Tracking and segmentation play essential roles in video understanding, providing basic positional information and temporal association of objects within video sequences. Despite their shared objective, existing approaches often tackle these tasks using specialized architectures or modality-specific parameters, limiting their generalization and scalability. Recent efforts have attempted to unify multiple tracking and segmentation sub-tasks from the perspectives of any modality input or multi-task inference. However, these approaches tend to overlook two critical challenges: the distributional gap across different modalities and the feature representation gap across tasks. These issues hinder effective cross-task and cross-modal knowledge sharing, ultimately constraining the development of a true generalist model. To address these limitations, we propose a universal tracking and segmentation framework named SATA, which unifies a broad spectrum of tracking and segmentation subtasks with any modality input. Specifically, a Decoupled Mixture-of-Expert (DeMoE) mechanism is presented to decouple the unified representation learning task into the modeling process of cross-modal shared knowledge and specific information, thus enabling the model to maintain flexibility while enhancing generalization. Additionally, we introduce a Task-aware Multi-object Tracking (TaMOT) pipeline to unify all the task outputs as a unified set of instances with calibrated ID information, thereby alleviating the degradation of task-specific knowledge during multi-task training. SATA demonstrates superior performance on 18 challenging tracking and segmentation benchmarks, offering a novel perspective for more generalizable video understanding.
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Cinematic Audio Source Separation (CASS) aims to decompose mixed film audio into speech, music, and sound effects, enabling applications like dubbing and remastering. Existing CASS approaches are audio-only, overlooking the inherent audio-visual nature of films, where sounds often align with visual cues. We present the first framework for audio-visual CASS (AV-CASS), leveraging visual context to enhance separation quality. Our method formulates CASS as a conditional generative modeling problem using conditional flow matching, enabling multimodal audio source separation. To address the lack of cinematic datasets with isolated sound tracks, we introduce a training data synthesis pipeline that pairs in-the-wild audio and video streams (e.g., facial videos for speech, scene videos for effects) and design a dedicated visual encoder for this dual-stream setup. Trained entirely on synthetic data, our model generalizes effectively to real-world cinematic content and achieves strong performance on synthetic, real-world, and audio-only CASS benchmarks. Code and demo are available at https://cass-flowmatching.github.io.
Applications · Everything Else
Music recordings often suffer from audio quality issues such as excessive reverberation, distortion, clipping, tonal imbalances, and a narrowed stereo image, especially when created in non-professional settings without specialized equipment or expertise. These problems are typically corrected using separate specialized tools and manual adjustments. In this paper, we introduce SonicMaster, the first unified generative model for music restoration and mastering that addresses a broad spectrum of audio artifacts with text-based control. SonicMaster is conditioned on natural language instructions to apply targeted enhancements, or can operate in an automatic mode for general restoration. To train this model, we construct the SonicMaster dataset, a large dataset of paired degraded and high-quality tracks by simulating common degradation types with nineteen degradation functions belonging to five enhancements groups: equalization, dynamics, reverb, amplitude, and stereo. Our approach leverages a flow-matching generative training paradigm to learn an audio transformation that maps degraded inputs to their cleaned, mastered versions guided by text prompts. Objective audio quality metrics demonstrate that SonicMaster significantly improves sound quality across all artifact categories. Furthermore, subjective listening tests confirm that listeners prefer SonicMaster’s enhanced outputs over other baselines. Demo samples are available through https://msonic793.github.io/SonicMaster/
Applications · Robotics
We introduce CRISP, a method that recovers simulatable human motion and scene geometry from monocular video. Prior work on joint human--scene reconstruction relies on data-driven priors and joint optimization with no physics in the loop, or recovers noisy geometry with artifacts that cause motion-tracking policies with scene interactions to fail. In contrast, our key insight is to fit simulation-ready convex planar primitives to a depth-based point cloud reconstruction of the scene via a simple clustering pipeline over depth, normals, and flow. To reconstruct scene geometry that might be occluded during interactions, we use human--scene contact modeling (e.g., using human posture to reconstruct the occluded seat of a chair). Finally, we ensure that human and scene reconstructions are physically plausible by using them to drive a humanoid controller via reinforcement learning. Our approach reduces motion-tracking failure rates from 55.2\% to 6.9\% on human-centric video benchmarks (EMDB, PROX), while delivering 43\% faster RL simulation throughput. This demonstrates CRISP's ability to generate physically valid human motion and interaction environments at scale, advancing real-to-sim applications for robotics. Code and interactive demos are available at our project website: https://crisp-real2sim.github.io/CRISP-Real2Sim
We tackle the task of long-form music generation, particularly the challenging \textbf{lyrics-to-song} problem, by introducing \textbf{YuE (乐)}, a family of open-source music generation foundation models. Specifically, YuE scales to trillions of tokens and generates up to five minutes of music while maintaining lyrical alignment, coherent musical structure, and engaging vocal melodies with appropriate accompaniment. It achieves this through \textbf{track-decoupled next-token prediction} to overcome dense mixture signals, and \textbf{structural progressive conditioning} for long-context lyrical alignment. In addition, we redesign the \textbf{in-context learning} technique for music generation, enabling bidirectional content creation, style cloning, and improving musicality. Through extensive evaluation, we demonstrate that YuE matches or even surpasses some of the proprietary systems in musicality and vocal agility (as of 2025-01). We strongly encourage readers to \textbf{listen to our demo}\footnote{\url{https://map-yue.github.io/}}.
