Unsupervised learning of latent motion from Internet videos is crucial for robot learning. Existing discrete methods generally mitigate the shortcut learning caused by extracting excessive static backgrounds through vector quantization with a small codebook size. However, they suffer from information loss and struggle to capture more complex and fine-grained dynamics. Moreover, there is an inherent gap between the distribution of discrete latent motion and continuous robot action, which hinders the joint learning of a unified policy. We propose CoMo, which aims to learn more precise continuous latent motion from internet-scale videos. CoMo employs an early temporal difference (Td) mechanism to increase the shortcut learning difficulty and explicitly enhance motion cues. Additionally, to ensure latent motion better captures meaningful foregrounds, we further propose a temporal contrastive learning (Tcl) scheme. Specifically, positive pairs are constructed with a small future frame temporal offset, while negative pairs are formed by directly reversing the temporal direction. The proposed Td and Tcl work synergistically and effectively ensure that the latent motion focuses better on the foreground and reinforces motion cues. Critically, CoMo exhibits strong zero-shot generalization, enabling it to generate effective pseudo action labels for unseen videos. Extensive simulated and real-world experiments show that policies co-trained with CoMo pseudo action labels achieve superior performance with both diffusion and auto-regressive architectures. The code is available at https://github.com/MCG-NJU/CoMo.
论文检索
输入标题、作者或关键词，从 9,654 篇学术成果中精准定位
Diffusion models achieve remarkable performance across diverse generative tasks in computer vision, but their high computational cost remains a major barrier to deployment. Model pruning offers a promising way to reduce inference cost and enable lightweight models. However, pruning leads to quality drop due to reduced capacity. A key limitation of existing pruning approaches is that pruned models are finetuned using the same objective as the dense model (denoising score matching). Since the dense model is accessible during finetuning, it warrants a more effective approach for knowledge transfer from the dense to the pruned model. Motivated by this, we propose 2ndMatch(2ndM), a general-purpose finetuning framework that introduces a 2nd-order Jacobian (J^ \top J) Matching loss inspired by Finite-Time Lyapunov Exponents. 2ndM teaches the pruned model to mimic the sensitivity of the dense teacher, i.e., how to respond to small perturbations over time, through scalable random projections. The framework is architecture-agnostic and applies to both U-Net- and Transformer-based diffusion models. Experiments on CIFAR-10, CelebA, LSUN, ImageNet, and MSCOCO demonstrate that 2ndM reduces the performance gap between pruned and dense models, substantially improving output quality.
Decoupled Residual Denoising Diffusion Models for Unified and Data Efficient Image-to-Image Translation
PDF ↗We propose Decoupled Residual Denoising Diffusion models (DRDD) for unified and data-efficient image-to-image (I2I) translation. While diffusion models have advanced I2I translation in terms of quality and diversity, we uncover a previously under-explored property in diffusion models. Crucially, beyond its conventional role of manifold lifting (i.e., moving data off low-dimensional manifolds), injecting Gaussian noise facilitates domain harmonization by implicitly aligning feature distributions across domains, a property particularly advantageous for unified I2I translation. However, existing diffusion models prematurely erode this harmonization effect, as noise and residuals are simultaneously removed in a single coupled diffusion process. To address this, DRDD decouples the diffusion process into two sequential and independent diffusion stages: (1) a stochastic noise diffusion for domain harmonization and manifold lifting, and (2) a deterministic residual diffusion that learns the core semantic mapping entirely within the fixed-noise domain. This decoupling preserves harmonization and manifold lifting effects throughout the transformation, substantially simplifying the learning of unified mappings across diverse tasks and domains. Notably, the noise diffusion stage is trained exclusively on abundant, unpaired target-domain images, greatly improving data efficiency. Comprehensive theoretical and empirical analysis demonstrates that DRDD is broadly compatible with mainstream diffusion models and consistently delivers robust, unified I2I translation, even under limited paired data. Our code is available at https://github.com/HKU-HealthAI/DRDD.
