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Wednesday 8 April

Computer Vision

Mathematical Analysis of Image Matching Techniques

Oleh Samoilenko

Image matching is a fundamental problem in Computer Vision with direct applications in robotics, remote sensing, and geospatial data analysis. We present an analytical and experimental evaluation of classical local feature-based image matching algorithms on satellite imagery, focusing on the Scale-Invariant Feature Transform (SIFT) and the Oriented FAST and Rotated BRIEF (ORB). Each method is evaluated through a common pipeline: keypoint detection, descriptor extraction, descriptor matching, and geometric verification via RANSAC with homography estimation. Matching quality is assessed using the Inlier Ratio - the fraction of correspondences consistent with the estimated homography. The study uses a manually constructed dataset of GPS-annotated satellite image tiles with intentional overlaps. We examine the impact of the number of extracted keypoints on the resulting Inlier Ratio.
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Computer Vision

On the Uphill Battle of Image frequency Analysis

Nader Bazyari and Hedieh Sajedi

This work is a follow up on the newly proposed clustering algorithm called The Inverse Square Mean Shift Algorithm. In this paper a special case of algorithm for dealing with non-homogenous data is formulated and the three dimensional Fast Fourier Transform of images is investigated with the aim of finding hidden patterns.
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Computer Vision

Training-free Spatially Grounded Geometric Shape Encoding (Technical Report)

Yuhang He

Positional encoding has become the de facto standard for grounding deep neural networks on discrete point-wise positions, and it has achieved remarkable success in tasks where the input can be represented as a one-dimensional sequence. However, extending this concept to 2D spatial geometric shapes demands carefully designed encoding strategies that account not only for shape geometry and pose, but also for compatibility with neural network learning. In this work, we address these challenges by introducing a training-free, general-purpose encoding strategy, dubbed XShapeEnc, that encodes an arbitrary spatially grounded 2D geometric shape into a compact representation exhibiting five favorable properties, including invertibility, adaptivity, and frequency richness. Specifically, a 2D spatially grounded geometric shape is decomposed into its normalized geometry within the unit disk and its pose vector, where the pose is further transformed into a harmonic pose field that also lies within the unit disk. A set of orthogonal Zernike bases is constructed to encode shape geometry and pose either independently or jointly, followed by a frequency-propagation operation to introduce high-frequency content into the encoding. We demonstrate the theoretical validity, efficiency, discriminability, and applicability of XShapeEnc via extensive analysis and experiments across a wide range of shape-aware tasks and our self-curated XShapeCorpus. We envision XShapeEnc as a foundational tool for research that goes beyond one-dimensional sequential data toward frontier 2D spatial intelligence.
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Computer Vision

SMFD-UNet: Semantic Face Mask Is The Only Thing You Need To Deblur Faces

Abduz Zami

For applications including facial identification, forensic analysis, photographic improvement, and medical imaging diagnostics, facial image deblurring is an essential chore in computer vision allowing the restoration of high-quality images from blurry inputs. Often based on general picture priors, traditional deblurring techniques find it difficult to capture the particular structural and identity-specific features of human faces. We present SMFD-UNet (Semantic Mask Fusion Deblurring UNet), a new lightweight framework using semantic face masks to drive the deblurring process, therefore removing the need for high-quality reference photos in order to solve these difficulties. First, our dual-step method uses a UNet-based semantic mask generator to directly extract detailed facial component masks (e.g., eyes, nose, mouth) straight from blurry photos. Sharp, high-fidelity facial images are subsequently produced by integrating these masks with the blurry input using a multi-stage feature fusion technique within a computationally efficient UNet framework. We created a randomized blurring pipeline that roughly replicates real-world situations by simulating around 1.74 trillion deterioration scenarios, hence guaranteeing resilience. Examined on the CelebA dataset, SMFD-UNet shows better performance than state-of-the-art models, attaining higher Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index Measure (SSIM) while preserving satisfactory naturalness measures, including NIQE, LPIPS, and FID. Powered by Residual Dense Convolution Blocks (RDC), a multi-stage feature fusion strategy, efficient and effective upsampling techniques, attention techniques like CBAM, post-processing techniques, and the lightweight design guarantees scalability and efficiency, enabling SMFD-UNet to be a flexible solution for developing facial image restoration research and useful applications.
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Computer Vision

