论文检索

Computer Vision · 3D Rendering & Reconstruction

Yuanhang Lei, Boming Zhao, Zesong Yang, Xingxuan Li, Tao Cheng, Haocheng Peng, Ru Zhang, yang yang, Siyuan Huang, Yujun Shen 等

Modeling wind-driven object dynamics from video observations is highly challenging due to the invisibility and spatio–temporal variability of wind, as well as the complex deformations of objects. We present DiffWind, a physics-informed differentiable framework that unifies wind–object interaction modeling, video-based reconstruction, and forward simulation. Specifically, we represent wind as a grid-based physical field and objects as particle systems derived from 3D Gaussian Splatting, with their interaction modeled by the Material Point Method (MPM). To recover wind-driven object dynamics, we introduce a reconstruction framework that jointly optimizes the spatio–temporal wind force field and object motion through differentiable rendering and simulation. To ensure physical validity, we incorporate the Lattice Boltzmann Method (LBM) as a physics-informed constraint, enforcing compliance with fluid dynamics laws. Beyond reconstruction, our method naturally supports forward simulation under novel wind conditions and enable new applications such as wind retargeting. We further introduce WD-Objects, a dataset of synthetic and real-world wind-driven scenes. Extensive experiments demonstrate that our method significantly outperforms prior dynamic scene modeling approaches in both reconstruction accuracy and simulation fidelity, opening a new avenue for video-based wind–object interaction modeling. The project page is available at: [https://zju3dv.github.io/DiffWind/](https://zju3dv.github.io/DiffWind/).

Reinforcement Learning · Deep RL

Enrico Marchesini, Eva Boguslawski, Alessandro Leite, Christopher Amato, Matthieu DUSSARTRE, Marc Schoenauer, Benjamin Donnot, Priya Donti

Improving power grid operations is essential for enhancing flexibility and accelerating grid decarbonization. Reinforcement learning (RL) has shown promise in this domain, most notably through the Learning to Run a Power Network (L2RPN) competition series, but prior work has primarily focused on single-agent settings, neglecting the often decentralized, multi-agent nature of grid control. We fill this gap with MARL2Grid-TR, the first multi-agent RL (MARL) benchmark for grid topology and redispatching, developed in collaboration with transmission system operators. Built on RTE France’s high-fidelity simulation platform, our benchmark supports decentralized control across substations and generators, with configurable agent scopes, observability settings, expert-informed heuristics, and safety-critical constraints. The benchmark includes a suite of realistic scenarios that expose key challenges, such as coordination under partial information, long-horizon objectives, and adherence to hard physical constraints. Empirical results show that current MARL methods struggle under these real-world conditions. By providing a standardized, extensible platform, we aim to advance the development of scalable, cooperative, and safe learning algorithms for power grids.

Deep Learning · Robustness

Ramzi Dakhmouche, Ivan Lunati, Hossein Gorji

Given the importance of building robust machine learning models, considerable efforts have recently been put into developing training strategies that achieve robustness to outliers and adversarial attacks. Yet, a major aspect that remains an open problem is systematic robustness to global forms of noise such as those that come from measurements and quantization. Hence, we propose in this work an approach to train regression models from data with additive forms of noise, leveraging the Wasserstein distance as a loss function. Importantly, our approach is agnostic to the model structure, unlike the increasingly popular Wasserstein Distributionally Robust Learning paradigm (WDRL) which, we show, does not achieve improved robustness when the regression function is not convex or Lipschitz. We provide a theoretical analysis of the scaling of the regression functions in terms of the variance of the noise, for both formulations and show consistency of the proposed loss function. Lastly, we conclude with numerical experiments on physical PDE Benchmarks and electric grid data, demonstrating competitive performance with an order of magnitude reduction in computational cost.

