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Ziyu Zhu, Xilin Wang, Yixuan Li, Zhuofan Zhang, Xiaojian Ma, Yixin Chen, Baoxiong Jia, Wei Liang, Qian Yu, Zhidong Deng 等

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus on grounding objects in static observations from 3D reconstruction, such as meshes and point clouds, but lack the ability to actively perceive and explore their environment. To address this limitation, we introduce Move to Understand (MTU3D), a unified framework that integrates active perception with 3D vision-language learning, enabling embodied agents to effectively explore and understand their environment. This is achieved by three key innovations 1) Online query-based representation learning, enabling direct spatial memory construction from RGB-D frames, eliminating the need for explicit 3D reconstruction. 2) A unified objective for grounding and exploration that represents unexplored locations as frontier queries and jointly optimizes object grounding and frontier selection. 3) End-to-end trajectory learning that combines Vision-Language-Exploration pre-training over a million diverse trajectories collected from both simulated and real-world RGB-D sequences. Extensive evaluations across various embodied navigation and question-answering benchmarks show that MTU3D outperforms state-of-the-art reinforcement learning and modular navigation approaches by 14%, 23%, 9%, and 2% in success rate on HM3D-OVON, GOAT-Bench, SG3D, and A-EQA, respectively. MTU3D's versatility enables navigation using diverse input modalities, including categories, language descriptions, and reference images. Additionally, we deploy it on a real robot to demonstrate its effectiveness in handling real-world data. These findings highlight the importance of bridging visual grounding and exploration for embodied intelligence.

Taowen Wang, Cheng Han, James Liang, Wenhao Yang, Dongfang Liu, Luna Xinyu Zhang, Qifan Wang, Jiebo Luo, Ruixiang Tang

Recently in robotics, Vision-Language-Action (VLA) models have emerged as a transformative approach, enabling robots to execute complex tasks by integrating visual and linguistic inputs within an end-to-end learning framework. Despite their significant capabilities, VLA models introduce new attack surfaces. This paper systematically evaluates their robustness. Recognizing the unique demands of robotic execution, our attack objectives target the inherent spatial and functional characteristics of robotic systems. In particular, we introduce two untargeted attack objectives that leverage spatial foundations to destabilize robotic actions, and a targeted attack objective that manipulates the robotic trajectory. Additionally, we design an adversarial patch generation approach that places a small, colorful patch within the camera's view, effectively executing the attack in both digital and physical environments. Our evaluation reveals a marked degradation in task success rates, with up to a 100% reduction across a suite of simulated robotic tasks, highlighting critical security gaps in current VLA architectures. By unveiling these vulnerabilities and proposing actionable evaluation metrics, we advance both the understanding and enhancement of safety for VLA-based robotic systems, underscoring the necessity for continuously developing robust defense strategies prior to physical-world deployments.

Yan Zhang, Yao Feng, Alpár Cseke, Nitin Saini, Nathan Bajandas, Nicolas Heron, Michael J. Black

We formulate the motor system of an interactive avatar as a generative motion model that can drive the body to move through 3D space in a perpetual, realistic, controllable, and responsive manner. Although human motion generation has been extensively studied, many existing methods lack the responsiveness and realism of real human movements. Inspired by recent advances in foundation models, we propose PRIMAL, which is learned with a two-stage paradigm. In the pretraining stage, the model learns body movements from a large number of sub-second motion segments, providing a generative foundation from which more complex motions are built. This training is fully unsupervised without annotations. Given a single-frame initial state during inference, the pretrained model not only generates unbounded, realistic, and controllable motion, but also enables the avatar to be responsive to induced impulses in real time. In the adaptation phase, we employ a novel ControlNet-like adaptor to fine-tune the base model efficiently, adapting it to new tasks such as few-shot personalized action generation and spatial target reaching. Evaluations show that our proposed method outperforms state-of-the-art baselines. We leverage the model to create a real-time character animation system in Unreal Engine that feels highly responsive and natural.