HY-Embodied-0.5: Embodied Foundation Models for Real-World Agents

Tencent Robotics X, HY Vision Team: Xumin Yu, Zuyan Liu et al. (+18 more)

We introduce HY-Embodied-0.5, a family of foundation models specifically designed for real-world embodied agents. To bridge the gap between general Vision-Language Models (VLMs) and the demands of embodied agents, our models are developed to enhance the core capabilities required by embodied intelligence: spatial and temporal visual perception, alongside advanced embodied reasoning for prediction, interaction, and planning. The HY-Embodied-0.5 suite comprises two primary variants: an efficient model with 2B activated parameters designed for edge deployment, and a powerful model with 32B activated parameters targeted for complex reasoning. To support the fine-grained visual perception essential for embodied tasks, we adopt a Mixture-of-Transformers (MoT) architecture to enable modality-specific computing. By incorporating latent tokens, this design effectively enhances the perceptual representation of the models. To improve reasoning capabilities, we introduce an iterative, self-evolving post-training paradigm. Furthermore, we employ on-policy distillation to transfer the advanced capabilities of the large model to the smaller variant, thereby maximizing the performance potential of the compact model. Extensive evaluations across 22 benchmarks, spanning visual perception, spatial reasoning, and embodied understanding, demonstrate the effectiveness of our approach. Our MoT-2B model outperforms similarly sized state-of-the-art models on 16 benchmarks, while the 32B variant achieves performance comparable to frontier models such as Gemini 3.0 Pro. In downstream robot control experiments, we leverage our robust VLM foundation to train an effective Vision-Language-Action (VLA) model, achieving compelling results in real-world physical evaluations. Code and models are open-sourced at https://github.com/Tencent-Hunyuan/HY-Embodied.
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All authors Tencent Robotics X, HY Vision Team: Xumin Yu, Zuyan Liu, Ziyi Wang, He Zhang, Yongming Rao, Fangfu Liu, Yani Zhang, Ruowen Zhao, Oran Wang, Yves Liang, Haitao Lin, Minghui Wang, Yubo Dong, Kevin Cheng, Bolin Ni, Rui Huang, Han Hu, Zhengyou Zhang, Linus, Shunyu Yao

Computer Vision

GameWorld: Towards Standardized and Verifiable Evaluation of Multimodal Game Agents

Mingyu Ouyang, Siyuan Hu, Kevin Qinghong Lin et al. (+2 more)

Towards an embodied generalist for real-world interaction, Multimodal Large Language Model (MLLM) agents still suffer from challenging latency, sparse feedback, and irreversible mistakes. Video games offer an ideal testbed with rich visual observations and closed-loop interaction, demanding fine-grained perception, long-horizon planning, and precise control. However, systematically evaluating these capabilities is currently hindered by heterogeneous action interfaces and heuristic verification. To this end, we introduce GameWorld, a benchmark designed for standardized and verifiable evaluation of MLLMs as generalist game agents in browser environments. Two game agent interfaces are studied: (i) computer-use agents that directly emit keyboard and mouse controls, and (ii) generalist multimodal agents that act in a semantic action space via deterministic Semantic Action Parsing. GameWorld contains 34 diverse games and 170 tasks, each paired with state-verifiable metrics for outcome-based evaluation. The results across 18 model-interface pairs suggest that even the best performing agent is far from achieving human capabilities on video games. Extensive experiments of repeated full-benchmark reruns demonstrate the robustness of the benchmark, while further studies on real-time interaction, context-memory sensitivity, and action validity expose more challenges ahead for game agents. Together, by offering a standardized, verifiable, and reproducible evaluation framework, GameWorld lays a robust foundation for advancing research on multimodal game agents and beyond. The project page is at https://gameworld-bench.github.io.
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All authors Mingyu Ouyang, Siyuan Hu, Kevin Qinghong Lin, Hwee Tou Ng, Mike Zheng Shou

Computer Vision

Personalizing Text-to-Image Generation to Individual Taste

Anne-Sofie Maerten, Juliane Verwiebe, Shyamgopal Karthik et al. (+3 more)