Applications · Robotics

Weidong Huang, Zhehan Li, Hangxin Liu, Biao Hou, Yao Su, Jingwen Zhang

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real robots. However, the low sample efficiency of on-policy algorithms limits safe adaptation to new environments. Although off-policy RL and model-based RL have shown improved sample efficiency, the gap between large-scale pretraining and efficient finetuning on humanoids still exists. In this paper, we find that off-policy Soft Actor-Critic (SAC), with large-batch update and a high Update-To-Data (UTD) ratio, reliably supports large-scale pretraining of humanoid locomotion policies, achieving zero-shot deployment on real robots. For adaptation, we demonstrate that these SAC-pretrained policies can be finetuned in new environments and out-of-distribution tasks using model-based methods. Data collection in the new environment executes a deterministic policy while stochastic exploration is instead confined to a physics-informed world model. This separation mitigates the risks of random exploration during adaptation while preserving exploratory coverage for improvement. Overall, the approach couples the wall-clock efficiency of large-scale simulation during pretraining with the sample efficiency of model-based learning during fine-tuning. Code and videos: https://lift-humanoid.github.io

Applications · Robotics

Pei Lin, Yuzhe Huang, Wanlin Li, Chenxi Xiao, Ziyuan Jiao

Non-prehensile manipulation offers a robust alternative to traditional pick-and-place methods for object repositioning. However, learning such skills with dexterous, multi-fingered hands remains largely unexplored, leaving their potential for stable and efficient manipulation underutilized. Progress has been limited by the lack of large-scale, contact-aware non-prehensile datasets for dexterous hands and the absence of wrist–finger control policies. To bridge these gaps, we present DexMove, a tactile-guided non-prehensile manipulation framework for dexterous hands. DexMove combines a scalable simulation pipeline that generates physically plausible wrist–finger trajectories with a wearable device, which captures multi-finger contact data from human demonstrations using vision-based tactile sensors. Using these data, we train a flow-based policy that enables real-time, synergistic wrist–finger control for robust non-prehensile manipulation of diverse tabletop objects. In real-world experiments, DexMove successfully manipulated six objects of varying shapes and materials, achieving a 77.8\% success rate. Our method outperforms ablated baselines by 36.6\% and improves efficiency by nearly 300\%. Furthermore, the learned policy generalizes to language-conditioned, long-horizon tasks such as object sorting and desktop tidying.

Computer Vision · 3D Rendering & Reconstruction

Jingzhi Bao, Hongze CHEN, Lingting Zhu, Chenyu Liu, Runze Zhang, Keyang Luo, Zeyu HU, Weikai Chen, Yingda Yin, Xin Wang 等

Physically-based rendering (PBR) provides a principled standard for realistic material–lighting interactions in computer graphics. Despite recent advances in generating PBR textures, existing methods fail to address two fundamental challenges: 1) materials decomposition from image prompts under limited illumination cues, and 2) seamless and view-consistent texture completion. To this end, we propose LumiTex, an end-to-end framework that comprises three key components: (1) a multi-branch generation scheme that disentangles albedo and metallic–roughness under shared illumination priors for robust material understanding, (2) a lighting-aware material attention mechanism that injects illumination context into the decoding process for physically grounded generation of albedo, metallic, and roughness maps, and (3) a geometry-guided inpainting module based on a large view synthesis model that enriches texture coverage and ensures seamless, view-consistent UV completion. Extensive experiments demonstrate that LumiTex achieves state-of-the-art performance in texture quality, surpassing both existing open-source and commercial methods. Project page: [https://lumitex.vercel.app](https://lumitex.vercel.app).

Computer Vision · 3D Rendering & Reconstruction

Renjie Ding, Yaonan Wang, Min Liu, Jialin Zhu, Jiazheng Wang, Jiahao Zhao, Wenting Shen, Feixiang He, Xiang Chen

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time novel view synthesis. As an explicit representation optimized through gradient propagation among primitives, optimization widely accepted in deep neural networks (DNNs) is actually adopted in 3DGS, such as synchronous weight updating and Adam with the adaptive gradient. However, considering the physical significance and specific design in 3DGS, there are two overlooked details in the optimization of 3DGS: (i) update step coupling, which induces optimizer state rescaling and costly attribute updates outside the viewpoints, and (ii) gradient coupling in the moment, which may lead to under- or over-effective regularization. Nevertheless, such a complex coupling is under-explored. After revisiting the optimization of 3DGS, we take a step to decouple it and recompose the process into: Sparse Adam, Re-State Regularization and Decoupled Attribute Regularization. Taking a large number of experiments under the 3DGS and 3DGS-MCMC frameworks, our work provides a deeper understanding of these components. Finally, based on the empirical analysis, we re-design the optimization and propose AdamW-GS by re-coupling the beneficial components, under which better optimization efficiency and representation effectiveness are achieved simultaneously.