Yujie Zhou, Jiazi Bu, Pengyang Ling, Pan Zhang, Tong Wu, Qidong Huang, Jinsong Li, Xiaoyi Dong, Yuhang Zang, Yuhang Cao 等

Recent advancements in image relighting models, driven by large-scale datasets and pre-trained diffusion models, have enabled the imposition of consistent lighting. However, video relighting still lags, primarily due to the excessive training costs and the scarcity of diverse, high-quality video relighting datasets. A simple application of image relighting models on a frame-by-frame basis leads to several issues: lighting source inconsistency and relighted appearance inconsistency, resulting in flickers in the generated videos. In this work, we propose Light-A-Video, a training-free approach to achieve temporally smooth video relighting. Adapted from image relighting models, Light-A-Video introduces two key techniques to enhance lighting consistency. First, we design a Consistent Light Attention (CLA) module, which enhances cross-frame interactions within the self-attention layers of the image relight model to stabilize the generation of the background lighting source. Second, leveraging the physical principle of light transport independence, we apply linear blending between the source video's appearance and the relighted appearance, using a Progressive Light Fusion (PLF) strategy to ensure smooth temporal transitions in illumination. Experiments show that Light-A-Video improves the temporal consistency of relighted video while maintaining the relighted image quality, ensuring coherent lighting transitions across frames.

Lennart Bastian, Mohammad Rashed, Nassir Navab, Tolga Birdal

Modeling the rotation of moving objects is a fundamental task in computer vision, yet SO(3) extrapolation still presents numerous challenges: (1) unknown quantities such as the moment of inertia complicate dynamics, (2) the presence of external forces and torques can lead to non-conservative kinematics, and (3) estimating evolving state trajectories under sparse, noisy observations requires robustness. We propose modeling trajectories of noisy pose estimates on the manifold of 3D rotations in a physically and geometrically meaningful way by leveraging Neural Controlled Differential Equations guided with SO(3) Savitzky-Golay paths. Existing extrapolation methods often rely on energy conservation or constant velocity assumptions, limiting their applicability in real-world scenarios involving non-conservative forces. In contrast, our approach is agnostic to energy and momentum conservation while being robust to input noise, making it applicable to complex, non-inertial systems. Our approach is easily integrated as a module in existing pipelines and generalizes well to trajectories with unknown physical parameters. By learning to approximate object dynamics from noisy states during training, our model attains robust extrapolation capabilities in simulation and various real-world settings.

Junseong Shin, Seungwoo Chung, Yunjeong Yang, Tae Hyun Kim

Dehazing involves removing haze or fog from images to restore clarity and improve visibility by estimating atmospheric scattering effects. While deep learning methods show promise, the lack of paired real-world training data and the resulting domain gap hinder generalization to real-world scenarios.In this context, physics-grounded learning becomes crucial; however, traditional methods based on the Atmospheric Scattering Model (ASM) often fall short in handling real-world complexities and diverse haze patterns.To solve this problem, we propose HazeFlow, a novel ODE-based framework that reformulates ASM as an ordinary differential equation (ODE). Inspired by Rectified Flow (RF), HazeFlow learns an optimal ODE trajectory to map hazy images to clean ones, enhancing real-world dehazing performance with only a single inference step. Additionally, we introduce a non-homogeneous haze generation method using Markov Chain Brownian Motion (MCBM) to address the scarcity of paired real-world data. By simulating realistic haze patterns through MCBM, we enhance the adaptability of HazeFlow to diverse real-world scenarios. Through extensive experiments, we demonstrate that HazeFlow achieves state-of-the-art performance across various real-world dehazing benchmark datasets.