Our goal is to develop an AI Partner that can provide support for group problem solving and social dynamics. In multi-party working group environments, multimodal analytics is crucial for identifying non-verbal interactions of group members. In conjunction with their verbal participation, this creates an holistic understanding of collaboration and engagement that provides necessary context for the AI Partner. In this demo, we illustrate our present capabilities at detecting and tracking nonverbal behavior in student task-oriented interactions in the classroom, and the implications for tracking common ground and engagement.
Current personalized neural head avatars face a trade-off: lightweight models lack detail and realism, while high-quality, animatable avatars require significant computational resources, making them unsuitable for commodity devices. To address this gap, we introduce Gaussian Eigen Models (GEM), which provide high-quality, lightweight, and easily controllable head avatars. GEM utilizes 3D Gaussian primitives for representing the appearance combined with Gaussian splatting for rendering. Building on the success of mesh-based 3D morphable face models (3DMM), we define GEM as an ensemble of linear eigenbases for representing the head appearance of a specific subject. In particular, we construct linear bases to represent the position, scale, rotation, and opacity of the 3D Gaussians. This allows us to efficiently generate Gaussian primitives of a specific head shape by a linear combination of the basis vectors, only requiring a low-dimensional parameter vector that contains the respective coefficients. We propose to construct these linear bases (GEM) by distilling high-quality compute-intense CNN-based Gaussian avatar models that can generate expression-dependent appearance changes like wrinkles. These high-quality models are trained on multi-view videos of a subject and are distilled using a series of principle component analyses. Once we have obtained the bases that represent the animatable appearance space of a specific human, we learn a regressor that takes a single RGB image as input and predicts the low-dimensional parameter vector that corresponds to the shown facial expression. We demonstrate that this regressor can be trained such that it effectively supports self- and cross-person reenactment from monocular videos without requiring prior mesh-based tracking. In a series of experiments, we compare GEM's self-reenactment and cross-person reenactment results to state-of-the-art 3D avatar methods, demonstrating GEM's higher visual quality and better generalization to new expressions. As our distilled linear model is highly efficient in generating novel animation states, we also show a real-time demo of GEMs driven by monocular webcam videos.
GS-DiT: Advancing Video Generation with Dynamic 3D Gaussian Fields through Efficient Dense 3D Point Tracking
PDF ↗4D video control is essential in video generation as it enables the use of sophisticated lens techniques, such as multi-camera shooting and dolly zoom, which are currently unsupported by existing methods. Training a video Diffusion Transformer (DiT) directly to control 4D content requires expensive multi-view videos. Inspired by Monocular Dynamic novel View Synthesis (MDVS) that optimizes a 4D representation and renders videos according to different 4D elements, such as camera pose and object motion editing, we bring dynamic 3D Gaussian fields to video generation. Specifically, we propose a novel framework that constructs dynamic 3D Gaussian fields with dense 3D point tracking and renders the Gaussian field for all video frames. Then we finetune a pretrained DiT to generate videos following the guidance of the rendered video, dubbed as GS-DiT. To boost the training of the GS-DiT, we also propose an efficient Dense 3D Point Tracking (D3D-PT) method for the dynamic 3D Gaussian field construction. Our D3D-PT outperforms SpatialTracker, the state-of-the-art sparse 3D point tracking method, in accuracy and accelerates the inference speed by two orders of magnitude. During the inference stage, GS-DiT can generate videos with the same dynamic content while adhering to different camera parameters, addressing a significant limitation of current video generation models. GS-DiT demonstrates strong generalization capabilities and extends the 4D controllability of Gaussian splatting to video generation beyond just camera poses. It supports advanced cinematic effects through the manipulation of the Gaussian field and camera intrinsics, making it a powerful tool for creative video production. Demos are available at https://wkbian.github.io/Projects/GS-DiT/.
