delivering limits on the search space and thus impeding the diversity of adversarial perturbations. To address this, we propose a novel Multi-Paradigm Collaborative Attack (MPCAttack) framework to boost the transferability of adversarial examples against MLLMs. In principle, MPCAttack aggregates semantic representations, from both visual images and language texts, to facilitate joint adversarial optimisation on the aggregated features through a Multi-Paradigm Collaborative Optimisation (MPCO) strategy. By performing contrastive matching on multi-paradigm features, MPCO adaptively balances the importance of different paradigm representations and guides the global perturbation optimisation, effectively alleviating the representation bias. Extensive experimental results on multiple benchmarks demonstrate the superiority of MPCAttack, indicating that our solution consistently outperforms state-of-the-art methods in both targeted and untargeted attacks on open-source and closed-source MLLMs. The code is released at https://github.com/LiYuanBoJNU/MPCAttack.

Xiaoyue Chen, Yuling Shi, Kaiyuan Li, Huandong Wang, Yong Li, Xiaodong Gu, Xinlei Chen, Mingbao Lin

Visual Autoregressive (VAR) models have demonstrated competitive performance with diffusion models in image generation by adopting a "next-scale" prediction paradigm that significantly reduces inference steps. However, VAR's progressive multi-scale generation leads to severe memory overhead due to KV cache accumulation across all scales, limiting practical deployment. Existing solutions either require training and deploying multiple specialized models or sacrifice generation quality.We observe a critical scale-depth asymmetric dependency in VAR: small scales (low-resolution tokens) are highly sensitive to network depth and require deep layers to capture global semantic information, while large scales (high-resolution tokens) exhibit remarkable robustness to depth reduction.Motivated by this insight, we propose VARiant, a unified supernet framework that enables dynamic depth adjustment within a single model through parameter sharing. Our approach employs an even-spacing layer selection strategy to construct quality-preserving subnetworks, and introduces a dynamic-ratio progressive training strategy that gradually transitions from joint optimization (full network to subnetwork ratio 2:8) to subnetwork optimization (ratio 10:0), effectively resolving the inherent optimization conflicts between full network and subnetworks in supernet training.Extensive experiments on ImageNet demonstrate that our method achieves Pareto-optimal trade-offs between generation quality and inference efficiency: by using full depth (30 layers) for the first 7 scales and a 16-layer subnetwork (50% depth) for subsequent scales, we obtain 50% cache reduction and 1.8x inference speedup with minimal quality loss (FID increases by only 0.3).Unlike approaches requiring deployment of multiple models, our single-model solution eliminates deployment complexity, supports zero-cost runtime depth switching, and seamlessly integrates into standard transformer inference frameworks, making it highly practical for resource-constrained scenarios.

Kailing Li, Tianwen Qian, Lijin Yang, Yuqian Fu, Jingyu Gong, Xiaoling Wang, Liang He

Vision-Language Navigation (VLN) enables embodied agents to reach target locations in unseen environments by following language instructions. Despite recent progress with vision-language models (VLMs), a critical semantic-geometric gap remains: while VLMs excel at language and 2D visual understanding, they struggle with 3D spatial reasoning and fail to capture the causal dynamics between actions and spatial transitions, resulting in unreliable navigation, particularly in zero-shot settings. To bridge this gap, we propose a Hierarchical Semantic-Geometric Map (HSGM) that transforms 3D geometric information into a structured representation compatible with VLMs, effectively linking them to the physical world. Specifically, HSGM is represented as a multi-channel top-down map organized into three levels: (1) geometric level that records navigable regions and obstacles, (2) semantic level that represents objects and their relations, and (3) decision level that supports high-level task reasoning and goal selection. During navigation, the VLM acts as a high-level semantic planner, interpreting the spatial layout encoded in the HSGM to select geometrically valid waypoints, while low-level, collision-free movements between waypoints are executed by a classical path-planning algorithm, fully decoupling semantic reasoning from action execution. Additionally, complex instructions are decomposed into subtasks to alleviate the problem of progress forgetting or hallucinating in long-horizon navigation. Extensive experiments on R2R-CE and RxR-CE benchmarks demonstrate that our zero-shot framework achieves state-of-the-art performance and even outperforms several supervised methods. Code is available at https://github.com/Teacher-Tom/HSGM_public.