Model merging combines independently fine-tuned checkpoints without joint multi-task training. In the era of foundation-model, fine-tuning with Low-Rank Adaptation (LoRA) is prevalent, making LoRA merging a promising target. Existing approaches can work in homogeneous settings where all target tasks are classification but often fail when tasks span classification and regression. Approaches using entropy-based surrogates do not apply to regression and are costly for large language models due to long token sequences. We introduce Null-Space Compression (NSC) Merging, a label-free, output-agnostic method that sets merge weights from adapter geometry. Our key observation is that during LoRA finetuning the down-projection factor (A) in (\Delta W = BA) compresses its null space, and the compression correlates with performance. NSC uses this as an optimization signal for merging that can generalize across classification, regression, and sequence generation. NSC achieves state-of-the-art performance across twenty heterogeneous vision tasks with balanced gains where prior methods overfit subsets of tasks. It also outperforms baselines on six NLI benchmarks and on vision-language evaluations for VQA and image captioning, demonstrating scalability and effectiveness. Our code is available at https://github.com/wonyoung01/nsc_merging.
Vision-Language Models (VLMs) have achieved impressive performance on spatial reasoning benchmarks, yet these evaluations mask critical weaknesses in understanding object interactions. Current benchmarks test high-level relationships ("left of," "behind", etc.) but ignore fine-grained spatial understanding needed for real-world applications: precise 3D localization, physical compatibility between objects, object affordances and multi-step spatial planning. In this work, we present BOP-ASK, a novel large-scale dataset for object-interaction reasoning for both training and benchmarking. Our data generation pipeline leverages 6D object poses from the Benchmark for Object Pose Estimation (BOP) datasets from which we derive fine-grained annotations such as grasp poses, referred object poses, path planning trajectories, relative spatial and depth relationships, and object-to-object relationships. BOP-ASK comprises over 150k images and 33M question-answer pairs spanning six tasks (four novel), providing a rich resource for training and evaluating VLMs. We evaluate proprietary and open-sourced VLMs, and conduct human evaluations on BOP-ASK-core, a contributed test benchmark. We also release BOP-ASK-lab, an out-of-distribution benchmark with images not sourced from BOP, enabling testing of generalization. Our experiments demonstrate that models trained on BOP-ASK outperform baselines and exhibit emergent capabilities such as precise object and grasp pose estimation, trajectory planning, and fine-grained object-centric spatial reasoning in cluttered environments. Project website: https://bop-ask.github.io/
Text-to-motion synthesis aims to generate natural and expressive human motions from textual descriptions. While existing approaches primarily focus on generating holistic motions from text descriptions, they struggle to accurately reflect actions involving specific body parts. Recent part-wise motion generation methods attempt to resolve this but face two critical limitations: (i) they lack explicit mechanisms for aligning textual semantics with individual body parts, and (ii) they often generate incoherent full-body motions due to integrating independently generated part motions. To overcome these issues and resolve the fundamental trade-off in existing methods, we propose ParTY, a novel framework that enhances part expressiveness while generating coherent full-body motions. ParTY comprises: (1) Part-Guided Network, which first generates part motions to obtain part guidance, then uses it to generate holistic motions; (2) Part-aware Text Grounding, which diversely transforms text embeddings and appropriately aligns them with each body part; and (3) Holistic-Part Fusion, which adaptively fuses holistic motions and part motions. Extensive experiments, including part-level and coherence-level evaluations, demonstrate that ParTY achieves substantial improvements over previous methods.