Chih-Hao Lin, Zian Wang, Ruofan Liang, Yuxuan Zhang, Sanja Fidler, Shenlong Wang, Zan Gojcic

Generating realistic and controllable weather effects in videos is valuable for many applications. Physics-based weather simulation requires precise reconstructions that are hard to scale to in-the-wild videos, while current video editing often lacks realism and control.In this work, we introduce WeatherWeaver, a video diffusion model that synthesizes diverse weather effects---including rain, snow, fog, and clouds---directly into any input video without the need for 3D modeling.Our model provides precise control over weather effect intensity and supports blending various weather types, ensuring both realism and adaptability.To overcome the scarcity of paired training data, we propose a novel data strategy combining synthetic videos, generative image editing, and auto-labeled real-world videos. Extensive evaluations show that our method outperforms state-of-the-art methodsin weather simulation and removal, providing high-quality, physically plausible, and scene-identity-preserving results over various real-world videos.

Chengbo Yuan, Geng Chen, Li Yi, Yang Gao

Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A critical challenge in fully understanding the geometry and dynamics of egocentric videos is dense scene reconstruction. However, the lack of high-quality labeled datasets in this field has hindered the effectiveness of current supervised learning methods. In this work, we aim to address this issue by exploring an self-supervised dynamic scene reconstruction approach. We introduce **EgoMono4D**, a novel model that unifies the estimation of multiple variables necessary for *Ego*centric *Mono*cular *4D* reconstruction, including camera intrinsic, camera poses, and video depth, all within a fast feed-forward framework. Starting from pretrained single-frame depth and intrinsic estimation model, we extend it with camera poses estimation and align multi-frame results on large-scale unlabeled egocentric videos. We evaluate EgoMono4D in both in-domain and zero-shot generalization settings, achieving superior performance in dense pointclouds sequence reconstruction compared to all baselines. EgoMono4D represents the first attempt to apply self-supervised learning for pointclouds sequence reconstruction to the label-scarce egocentric field, enabling fast, dense, and generalizable reconstruction. The interactable visualization, code and trained models are released https://egomono4d.github.io/.

Honghui Xu, Chuangjie Fang, Yibin Wang, Jie Wu, Jianwei Zheng

Deep unfolding network (DUN) based pansharpening has shed new light on high-resolution/spectrum image acquisition, serving as a computational alternative to physical devices. While with both merits of deep feature learning and acceptable interpretability enjoyed, current pansharpening necessitates substantial effort in approximating the degradation matrices along the spatial and spectral dimensions, yet with performance hardly guaranteed within the complex scenarios. Moreover, as a key step during DUN update, current solutions rely solely on black-box networks to learn the data-driven priors, which further results in laborious architecture crafting and compromised interpretability. To counteract the dilemmas, we propose a new solution, namely RPCA-based Unfolding Network (RUN), which shrinks the original two degradations to only one. Specifically, grounded in the significant sparsity of spatial offset components, i.e., the difference between upsampled image and the desired target, we shift the original pansharpening issue into a novel Robust Principal Component Analysis (RPCA)-based paradigm. On that basis, the tricky approximation to the spatial degradation matrix as well as its transposed counterpart is naturally avoided. Specific for the prior learning step of RPCA unfolding, an efficient Nonlinear transformation-based Tensor Nuclear Norm (NTNN) is meticulously engineered, in which the computationally intensive Singular Value Decomposition is avoided with the aid of depthwise convolutions. More importantly, NTNN plays a plug-and-play role and can be easily embedded into Transformer/CNN architectures for the learning of both global and local features. Experimental results on multiple remote datasets demonstrate the superiority of the proposal over previous SOTA methods.

Jiasheng Guo, Xin Gao, Yuxiang Yan, Guanghao Li, Jian Pu

Low-light Object detection is crucial for many real-world applications but remains challenging due to degraded image quality. While recent studies have shown that RAW images offer superior potential over RGB images, existing approaches either use RAW-RGB images with information loss or employ complex frameworks. To address these, we propose a lightweight and self-adaptive Image Signal Processing (ISP) plugin, Dark-ISP, which directly processes Bayer RAW images in dark environments, enabling seamless end-to-end training for object detection. Our key innovations are: (1) We deconstruct conventional ISP pipelines into sequential linear (sensor calibration) and nonlinear (tone mapping) sub-modules, recasting them as differentiable components optimized through task-driven losses. Each module is equpped with content-aware adaptability and physics-informed priors, enabling automatic RAW-to-RGB conversion aligned with detection objectives. (2) By exploiting the ISP pipeline's intrinsic cascade structure, we devise a self-boosting strategy that facilitates cooperation between sub-modules. Through extensive experiments on three RAW image datasets, we demonstrate that our method outperforms state-of-the-art RGB- and RAW-based detection approaches, achieving superior results with minimal parameters in challenging low-light environments.