Yang Liu, Jiajin Zhang, Yaojun Hu, Bingguang Hao, Xin Cao, Yingda Xia, Danyang Tu, Shi Gu, Ling Zhang

A faithful decision-making process requires models to ground human-understandable concepts both spatially (where they appear in the image) and causally (how they influence the prediction). Recent advances in Vision-Language Models (VLMs) enable concept-level alignment and have inspired Concept Bottleneck Models (CBMs), which explain predictions by mapping image representations to human-understandable concepts, allowing users to trace decisions through explicit semantic reasoning. However, existing CBMs suffer from two key inconsistencies. First, semantic inconsistency: VLMs often fail to localize fine-grained part-attribute concepts, producing noisy or incomplete masks. Second, object inconsistency: object-agnostic concepts such as "head: streamlined front profile" may describe multiple categories (e.g., fish or human); without enforcing object identity, non-targeted regions can introduce spurious evidence that corrupts the bottleneck representation. To address these challenges, we propose a new Object-Aware Concept Bottleneck Model (OA-CBM) that jointly enforces semantic- and object-level consistency. Specifically, (1) we redefine concepts as part-attribute pairs to enhance VLM robustness at the semantic level, and (2) introduce class-agnostic object clustering to suppress irrelevant visual evidence. We further annotate two grounding datasets with part-attribute descriptions and conduct extensive experiments. Results demonstrate that OA-CBM produces more faithful and robust explanations while maintaining competitive predictive performance.

Haolin Yang, Jiayuan Rao, Haoning Wu, Weidi Xie

Soccer understanding has recently garnered growing research interest due to its domain-specific complexity and unique challenges.However, prior works typically rely on task-specific expert models, which are resource-intensive and hinder a holistic view of the game.This paper aims to propose a unified framework that enables a single model to handle diverse soccer visual understanding tasks, spanning both fine-grained perception (e.g., athlete detection) and semantic reasoning (e.g., event classification).Concretely, we make the following contributions in this paper:(i) we present **SoccerMaster**, the first soccer-specific vision foundation model that unifies comprehensive understanding tasks within a single framework via **supervised multi-task pretraining**;(ii) we consolidate multiple existing soccer video datasets and develop an automated data curation pipeline, termed as **SoccerFactory**, to produce scalable multi-task training annotations;and (iii) we conduct extensive experiments demonstrating that SoccerMaster consistently outperforms task-specific expert models across diverse downstream tasks, underscoring its breadth and superiority.The data, code, and model will be publicly available to the research community.

Seungho Choi, Jeahun Sung, Jihyong Oh

Real-image super-resolution (Real-ISR) seeks to recover HR images from LR inputs with mixed, unknown degradations. While diffusion models surpass GANs in perceptual quality, they under-reconstruct high-frequency (HF) details due to a low-frequency (LF) bias and a depth-wise "low-first, high-later" hierarchy. We introduce FRAMER, a plug-and-play training scheme that exploits diffusion priors without changing the backbone or inference. At each denoising step, the final-layer feature map teaches all intermediate layers. Teacher and student feature maps are decomposed into LF/HF bands via FFT masks to align supervision with the model's internal frequency hierarchy. For LF, an Intra Contrastive Loss (IntraCL) stabilizes globally shared structure. For HF, an Inter Contrastive Loss (InterCL) sharpens instance-specific details using random-layer and in-batch negatives. Two adaptive modulators, Frequency-based Adaptive Weight (FAW) and Frequency-based Alignment Modulation (FAM), reweight per-layer LF/HF signals and gate distillation by current similarity. Across U-Net and DiT backbones (e.g., Stable Diffusion 2, 3), FRAMER consistently improves PSNR/SSIM and perceptual metrics (LPIPS, NIQE, MANIQA, MUSIQ). Ablations validate the final-layer teacher and random-layer negatives. The code and project page will be publicly released.

Jong Wook Kim, Suyong Bahk, TaeHwa Lee, HyunDong Cho, Donghyun Kim, Sung-Chang Lim, Jin Soo Choi, Hui Yong Kim

Learned image compression (LIC) outperforms traditional codecs but suffers from excessive peak memory usage when handling high-resolution images. Consequently, block-based LIC has been studied to reduce peak memory and peak computational cost, but it often introduces blocking artifacts that degrade visual quality. To mitigate this, the JPEG-AI standard introduced a patch-based scheme in which overlapped blocks are coded independently using empirically determined overlap sizes. However, experimentally searching for optimal overlaps is time-consuming and does not guarantee blocking-free reconstruction. In this paper, we propose an analytic framework that models overlap propagation through convolution and transposed convolution layers to precisely determine the minimal overlaps required for blocking-free reconstruction. Based on the calculated minimum overlaps, we provide a block-based implementation methodology applicable to most CNN-based LIC models. Applied to four CNN-based LIC models on 4K images partitioned into various block sizes (256 x 256, 512 x 512), our method achieves rate-distortion performance identical to full-image coding while reducing average peak memory usage to 13.94% (encoder) and 13.33% (decoder), and average peak computational cost to 2.6% and 1.24%, respectively. Notably, the proposed block-based framework does not require any retraining of the original model. Furthermore, it can also be applied to most CNN-based image-processing neural networks without performance degradation.