Virtual try-on (VTON) aims to render a target garment onto a person while preserving pose, identity, and fine-grained appearance. Most existing methods rely on supervised paired data, limiting cross-domain generalization, while recent training-free approaches, though more robust, require multiple diffusion calls and complex compositing, making deployment impractical. We propose PG-VTON, a single-pass, training-free framework based on Patch-Guided Reference Alignment. Our key insight is that modern inpainting diffusion models already possess strong in-context completion: given a masked person and a small garment patch, they can synthesize plausible, pose-consistent clothing without task-specific training. PG-VTON exploits this capability with two lightweight components: Patch-Anchored Identity Priming (PIP) injects a localized garment patch only in early denoising steps to anchor garment identity, and Reference-Aware Attention (RAA) strengthens attention from masked-region tokens to garment tokens to enhance detail transfer, all without modifying model weights. With a single diffusion pass, PG-VTON achieves state-of-the-art performance among training-free methods on DressCode and VITON-HD and generalizes effectively to subject insertion. Code is available at \href https://github.com/PKU-ICST-MIPL/PG-VTON_CVPR2026 https://github.com/PKU-ICST-MIPL/PG-VTON_CVPR2026 .
Accurate crop yield prediction is crucial for sustainable agriculture and global food security. While existing methods are predominantly developed for single-crop prediction, they often struggle to generalize across diverse crop types, without addressing the unique crop phenological responses that are dynamically modulated by complex weather patterns. In this paper, we propose PhenoYieldNet, a multi-crop yield prediction framework that learns crop-specific phenology by explicitly modeling their responses with temporal drivers. Specifically, we develop a crop-aware temporal decoder consisting of a Crop Phenology Bank (CPB) and a Crop Phenology Attention (CPA) module. The CPB integrates a set of learnable embeddings, which leverage a query to guide the CPA module to learn the most relevant phenology patterns for the specific crop. And the CPA module explicitly captures multi-scale trend and variation components to construct temporal contexts, enabling the model to dynamically adjust the attention across different phenological stages. To learn robust and generalizable features for multi-crop prediction, the encoder is initialized with a pre-trained foundation model, and further adapted via a self-supervised Temporal Contrastive Adaptation strategy to align with agricultural temporal dynamics. Extensive experiments conducted on multi-crop datasets indicate that our proposed method significantly outperforms state-of-the-art methods, exhibiting strong generalization capabilities across different regions and crops.
Dataset Distillation aims to synthesize compact datasets that can approximate the training efficacy of large-scale real datasets, offering an efficient solution to the increasing computational demands of modern deep learning. Recently, diffusion-based dataset distillation methods have shown great promise by leveraging the strong generative capacity of diffusion models to produce diverse and structurally consistent samples. However, a fundamental goal misalignment persists: diffusion models are optimized for generative likelihood rather than discriminative utility, resulting in over-concentration in high-density regions and inadequate coverage of boundary samples crucial for classification. To address this issue, we propose two complementary strategies. Inversion-Matching (IM) introduces an inversion-guided fine-tuning process that aligns denoising trajectories with their inversion counterparts, broadening distributional coverage and enhancing diversity. Selective Subgroup Sampling( S^3 ) is a training-free sampling mechanism that improves inter-class separability by selecting synthetic subsets that are both representative and distinctive. Extensive experiments demonstrate that our approach significantly enhances the discriminative quality and generalization of distilled datasets, achieving state-of-the-art performance among diffusion-based methods.
Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume inputs from static environments. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle, per-sequence optimization methods fail on short sequences, and other learned models sometimes perform badly on static-only scenes. We present Wildpose, a unified monocular pose estimation framework that is robust in dynamic environments while maintaining state-of-the-art performance on static and low-ego-motion datasets. Our key insight is to connect the two powerful paradigms in modern 3D vision: the rich perceptual frontend of feed-forward models and the end-to-end optimization of differentiable bundle adjustment (BA). We achieve this by enhancing the differentiable BA pipeline in two ways. First, we introduce a new 3D-aware update operator by integrating a frozen, pre-trained MASt3R feature backbone and training the operator's subsequent layers on a diverse curriculum of static and dynamic data. Second, we propose a high-capacity motion mask detector that leverages rich, multi-level 3D-aware features from the same frozen backbone. Extensive experiments show Wildpose consistently outperforms prior methods across a wide variety of benchmarks, including dynamic (Wild-SLAM, Bonn), static (TUM, 7-Scenes), and low-ego-motion (Sintel) datasets.