Sen Wang, Shao Zeng, Tianjun Gu, Zhizhong Zhang, Ruixin Zhang, Shouhong Ding, Jingyun Zhang, Jun Wang, Xin Tan, Yuan Xie 等

Low-level enhancement and high-level visual understanding in low-light vision have traditionally been treated separately. Low-light enhancement improves image quality for downstream tasks, but existing methods rely on physical or geometric priors, limiting generalization. Evaluation mainly focuses on visual quality rather than downstream performance. Low-light visual understanding, constrained by scarce labeled data, primarily uses task-specific domain adaptation, which lacks scalability. To address these challenges, we build a generalized bridge between low-light enhancement and low-light understanding, which we term Generalized Enhancement For Understanding (GEFU). This paradigm improves both generalization and scalability. To address the diverse causes of low-light degradation, we leverage pretrained generative diffusion models to optimize images, achieving zero-shot generalization performance. Building on this, we propose Semantically Consistent Unsupervised Fine-tuning (SCUF). Specifically, to overcome text prompt limitations, we introduce an illumination-aware image prompt to explicitly guide image generation and propose a cycle-attention adapter to maximize its semantic potential. To mitigate semantic degradation in unsupervised training, we propose caption and reflectance consistency to learn high-level semantics and image-level spatial semantics. Extensive experiments demonstrate that our proposed method outperforms current state-of-the-art methods in traditional image quality and GEFU tasks including classification, detection, and semantic segmentation.

Andreas Engelhardt, Mark Boss, Vikram Voleti, Chun-Han Yao, Hendrik P. A. Lensch, Varun Jampani

We present Stable Video Materials 3D (SViM3D), a framework to predict multi-view consistent physically based rendering (PBR) materials, given a single image. Recently, video diffusion models have been successfully used to reconstruct 3D objects from a single image efficiently. However, reflectance is still represented by simple material models or needs to be estimated in additional pipeline steps to enable relighting and controlled appearance edits. We extend a latent video diffusion model to output spatially-varying PBR parameters and surface normals jointly with each generated RGB view based on explicit camera control. This unique setup allows for direct relighting in a 2.5D setting, and for generating a 3D asset using our model as neural prior. We introduce various mechanisms to this pipeline that improve quality in this ill-posed setting. We show state-of-the-art relighting and novel view synthesis performance on multiple object-centric datasets. Our method generalizes to diverse image inputs, enabling the generation of relightable 3D assets useful in AR/VR, movies, games and other visual media.

Pradyumn Goyal, Dmitry Petrov, Sheldon Andrews, Yizhak Ben-Shabat, Hsueh-Ti Derek Liu, Evangelos Kalogerakis

We present GEOPARD, a transformer-based architecture for predicting articulation from a single static snapshot of a 3D shape. The key idea of our method is a pretraining strategy that allows our transformer to learn plausible candidate articulations for 3D shapes based on a geometric-driven search without manual articulation annotation. The search automatically discovers physically valid part motions that do not cause detachments or collisions with other shape parts. Our experiments indicate that this geometric pretraining strategy, along with carefully designed choices in our transformer architecture, yields state-of-the-art results in articulation inference in the popular shape Part-Mobility dataset.