Reinforcement Learning · Planning

Xiaoyuan Cheng, Yiming Yang, Wei Jiang, Chenyang Yuan, Zhuo Sun, Yukun Hu

This paper studies how to achieve accurate modeling and effective control in stochastic nonlinear dynamics with multiple interacting objects. However, non-uniform interactions and random topologies make this task challenging. We address these challenges by proposing Graph Controllable Embeddings (GCE), a general framework to learn stochastic multi-object dynamics for linear control. Specifically, GCE is built on Hilbert space embeddings, allowing direct embedding of probability distributions of controlled stochastic dynamics into a reproducing kernel Hilbert space (RKHS), which enables linear operations in its RKHS while retaining nonlinear expressiveness. We provide theoretical guarantees on the existence, convergence, and applicability of GCE. Notably, a mean field approximation technique is adopted to efficiently capture inter-object dependencies and achieves provably low sample complexity. By integrating graph neural networks, we construct data-dependent kernel features which are capable of adapting to dynamic interaction patterns and generalizing to even unseen topologies with only limited training instances. GCE scales seamlessly to multi-object systems of varying sizes and topologies. Leveraging the linearity of Hilbert spaces, GCE also supports simple yet effective control algorithms for synthesizing optimal sequences. Experiments on physical systems, robotics, and power grids validate GCE and demonstrate consistent performance improvement over various competitive embedding methods in both in-distribution and few-shot tests.

Computer Vision · Image and Video Generation

Aritra Bhowmik, Denis Korzhenkov, Cees G Snoek, Amirhossein Habibian, Mohsen Ghafoorian

Text-to-video diffusion models have enabled high-quality video synthesis, yet often fail to generate temporally coherent and physically plausible motion. A key reason is the models' insufficient understanding of complex motions that natural videos often entail. Recent works tackle this problem by aligning diffusion model features with those from pretrained video encoders. However, these encoders mix video appearance and dynamics into entangled features, limiting the benefit of such alignment. In this paper, we propose a motion-centric alignment framework that learns a disentangled motion subspace from a pretrained video encoder. This subspace is optimized to predict ground-truth optical flow, ensuring it captures true motion dynamics. We then align the latent features of a text-to-video diffusion model to this new subspace, enabling the generative model to internalize motion knowledge and generate more plausible videos. Our method improves the physical commonsense in a state-of-the-art video diffusion model, while preserving adherence to textual prompts, as evidenced by empirical evaluations on VideoPhy, VideoPhy2, VBench, and VBench-2.0, along with a user study.

Deep Learning · Theory

Andrea Combette, Nelly Pustelnik, Antoine Venaille

Proper initialisation strategy is of primary importance to mitigate gradient explosion or vanishing when training neural networks. Yet, the impact of initialisation parameters still lacks a precise theoretical understanding for several well-established architectures. Here, we propose a new initialisation for networks with sinusoidal activation functions such as \texttt{SIREN}, focusing on gradients control, their scaling with network depth, their impact on training and on generalization. To achieve this, we identify a closed-form expression for the initialisation of the parameters, differing from the original \texttt{SIREN} scheme. This expression is derived from fixed points obtained through the convergence of pre-activation distribution and the variance of Jacobian sequences. Controlling both gradients and targeting vanishing pre-activation helps preventing the emergence of inappropriate frequencies during estimation, thereby improving generalization. We further show that this initialisation strongly influences training dynamics through the Neural Tangent Kernel framework (NTK). Finally, we benchmark \texttt{SIREN} with the proposed initialisation against the original scheme and other baselines on function fitting and image reconstruction. The new initialisation consistently outperforms state-of-the-art methods across a wide range of reconstruction tasks, including those involving physics-informed neural networks.