Multimodal Large Language Models (MLLMs) have shown strong potential in remote sensing (RS) through multi-task reasoning and cross-modal generalization.However, existing RS-MLLMs mainly rely on a single shared expert for all tasks, making it hard to produce reliable results. Meanwhile, the intrinsic redundancy and homogeneity of RS images bring substantial difficulties for both training and inference. These challenges directly conflict with the demands of remote sensing, which values task precision and trustworthy reasoning.To address these limitations, we propose GeoCoT, a manifold-driven mixture-of-experts (MoE) system with Chain-of-Thought (CoT) reasoning. GeoCoT introduces Mani-MoE, a sparse expert architecture grounded in local manifold mapping. It projects high-dimensional tokens onto low-rank subspaces adaptively to eliminate redundancy and uncover intrinsic structure, and then routes them through a sparse expert pathway, where gating decisions are guided by the manifold structure of the input.To optimize this architecture, we adopt a CoT-driven multi-stage training strategy. It leverages a cold-start phase for domain adaptation, followed by our RS Vision Group Relative Policy Optimization (RSV-GRPO) to systematically strengthen structured reasoning from global to objectives. Furthermore, we innovatively build *RS-CoT-20k* dataset for task-specific supervision.Extensive experiments on multi-task datasets demonstrate that GeoCoT outperforms prior approaches, achieving 5.27 \% higher average accuracy than the state-of-the-art method. Our code will be available.
Autonomous Vehicles (AVs) collect and pseudo-label terabytes of multi-modal data localized to HD maps during normal fleet testing. However, identifying interesting and safety-critical scenarios from uncurated driving logs remains a significant challenge. Traditional scenario mining techniques are error-prone and prohibitively time-consuming, often relying on hand-crafted structured queries. In this work, we revisit spatio-temporal scenario mining through the lens of recent vision-language models (VLMs) to detect whether a described scenario occurs in a driving log and, if so, precisely localize it in both time and space. To address this problem, we introduce RefAV, a large-scale dataset of 10,000 diverse natural language queries that describe complex multi-agent interactions relevant to motion planning derived from 1000 driving logs in the Argoverse 2 Sensor dataset. We evaluate several referential multi-object trackers and present an empirical analysis of our baselines. Notably, we find that naively repurposing off-the-shelf VLMs yields poor performance, suggesting that scenario mining presents unique challenges. Lastly, we discuss our recently held competition and share insights from the community. Our code and dataset are available on GitHub and Argoverse.
Diffusion models have achieved remarkable progress in video generation, but their controllability remains a major limitation. Key scene factors such as layout, lighting, and camera trajectory are often entangled or only weakly modeled, restricting their applicability in domains like filmmaking and virtual production where explicit scene control is essential. We present LiVER, a diffusion-based framework for scene-controllable video generation. To achieve this, we introduce a novel framework that conditions video synthesis on explicit 3D scene properties, supported by a new large-scale dataset with dense annotations of object layout, lighting, and camera parameters. Our method disentangles these properties by rendering control signals from a unified 3D representation. We propose a lightweight conditioning module and a progressive training strategy to integrate these signals into a foundational video diffusion model, ensuring stable convergence and high fidelity. Our framework enables a wide range of applications, including image-to-video and video-to-video synthesis where the underlying 3D scene is fully editable. To further enhance usability, we develop a scene agent that automatically translates high-level user instructions into the required 3D control signals. Experiments show that LiVER achieves state-of-the-art photorealism and temporal consistency while enabling precise, disentangled control over scene factors, setting a new standard for controllable video generation.