Liang Xu, Chengqun Yang, Zili Lin, Fei Xu, Yifan Liu, Congsheng Xu, Yiyi Zhang, Jie Qin, Xingdong Sheng, Yunhui Liu 等

Learning action models from real-world human-centric interaction datasets is important towards building general-purpose intelligent assistants with efficiency. However, most existing datasets only offer specialist interaction category and ignore that AI assistants perceive and act based on first-person acquisition. We urge that both the generalist interaction knowledge and egocentric modality are indispensable. In this paper, we embed the manual-assisted task into a vision-language-action framework, where the assistant provides services to the instructor following egocentric vision and commands. With our hybrid RGB-MoCap system, pairs of assistants and instructors engage with multiple objects and the scene following GPT-generated scripts. Under this setting, we accomplish InterVLA, the first large-scale human-object-human interaction dataset with 11.4 hours and 1.2M frames of multimodal data, spanning 2 egocentric and 5 exocentric videos, accurate human/object motions and verbal commands. Furthermore, we establish novel benchmarks on egocentric human motion estimation, interaction synthesis, and interaction prediction with comprehensive analysis. We believe that our InterVLA testbed and the benchmarks will foster future works on building AI agents in the physical world.

Grzegorz Gruszczynski, Jakub Meixner, Michal Wlodarczyk, Przemyslaw Musialski

We propose a novel, Partial Differential Equation (PDE) driven, corruption process for generative image synthesis which generalizes existing PDE-based approaches. Our forward pass formulates image corruption via a physically motivated PDE that couples directional advection with isotropic diffusion and Gaussian noise, controlled by dimensionless numbers. We solve this PDE numerically through a GPU-accelerated Lattice Boltzmann solver for fast evaluation. To induce realistic "turbulence," we generate stochastic velocity fields that introduce coherent motion and capture multi-scale mixing. In the generative process, a neural network learns to reverse the advection-diffusion operator thus constituting a novel generative model.We discuss how previous methods emerge as specific cases of our operator, demonstrating that our framework generalizes prior PDE-based corruption techniques. We illustrate how advection improves the diversity and quality of the generated images while keeping the overall color palette unaffected. This work bridges fluid dynamics, dimensionless PDE theory, and deep generative modeling, offering a fresh perspective on physically based inverse problems.

Zhaonan Wang, Manyi Li, Changhe Tu

3D Gaussian Splatting (3DGS) has witnessed exponential adoption across diverse applications, driving a critical need for semantic-aware 3D Gaussian representations to enable scene understanding and editing tasks. Existing approaches typically attach semantic features to a collection of free Gaussians and distill the features via differentiable rendering, leading to noisy segmentation and a messy selection of Gaussians. In this paper, we introduce AG^2aussian, a novel framework that leverages an anchor-graph structure to organize semantic features and regulate Gaussian primitives. Our anchor-graph structure not only promotes compact and instance-aware Gaussian distributions, but also facilitates graph-based propagation, achieving a clean and accurate instance-level Gaussian selection. Extensive validation across four applications, i.e. interactive click-based query, open-vocabulary text-driven query, object removal editing, and physics simulation, demonstrates the advantages of our approach and its benefits to various applications. The experiments and ablation studies further evaluate the effectiveness of the key designs of our approach.

Sacha Ichbiah, Anshuman Sinha, Fabrice Delbary, Hervé Turlier

Traditional methods for biological shape inference, such as deep learning (DL) and active contour models, face important limitations in 3D. DL approaches require large annotated datasets, which are often impractical to obtain, while active contour methods depend on carefully tuned heuristics for intensity attraction and shape regularization. We introduce deltaMic, a novel differentiable 3D renderer for fluorescence microscopy that formulates shape inference as an inverse problem. By leveraging differentiable convolutions, deltaMic simulates the image formation process, integrating a parameterized point spread function (PSF) with a triangle mesh-based representation of biological structures. Unlike DL- or contour-based segmentation, deltaMic directly optimizes both shape and optical parameters to align synthetic and real microscopy images, removing the need for large datasets or sample-specific fine-tuning. To ensure scalability, we implement a GPU-accelerated Fourier transform for triangle meshes along with narrow-band spectral filtering. We show that deltaMic accurately reconstructs cell geometries from both synthetic and diverse experimental 3D microscopy data, while remaining robust to noise and initialization. This establishes a new physics-informed framework for biophysical image analysis and inverse modeling.