Deep Learning · Graph Neural Networks

Joël Mathys, Henrik Christiansen, Federico Errica, Takashi Maruyama, Francesco Alesiani

Accurately modeling long-range dependencies in graph-structured data is critical for many real-world applications. However, incorporating long-range interactions beyond the nodes' immediate neighborhood in a $\textit{scalable}$ manner remains an open challenge for graph machine learning models. Existing benchmarks for evaluating long-range capabilities either cannot $\textit{guarantee}$ that their tasks actually depend on long-range information or are rather limited. Therefore, claims of long-range modeling improvements based on said performance remain questionable. We introduce the Long-Range Ising Model Graph Benchmark, a physics-based benchmark utilizing the well-studied Ising model whose ground truth $\textit{provably}$ depends on long-range dependencies. Our benchmark consists of ten datasets that scale from 256 to 65k nodes per graph, and provide controllable long-range dependencies through tunable parameters, allowing precise control over the hardness and ``long-rangedness". We provide model-agnostic evidence that local information is insufficient, further validating the design choices of our benchmark. Via experiments on classical message-passing architectures and graph transformers, we show that both perform far from the optimum, especially those with scalable complexity. Our goal is that our benchmark will foster the development of scalable methodologies that effectively model long-range interactions in graphs.

Jianwen Jiang, Weihong Zeng, Zerong Zheng, Jiaqi Yang, Chao Liang, Wang Liao, Han Liang, Weifeng Chen, XING WANG, Yuan Zhang 等

Current video avatar models can generate fluid animations but struggle to capture a character's authentic essence, primarily synchronizing motion with low-level audio cues instead of understanding higher-level semantics like emotion or intent. To bridge this gap, we propose a novel framework for generating character animations that are not only physically plausible but also semantically rich and expressive. Our model is built on two technical innovations. First, we employ Multimodal Large Language Models to generate a structured textual representation from input conditions, providing high-level semantic guidance for creating contextually and emotionally resonant actions. Second, to ensure robust fusion of multimodal signals, we introduce a specialized Multimodal Diffusion Transformer architecture featuring a novel Pseudo Last Frame design. This allows our model to accurately interpret the joint semantics of audio, images and text, generating motions that are deeply coherent with the overall context. Comprehensive experiments validate the superiority of our method, which achieves compelling results in lip-sync accuracy, video quality, motion naturalness, and semantic consistency. The approach also shows strong generalization to challenging scenarios, including multi-person and non-human subjects. Our video results are linked in https://omnihuman-lab.github.io/v1_5/ .

Computer Vision · Image and Video Generation

Jianwen Jiang, Weihong Zeng, Zerong Zheng, Jiaqi Yang, Chao Liang, Wang Liao, Han Liang, Weifeng Chen, XING WANG, Yuan Zhang 等

Current video avatar models can generate fluid animations but struggle to capture a character's authentic essence, primarily synchronizing motion with low-level audio cues instead of understanding higher-level semantics like emotion or intent. To bridge this gap, we propose a novel framework for generating character animations that are not only physically plausible but also semantically rich and expressive. Our model is built on two technical innovations. First, we employ Multimodal Large Language Models to generate a structured textual representation from input conditions, providing high-level semantic guidance for creating contextually and emotionally resonant actions. Second, to ensure robust fusion of multimodal signals, we introduce a specialized Multimodal Diffusion Transformer architecture featuring a novel Pseudo Last Frame design. This allows our model to accurately interpret the joint semantics of audio, images and text, generating motions that are deeply coherent with the overall context. Comprehensive experiments validate the superiority of our method, which achieves compelling results in lip-sync accuracy, video quality, motion naturalness, and semantic consistency. The approach also shows strong generalization to challenging scenarios, including multi-person and non-human subjects. Our video results are linked in https://omnihuman-lab.github.io/v1_5/ .