Radar is a critical perception modality in autonomous driving systems due to its all-weather characteristics and ability to measure range and Doppler velocity. However, the sheer volume of high-dimensional raw radar data saturates the communication link to the computing engine (e.g., an NPU), which is often a low-bandwidth interface with data rate provisioned only for a few low-resolution range-Doppler frames. A generalized codec for utilizing high-dimensional radar data is notably absent, while existing image-domain approaches are unsuitable, as they typically operate at fixed compression ratios and fail to adapt to varying or adversarial conditions. In light of this, we propose radar data compression with adaptive feedback. It dynamically adjusts the compression ratio by performing gradient descent from the proxy gradient of detection confidence with respect to the compression rate. We employ a zeroth-order gradient approximation as it enables gradient computation even with non-differentiable core operations--pruning and quantization. This also avoids transmitting the gradient tensors over the band-limited link, which, if estimated, would be as large as the original radar data. In addition, we have found that radar feature maps are heavily concentrated on a few frequency components. Thus, we apply the discrete cosine transform to the radar data cubes and selectively prune out the coefficients effectively. We preserve the dynamic range of each radar patch through scaled quantization. Combining those techniques, our proposed online adaptive compression scheme achieves over 100x feature size reduction at minimal performance drop ( 1%p). We validate our results on the RADIal, CARRADA, and Radatron datasets.
See What We Cannot See: A Geo-guided Reasoning Benchmark for Object Counting under Adverse Earth Observation Conditions
PDF ↗Object counting in remote sensing imagery becomes challenging when visual cues are obscured by clouds, fog, shadows, or low-light conditions. Yet earth observation inherently provides complementary geo-modalities, including land use and map, which offer stable structural and contextual priors that remain available when appearance cues fail. In this paper, we introduce GROC, the first large-scale dataset Geo-guided Reasoning in Object Counting under adverse earth observation conditions. GROC contains 1.2 million point annotations over 14K images, each aligned with 3 modalities that preserve original geospatial information. We also provide a data engine to collect a large-scale object counting dataset with multiple geo-modalities, realistic degradations, and reliable annotations. We further present an counting agent that adaptively leverages geo-modalities to produce reliable estimates. Extensive experiments show that existing models struggle to "see" through adverse conditions, whereas geo-modalities improve robustness. GROC establishes the first benchmark that explicitly challenges models to see what they cannot see, charting a new direction for geo-guided amodal reasoning in earth observation.
Implicit Neural Representations (INRs) parameterize continuous signals via multilayer perceptrons (MLPs), enabling compact, resolution-independent modeling for tasks like image, audio, and 3D reconstruction. However, fitting high-resolution signals demands optimizing over millions of coordinates, incurring prohibitive computational costs. To address it, we propose NTK-Guided Implicit Neural Teaching (NINT), which accelerates training by dynamically selecting coordinates that maximize global functional updates. Leveraging the Neural Tangent Kernel (NTK), NINT scores examples by the norm of their NTK-augmented loss gradients, capturing both fitting errors and heterogeneous leverage (self-influence and cross-coordinate coupling). This dual consideration enables faster convergence compared to existing methods. Through extensive experiments, we demonstrate that NINT significantly reduces training time by nearly half while maintaining or improving representation quality, establishing state-of-the-art acceleration among recent sampling-based strategies.
Deploying pretrained visual models in real-world environments often suffers from significant performance degradation due to the diversity of testing scenarios. Continuous adaptation of learning models on edge devices via unlabeled data collected from the target domain is highly effective for boosting generalization capability. However, gradient-backpropagation-based optimization of the massive parameters in deep neural networks is vastly more time-consuming than forward inference, rendering online learning infeasible on low-power edge devices. To address this critical challenge, we propose a lightweight gradient-free forward-memorizing framework, namely MemFlow, which leverages a frozen backbone and enables efficient fine-tuning of the mapping between features and predictions. Specifically, MemFlow employs randomly connected neurons to memorize feature-label associations; within the network, spiking signals are propagated, and predictions are generated by associating neuron-stored memories according to their confidence levels. More notably, MemFlow supports reinforced memorization of feature mappings using unlabeled data, thereby enabling rapid adaptation to new domains. Extensive experiments on four real-world cross-domain datasets demonstrate that MemFlow achieves performance improvements of up to 10% while consuming less than 1% of the computational time required by traditional domain adaptation methods.