Zhenyu Zhang, Yixiong Zou, Yuhua Li, Ruixuan Li, Guangyao Chen

Source-Free Cross-Domain Few-Shot Learning (SF-CDFSL) focuses on fine-tuning with limited training data from target domains (e.g., medical or satellite images), where Vision-Language Models (VLMs) such as CLIP and SigLIP have shown promising results. Current works in traditional visual models suggest that improving visual discriminability enhances performance. However, in VLM-based SF-CDFSL tasks, we find that strengthening visual-modal discriminability actually suppresses VLMs' performance. In this paper, we aim to delve into this phenomenon for an interpretation and a solution.By both theoretical and experimental proofs, our study reveals that fine-tuning with the typical cross-entropy loss (L_ vlm ) inherently includes a visual learning part and a cross-modal learning part, where the cross-modal part is crucial for rectifying the heavily disrupted modality misalignment in SF-CDFSL.However, we find that the visual learning essentially acts as a shortcut that encourages the model to reduce L_ vlm without considering the cross-modal part, therefore hindering the cross-modal alignment and harming the performance.Based on this interpretation, we further propose an approach to address this problem: first, we perturb the visual learning to guide the model to focus on the cross-modal alignment. Then, we use the visual-text semantic relationships to gradually align the visual and textual modalities during the fine-tuning. Extensive experiments on various settings, backbones (CLIP, SigLip, PE-Core), and tasks (4 CDFSL datasets and 11 FSL datasets) show that we consistently set new state-of-the-art results. We will release the code.

Xin Qiu, Wenjie Liu

Accurate 3D object detection in autonomous driving relies on effectively combining complementary information from multiple sensors. 4D millimeter-wave radar provides sparse yet physically reliable measurements, whose potential for enhancing sensor fusion has not been fully utilized. In this work, we propose Radar Prior Guided Fusion(RPGFusion), a practical 4D radar-camera fusion framework. We first generate radar prior maps that encode spatial confidence and depth cues. These priors guide image feature sampling while preventing the uneven BEV feature distribution (near-dense, far-sparse) caused by Lift-Splat-Shoot view transformation. To address the sparsity and noise inherent in point clouds, we adopt a hybrid robust encoding and sparse-to-dense feature propagation. We further introduce spatial alignment and semantic fusion modules to reconcile geometric and semantic differences between modalities, yielding more consistent and complementary BEV representations. Extensive experiments on the public View-of-Delft and TJ4DRadSet show that RPGFusion outperforms prior radar-camera fusion methods, achieving SOTA performance. Our work not only uses 4D radar signals to guide image BEV queries, but also enables robust radar feature encoding and densification for 3D perception, demonstrating the strong potential of 4D radar.

Ruishan Guo, Ciyu Ruan, Haoyang Wang, Zihang Gong, Jingao Xu, Xinlei Chen

Estimating dense 2D optical flow and 3D scene flow is essential for dynamic scene understanding. Recent work combines images, LiDAR, and event data to jointly predict 2D and 3D motion, yet most approaches operate in separate heterogeneous feature spaces. Without a shared latent space that all modalities can align to, these systems rely on multiple modality-specific blocks, leaving cross-sensor mismatches unresolved and making fusion unnecessarily complex. Event cameras naturally provide a spatiotemporal edge signal, which we can treat as an intrinsic edge field to anchor a unified latent representation, termed the Event Edge Space. Building on this idea, we introduce x^2-Fusion, which reframes multimodal fusion as representation unification: event-derived spatiotemporal edges define an edge-centric homogeneous space, and image and LiDAR features are explicitly aligned in this shared representation. Within this space, we perform reliability-aware adaptive fusion to estimate modality reliability and emphasize stable cues under degradation. We further employ cross-dimension contrast learning to tightly couple 2D optical flow with 3D scene flow. Extensive experiments on both synthetic and real benchmarks show that x^2-Fusion achieves state-of-the-art accuracy under standard conditions and delivers substantial improvements in challenging scenarios.

Qitao Zhao, Hao Tan, Qianqian Wang, Sai Bi, Kai Zhang, Kalyan Sunkavalli, Shubham Tulsiani, Hanwen Jiang

Self-supervised pre-training has driven rapid progress in foundation models for language, 2D images, and video, yet remains largely unexplored for learning 3D-aware representations from multi-view images. In this paper, we present E-RayZer, a self-supervised 3D vision model that learns geometrically grounded representations directly from unlabeled images. Unlike prior self-supervised methods such as RayZer, which infer 3D indirectly through latent-space view synthesis, E-RayZer operates directly in 3D space, performing self-supervised 3D reconstruction with Explicit geometry. This formulation eliminates shortcut solutions and yields representations that are 3D-aware. To ensure convergence and scalability, we introduce a fine-grained learning curriculum that organizes training from easy to hard samples and harmonizes heterogeneous data sources without any supervision. Experiments show that E-RayZer significantly outperforms RayZer on pose estimation and matches or sometimes surpasses fully supervised reconstruction models such as VGGT. Furthermore, its learned representations outperform leading visual pre-training models (e.g., DINOv3, CroCo v2, VideoMAE V2, and RayZer) on 3D downstream tasks, establishing E-RayZer as a promising paradigm for spatial visual pre-training.