Shouwei Ruan, Hanqing Liu, Yao Huang, Xiaoqi Wang, Caixin Kang, Hang Su, Yinpeng Dong, Xingxing Wei

Vision Language Models (VLMs) have exhibited remarkable generalization capabilities, yet their robustness in dynamic real-world scenarios remains largely unexplored. To systematically evaluate VLMs' robustness to real-world 3D variations, we propose AdvDreamer, the first framework capable of generating physically reproducible Adversarial 3D Transformation (Adv-3DT) samples from single-view observations. In AdvDreamer, we integrate three key innovations: Firstly, to characterize real-world 3D variations with limited prior knowledge precisely, we design a zero-shot Monocular Pose Manipulation pipeline built upon generative 3D priors. Secondly, to ensure the visual quality of worst-case Adv-3DT samples, we propose Naturalness Reward Model that provides continuous naturalness regularization during adversarial optimization, effectively preventing convergence to hallucinated or unnatural elements. Thirdly, to enable systematic evaluation across diverse VLM architectures and visual-language tasks, we introduce the Inverse Semantic Probability loss as the adversarial optimization objective, which solely operates in the fundamental visual-textual alignment space. Based on the captured Adv-3DT samples with high aggressiveness and transferability, we establish MM3DTBench, the first VQA benchmark dataset tailored to evaluate VLM robustness under challenging 3D variations. Extensive evaluations of representative VLMs with varying architectures reveal that real-world 3D variations can pose severe threats to model performance across various tasks.

Wenjia Wang, Liang Pan, Zhiyang Dou, Jidong Mei, Zhouyingcheng Liao, Yuke Lou, Yifan Wu, Lei Yang, Jingbo Wang, Taku Komura

Simulating stylized human-scene interactions (HSI) in physical environments is a challenging yet fascinating task. Prior works emphasize long-term execution but fall short in achieving both diverse style and physical plausibility. To tackle this challenge, we introduce a novel hierarchical framework named SIMS that seamlessly bridges high-level script-driven intent with a low-level control policy, enabling more expressive and diverse human-scene interactions. Specifically, we employ Large Language Models with Retrieval-Augmented Generation (RAG) to generate coherent and diverse long-form scripts, providing a rich foundation for motion planning. A versatile multi-condition physics-based control policy is also developed, which leverages text embeddings from the generated scripts to encode stylistic cues, simultaneously perceiving environmental geometries and accomplishing task goals. By integrating the retrieval-augmented script generation with the multi-condition controller, our approach provides a unified solution for generating stylized HSI motions. We further introduce a comprehensive planning dataset produced by RAG and a stylized motion dataset featuring diverse locomotions and interactions. Extensive experiments demonstrate SIMS's effectiveness in executing various tasks and generalizing across different scenarios, significantly outperforming previous methods.

Jiangran Lyu, Ziming Li, Xuesong Shi, Chaoyi Xu, Yizhou Wang, He Wang

Non-prehensile manipulation is crucial for handling objects that are too thin, large, or otherwise ungraspable in unstructured environments. While conventional planning-based approaches struggle with complex contact modeling, learning-based methods have recently emerged as a promising alternative. However, existing learning-based approaches face two major limitations: they heavily rely on multi-view cameras and precise pose tracking, and they fail to generalize across varying physical conditions, such as changes in object mass and table friction. To address these challenges, we propose the Dynamics-Adaptive World Action Model (DyWA), a novel framework that enhances action learning by jointly predicting future states while adapting to dynamics variations based on historical trajectories. By unifying the modeling of geometry, state, physics, and robot actions, DyWA enables more robust policy learning under partial observability. Compared to baselines, our method improves the success rate by 31.5% using only single-view point cloud observations in the simulation. Furthermore, DyWA achieves an average success rate of 68% in real-world experiments, demonstrating its ability to generalize across diverse object geometries, adapt to varying table friction, and robustness in challenging scenarios such as half-filled water bottles and slippery surfaces.