Applications · Physics

Samuele Pedrielli, Christopher J. Anders, Lena Funcke, Karl Jansen, Kim A. Nicoli, Shinichi Nakajima

Parameter shift rules (PSRs) are key techniques for efficient gradient estimation in variational quantum eigensolvers (VQEs). In this paper, we propose their Bayesian variant, where Gaussian processes with appropriate kernels are used to estimate the gradient of the VQE objective. Our Bayesian PSR offers flexible gradient estimation from observations at arbitrary locations with uncertainty information, and reduces to the generalized PSR in special cases. In stochastic gradient descent (SGD), the flexibility of Bayesian PSR allows reuse of observations in previous steps, which accelerates the optimization process. Furthermore, the accessibility to the posterior uncertainty, along with our proposed notion of gradient confident region (GradCoRe), enables us to minimize the observation costs in each SGD step. Our numerical experiments show that the VQE optimization with Bayesian PSR and GradCoRe significantly accelerates SGD, and outperforms the state-of-the-art methods, including sequential minimal optimization.

Payel Mukhopadhyay, Michael McCabe, Ruben Ohana, Miles Cranmer

Transformer-based PDE surrogates achieve remarkable performance but face two key challenges: fixed patch sizes cause systematic error accumulation at harmonic frequencies, and computational costs remain inflexible regardless of problem complexity or available resources. We introduce Overtone, a unified solution through dynamic patch size control at inference. Overtone's key insight is that cyclically modulating patch sizes during autoregressive rollouts distributes errors across the frequency spectrum, mitigating the systematic harmonic artifact accumulation that plague fixed-patch models. We implement this through two architecture-agnostic modules—CSM (Convolutional Stride Modulation, using dynamic stride modulation) and CKM (Convolutional Kernel Modulation, using dynamic kernel resizing)—that together provide both harmonic mitigation and compute-adaptive deployment. This flexible tokenization lets users trade accuracy for speed dynamically based on computational constraints, and the cyclic rollout strategy yields up to 40% lower long rollout error in variance-normalised RMSE (VRMSE) compared to conventional, static-patch surrogates. Across challenging 2D and 3D PDE benchmarks, one Overtone model matches or exceeds fixed-patch baselines across inference compute budgets, when trained under a fixed total training budget setting.

Applications · Chemistry and Drug Discovery

Alvaro Prat, Leo Zhang, Charlotte Deane, Yee Whye Teh, Garrett Morris

Determining the binding pose of a ligand to a protein, known as molecular docking, is a fundamental task in drug discovery. Generative approaches promise faster, improved, and more diverse pose sampling than physics-based methods, but are often hindered by chemically implausible outputs, poor generalisability, and high computational cost. To address these challenges, we introduce a novel fragmentation scheme, leveraging inductive biases from structural chemistry, to decompose ligands into rigid-body fragments. Building on this decomposition, we present SigmaDock, an SE(3) Riemannian diffusion model that generates poses by learning to reassemble these rigid bodies within the binding pocket. By operating at the level of fragments in SE(3), SigmaDock exploits well-established geometric priors while avoiding overly complex diffusion processes and unstable training dynamics. Experimentally, we show SigmaDock achieves state-of-the-art performance, reaching Top-1 success rates (RMSD $<2$ \& PB-valid) above 79.9\% on the PoseBusters set, compared to 12.7-32.8\% reported by recent deep learning approaches, whilst demonstrating consistent generalisation to unseen proteins. SigmaDock is the first deep learning approach to surpass classical physics-based docking under the PB train-test split, marking a significant leap forward in the reliability and feasibility of deep learning for molecular modelling.