Computer Vision · 3D Rendering & Reconstruction
Seeing hidden structures and objects around corners is critical for robots operating in complex, cluttered environments. Existing methods, however, are limited to detecting and tracking hidden objects rather than reconstructing the occluded full scene. We present HoloRadar, a practical system that reconstructs both line-of-sight (LOS) and non-line-of-sight (NLOS) 3D scenes using a single mmWave radar. HoloRadar uses a two-stage pipeline: the first stage generates high-resolution multi-return range images that capture both LOS and NLOS reflections, and the second stage reconstructs the physical scene by mapping mirrored observations to their true locations using a physics-guided architecture that models ray interactions. We deploy HoloRadar on a mobile robot and evaluate it across diverse real-world environments. Our evaluation results demonstrate accurate and robust reconstruction in both LOS and NLOS regions. Code, dataset and demo videos are available on the project website: https://waves.seas.upenn.edu/projects/holoradar.
Applications · Language, Speech and Dialog
We propose DeepASA, a multi-purpose model for auditory scene analysis that performs multi-input multi-output (MIMO) source separation, dereverberation, sound event detection (SED), audio classification, and direction-of-arrival estimation (DoAE) within a unified framework. DeepASA is designed for complex auditory scenes where multiple, often similar, sound sources overlap in time and move dynamically in space. To achieve robust and consistent inference across tasks, we introduce an object-oriented processing (OOP) strategy. This approach encapsulates diverse auditory features into object-centric representations and refines them through a chain-of-inference (CoI) mechanism. The pipeline comprises a dynamic temporal kernel-based feature extractor, a transformer-based aggregator, and an object separator that yields per-object features. These features feed into multiple task-specific decoders. Our object-centric representations naturally resolve the parameter association ambiguity inherent in traditional track-wise processing. However, early-stage object separation can lead to failure in downstream ASA tasks. To address this, we implement temporal coherence matching (TCM) within the chain-of-inference, enabling multi-task fusion and iterative refinement of object features using estimated auditory parameters. We evaluate DeepASA on representative spatial audio benchmark datasets, including ASA2, MC-FUSS, and STARSS23. Experimental results show that our model achieves state-of-the-art performance across all evaluated tasks, demonstrating its effectiveness in both source separation and auditory parameter estimation under diverse spatial auditory scenes. The demo video, samples and code are available at https://huggingface.co/spaces/donghoney22/DeepASA.
We propose to answer questions about videos by generating short procedural programs that solve visual subtasks to obtain a final answer. We present Procedural Video Querying (ProViQ) which uses a large language model to generate such programs from an input question and an API of visual modules in the prompt, then executes them to obtain the output. Recent similar procedural approaches have proven successful for image question answering, but cannot effectively or efficiently answer questions about videos due to their image-centric modules and lack of temporal reasoning ability. We address this by providing ProViQ with novel modules intended for video understanding, allowing it to generalize to a wide variety of videos with no additional training. As a result, ProViQ can efficiently find relevant moments in long videos, do causal and temporal reasoning, and summarize videos over long time horizons in order to answer complex questions. This code generation framework additionally enables ProViQ to perform other video tasks beyond question answering, such as multi-object tracking or basic video editing. ProViQ achieves state-of-the-art results on a diverse range of benchmarks, with improvements of up to 25% on short, long, open-ended, multiple-choice and multimodal video question-answering datasets. We include video demos and code in the supplement.
Arrange, Inpaint, and Refine: Steerable Long-term Music Audio Generation and Editing via Content-based Controls
PDF ↗Controllable music generation plays a vital role in human-AI music co-creation. While Large Language Models (LLMs) have shown promise in generating high-quality music, their focus on autoregressive generation limits their utility in music editing tasks. To bridge this gap, To address this gap, we propose a novel approach leveraging a parameter-efficient heterogeneous adapter combined with a masking training scheme. This approach enables autoregressive language models to seamlessly address music inpainting tasks. Additionally, our method integrates frame-level content-based controls, facilitating track-conditioned music refinement and score-conditioned music arrangement. We apply this method to fine-tune MusicGen, a leading autoregressive music generation model. Our experiments demonstrate promising results across multiple music editing tasks, offering more flexible controls for future AI-driven music editing tools. The source codes and a demo page showcasing our work are available at https://kikyo-16.github.io/AIR.