Guiding Diffusion Models with Fine-Grained Conditions and Semantics-Preserving Sampling for One-Shot Federated Learning
PDF ↗One-shot Federated Learning (OSFL) has emerged as a promising paradigm to mitigate the high communication overhead of traditional federated learning. However, its effectiveness is often hindered by data heterogeneity across clients. While recent methods leverage pre-trained diffusion models to generate data for OSFL, they often struggle with some practical limitations, including a lack of semantic fidelity in capturing the fine-grained characteristics of local data, and insufficient diversity in the generated data, which collectively degrade the performance of the global model. To address these challenges, we propose Espresso, a novel framework that enhances both the fidelity and diversity of synthetic data in OSFL. Espresso consists of two main components: (1) Fine-Grained Condition Learning, which learns fine-grained conditional embeddings to improve semantic fidelity and diversity by modeling intra-category patterns, and (2) Semantics-Preserving Sampling, which diversifies the generated data by modeling the distribution of latent noises and applying a self-reflection sampling strategy. Extensive experiments on benchmark datasets demonstrate that Espresso can improve the semantic fidelity and diversity of the synthetic data, leading to an enhancement in the performance of the global model compared to state-of-the-art OSFL methods under data heterogeneity.
Multimodal Large Language Models (MLLMs) show strong potential for interpreting and interacting with complex, pixel-rich Graphical User Interface (GUI) environments. However, building agents that are both efficient for high-level tasks and precise for fine-grained interactions remains challenging. GUI agents must perform routine actions efficiently while also handling tasks that demand exact visual grounding, yet existing approaches struggle when accuracy depends on identifying specific interface elements. These MLLMs also remain large and cannot adapt their reasoning depth to the task at hand. In this work, we introduce iSHIFT: Implicit Slow-fast Hybrid Inference with Flexible Tokens, a lightweight agent that integrates latent thinking (implicit chain-of-thought) with a perception control module. iSHIFT enables an MLLM to switch between a slow mode, which leverages detailed visual grounding for high precision and a fast mode that uses global cues for efficiency. Special perception tokens guide attention to relevant screen regions, allowing the model to decide both how to reason and where to focus. Despite its compact 2.5B size, iSHIFT matches state-of-the-art performance on multiple benchmark datasets.
VCP-Attack: Visual-Contrastive Projection for Transferable Black-Box Targeted Attacks on Large Vision-Language Models
PDF ↗Large vision-language models (LVLMs) have achieved impressive performance across a variety of multimodal tasks, yet remain vulnerable to targeted adversarial attacks, particularly in black-box settings. In this paper, we propose VCP-Attack, a transferable targeted attack framework that combines structured contrastive supervision with subspace-guided perturbation optimization. Specifically, we employ a dynamic PCA-based projection to constrain perturbations within semantically meaningful low-dimensional subspaces, and design a multi-sample contrastive loss to align adversarial features with target semantics while pushing them away from the source semantics. Extensive experiments on seven open-source and three proprietary LVLMs--including GPT-4o, Claude, and Gemini--show that VCP-Attack achieves state-of-the-art performance in black-box targeted attacks. Under a fixed perturbation budget (epsilon = 16/255), our method achieves an average attack success rate (ASR) of 94.2% on open-source models and 83.1% on proprietary models, surpassing the strongest baselines by 23.3% and 16.8%, respectively. Notably, VCP-Attack achieves a 95.6% ASR on GPT-4o. Comprehensive ablation studies and visualizations further validate the effectiveness of the dynamic subspace projection and semantic contrastive supervision. While evaluated on image captioning, our approach is model-agnostic and exhibits strong potential for broader applications to black-box adversarial settings in vision-language tasks.