Optimization · Sampling and Optimization

Matthieu Blanke, Yongquan Qu, Sara Shamekh, Pierre Gentine

Deep generative models hold great promise for representing complex physical systems, but their deployment is currently limited by the lack of guarantees on the physical plausibility of the generated outputs. Ensuring that known physical constraints are enforced is therefore critical when applying generative models to scientific and engineering problems. We address this limitation by developing a principled framework for sampling from a target distribution while rigorously satisfying physical constraints. Leveraging the variational formulation of Langevin dynamics, we propose Split Augmented Langevin (CASAL), a novel primal-dual sampling algorithm that enforces constraints progressively through variable splitting, with convergence guarantees. While the method is developed theoretically for Langevin dynamics, we demonstrate its effective applicability to diffusion models. We apply our method to diffusion-based data assimilation on a complex physical system, where enforcing physical constraints substantially improves both forecast accuracy and the preservation of critical conserved quantities. We also demonstrate the potential of CASAL for challenging feasibility problems in optimal control.

Applications · Robotics

LinFeng Li, Jian Zhao, Yuan Xie, Xin Tan, Xuelong Li

The dominant paradigm for training Large Vision-Language Models (LVLMs) in navigation relies on imitating expert trajectories. This approach reduces the complex navigation task to a sequence-to-sequence replication of a single correct path, fundamentally limiting the agent's ability to explore and generalize. In this work, we argue for and introduce a new paradigm: a shift from Path Imitation to Decision Understanding. The goal of this paradigm is to build agents that do not just follow, but truly understand how to navigate. We materialize this through two core contributions: first, we introduce Compass-Data-22k, a novel 22k-trajectory dataset.Its Reinforcement Fine-Tuning (RFT) subset provides a panoramic view of the decision landscape by annotating all feasible actions with A* geodesic distances. Second, we design a novel gap-aware hybrid reward function that dynamically adapts its feedback to decision certainty, shifting between decisive signals for optimal actions and nuanced scores to encourage exploration. Integrated into an SFT-then-RFT recipe, our CompassNav agent is trained not to memorize static routes, but to develop an internal ``compass'' that constantly intuits the direction to the goal by evaluating the relative quality of all possible moves. This approach enables our 7B agent to set a new state-of-the-art on Goal navigation benchmarks, outperforming even larger proprietary models, and achieve robust real-world goal navigation on a physical robot.

Computer Vision · 3D Rendering & Reconstruction

Weirong Chen, Chuanxia Zheng, Ganlin Zhang, Andrea Vedaldi, Daniel Cremers

We present NOVA3R, an effective approach for non-pixel-aligned 3D reconstruction from a set of unposed images in a feed-forward manner. Unlike pixel-aligned methods that tie geometry to per-ray predictions, our formulation learns a global, view-agnostic scene representation that decouples reconstruction from pixel alignment. This addresses two key limitations in pixel-aligned 3D: (1) it recovers both visible and invisible regions with a complete scene representation, and (2) it produces physically plausible geometry with fewer duplicated structures in overlapping regions. To achieve this, we introduce a scene-token mechanism that aggregates information across unposed images and a diffusion-based 3D decoder that reconstructs complete, non-pixel-aligned point clouds. Extensive experiments on both scene-level and object-level datasets demonstrate that NOVA3R outperforms state-of-the-art methods in terms of reconstruction accuracy and completeness.

Optimization · Learning for Optimization

Dohyun Bu, Yujung Byun, JONGSEOK LEE

Physics-Informed Neural Networks (PINNs) have emerged as a powerful tool for solving PDEs, yet training is difficult due to a multi-objective loss that couples PDE residuals, initial/boundary conditions, and auxiliary physics terms. Existing remedies often yield infeasible scaling factors or conflicting update directions, resulting in degraded performance. In this paper, we show that training PINNs requires jointly considering feasible scaling factors and a non-conflict direction. Through a geometric analysis of per-loss gradients, we define the $\textit{harmonized cone}$ as the intersection of their primal and dual cones, which characterizes directions that are simultaneously feasible and non-conflicting. Building on this, we propose $HARMONIC$ (HARMONIzed Cone gradient descent), a training procedure that computes updates within the harmonized cone by leveraging the Double Description method to aggregate extreme rays. Theoretically, we establish convergence guarantees in nonconvex settings and prove the existence of a nontrivial harmonized cone. Across standard PDE benchmarks, $HARMONIC$ generally outperforms state-of-the-art methods while ensuring feasible and non-conflict updates.