Music editing primarily entails the modification of instrument tracks or remixing in the whole, which offers a novel reinterpretation of the original piece through a series of operations. These music processing methods hold immense potential across various applications but demand substantial expertise. Prior methodologies, although effective for image and audio modifications, falter when directly applied to music. This is attributed to music's distinctive data nature, where such methods can inadvertently compromise the intrinsic harmony and coherence of music. In this paper, we develop InstructME, an Instruction guided Music Editing and remixing framework based on latent diffusion models. Our framework fortifies the U-Net with multi-scale aggregation in order to maintain consistency before and after editing. In addition, we introduce chord progression matrix as condition information and incorporate it in the semantic space to improve melodic harmony while editing. For accommodating extended musical pieces, InstructME employs a chunk transformer, enabling it to discern long-term temporal dependencies within music sequences. We tested InstructME in instrument-editing, remixing, and multi-round editing. Both subjective and objective evaluations indicate that our proposed method significantly surpasses preceding systems in music quality, text relevance and harmony. Demo samples are available at https://musicedit.github.io
Human-computer interaction
We present PiMForce, a novel framework that enhances hand pressure estimation by leveraging 3D hand posture information to augment forearm surface electromyography (sEMG) signals. Our approach utilizes detailed spatial information from 3D hand poses in conjunction with dynamic muscle activity from sEMG to enable accurate and robust whole-hand pressure measurements under diverse hand-object interactions. We also developed a multimodal data collection system that combines a pressure glove, an sEMG armband, and a markerless finger-tracking module. We created a comprehensive dataset from 21 participants, capturing synchronized data of hand posture, sEMG signals, and exerted hand pressure across various hand postures and hand-object interaction scenarios using our collection system. Our framework enables precise hand pressure estimation in complex and natural interaction scenarios. Our approach substantially mitigates the limitations of traditional sEMG-based or vision-based methods by integrating 3D hand posture information with sEMG signals.Video demos, data, and code are available online.
Robotics
Accurate motion forecasting for traffic agents is crucial for ensuring the safety and efficiency of autonomous driving systems in dynamically changing environments. Mainstream methods adopt a one-query-one-trajectory paradigm, where each query corresponds to a unique trajectory for predicting multi-modal trajectories. While straightforward and effective, the absence of detailed representation of future trajectories may yield suboptimal outcomes, given that the agent states dynamically evolve over time. To address this problem, we introduce DeMo, a framework that decouples multi-modal trajectory queries into two types: mode queries capturing distinct directional intentions and state queries tracking the agent's dynamic states over time. By leveraging this format, we separately optimize the multi-modality and dynamic evolutionary properties of trajectories. Subsequently, the mode and state queries are integrated to obtain a comprehensive and detailed representation of the trajectories. To achieve these operations, we additionally introduce combined Attention and Mamba techniques for global information aggregation and state sequence modeling, leveraging their respective strengths. Extensive experiments on both the Argoverse 2 and nuScenes benchmarks demonstrate that our DeMo achieves state-of-the-art performance in motion forecasting. In addition, we will make our code and models publicly available.
Existing volumetric methods for predicting 3D human pose estimation are accurate, but computationally expensive and optimized for single time-step prediction. We present TEMPO, an efficient multi-view pose estimation model that learns a robust spatiotemporal representation, improving pose accuracy while also tracking and forecasting human pose. We significantly reduce computation compared to the state-of-the-art by recurrently computing per-person 2D pose features, fusing both spatial and temporal information into a single representation. In doing so, our model is able to use spatiotemporal context to predict more accurate human poses without sacrificing efficiency. We further use this representation to track human poses over time as well as predict future poses. Finally, we demonstrate that our model is able to generalize across datasets without scene-specific fine-tuning. TEMPO achieves 10% better MPJPE with a 33x improvement in FPS compared to TesseTrack on the challenging CMU Panoptic Studio dataset. Our code and demos are available at https://rccchoudhury.github.io/tempo2023.
Applications/Computer Vision
We tackle the problem of Persistent Independent Particles (PIPs), also called Tracking Any Point (TAP), in videos, which specifically aims at estimating persistent long-term trajectories of query points in videos. Previous methods attempted to estimate these trajectories independently to incorporate longer image sequences, therefore, ignoring the potential benefits of incorporating spatial context features. We argue that independent video point tracking also demands spatial context features. To this end, we propose a novel framework Context-PIPs, which effectively improves point trajectory accuracy by aggregating spatial context features in videos. Context-PIPs contains two main modules: 1) a SOurse Feature Enhancement (SOFE) module, and 2) a TArget Feature Aggregation (TAFA) module. Context-PIPs significantly improves PIPs all-sided, reducing 11.4\% Average Trajectory Error of Occluded Points (ATE-Occ) on CroHD and increasing 11.8\% Average Percentage of Correct Keypoint (A-PCK) on TAP-Vid-Kinetics. Demos are available at \url{https://wkbian.github.io/Projects/Context-PIPs/}.