Modern text-to-image (T2I) models generate high-fidelity visuals but remain indifferent to individual user preferences. While existing reward models optimize for "average" human appeal, they fail to capture the inherent subjectivity of aesthetic judgment. In this work, we introduce a novel dataset and predictive framework, called PAMELA, designed to model personalized image evaluations. Our dataset comprises 70,000 ratings across 5,000 diverse images generated by state-of-the-art models (Flux 2 and Nano Banana). Each image is evaluated by 15 unique users, providing a rich distribution of subjective preferences across domains such as art, design, fashion, and cinematic photography. Leveraging this data, we propose a personalized reward model trained jointly on our high-quality annotations and existing aesthetic assessment subsets. We demonstrate that our model predicts individual liking with higher accuracy than the majority of current state-of-the-art methods predict population-level preferences. Using our personalized predictor, we demonstrate how simple prompt optimization methods can be used to steer generations towards individual user preferences. Our results highlight the importance of data quality and personalization to handle the subjectivity of user preferences. We release our dataset and model to facilitate standardized research in personalized T2I alignment and subjective visual quality assessment.
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All authors Anne-Sofie Maerten, Juliane Verwiebe, Shyamgopal Karthik, Ameya Prabhu, Johan Wagemans, Matthias Bethge

Computer Vision

FORGE: Fine-grained Multimodal Evaluation for Manufacturing Scenarios

Xiangru Jian, Hao Xu, Wei Pang et al. (+13 more)

The manufacturing sector is increasingly adopting Multimodal Large Language Models (MLLMs) to transition from simple perception to autonomous execution, yet current evaluations fail to reflect the rigorous demands of real-world manufacturing environments. Progress is hindered by data scarcity and a lack of fine-grained domain semantics in existing datasets. To bridge this gap, we introduce FORGE. Wefirst construct a high-quality multimodal dataset that combines real-world 2D images and 3D point clouds, annotated with fine-grained domain semantics (e.g., exact model numbers). We then evaluate 18 state-of-the-art MLLMs across three manufacturing tasks, namely workpiece verification, structural surface inspection, and assembly verification, revealing significant performance gaps. Counter to conventional understanding, the bottleneck analysis shows that visual grounding is not the primary limiting factor. Instead, insufficient domain-specific knowledge is the key bottleneck, setting a clear direction for future research. Beyond evaluation, we show that our structured annotations can serve as an actionable training resource: supervised fine-tuning of a compact 3B-parameter model on our data yields up to 90.8% relative improvement in accuracy on held-out manufacturing scenarios, providing preliminary evidence for a practical pathway toward domain-adapted manufacturing MLLMs. The code and datasets are available at https://ai4manufacturing.github.io/forge-web.
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All authors Xiangru Jian, Hao Xu, Wei Pang, Xinjian Zhao, Chengyu Tao, Qixin Zhang, Xikun Zhang, Chao Zhang, Guanzhi Deng, Alex Xue, Juan Du, Tianshu Yu, Garth Tarr, Linqi Song, Qiuzhuang Sun, Dacheng Tao

Computer Vision · Cross-listed from cs.RO

A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring

Wenze Wang, Mehdi Hosseinzadeh and Feras Dayoub

Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as empty grasps, slips, stalls, timeouts, or semantically wrong grasps are not surfaced to the decision layer in a structured way. Inspired by agentic loops in digital tool-using agents, we reformulate language-guided grasping as a bounded embodied agent operating over grounded execution states, where physical actions expose an explicit tool-state stream. We introduce a physical agentic loop that wraps an unmodified learned manipulation primitive (grasp-and-lift) with (i) an event-based interface and (ii) an execution monitoring layer, Watchdog, which converts noisy gripper telemetry into discrete outcome labels using contact-aware fusion and temporal stabilization. These outcome events, optionally combined with post-grasp semantic verification, are consumed by a deterministic bounded policy that finalizes, retries, or escalates to the user for clarification, guaranteeing finite termination. We validate the resulting loop on a mobile manipulator with an eye-in-hand D405 camera, keeping the underlying grasp model unchanged and evaluating representative scenarios involving visual ambiguity, distractors, and induced execution failures. Results show that explicit execution-state monitoring and bounded recovery enable more robust and interpretable behavior than open-loop execution, while adding minimal architectural overhead. For the source code and demo refer to our project page: https://wenzewwz123.github.io/Agentic-Loop/
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Computer Vision

Fast Spatial Memory with Elastic Test-Time Training

Ziqiao Ma, Xueyang Yu, Haoyu Zhen et al. (+3 more)

Large Chunk Test-Time Training (LaCT) has shown strong performance on long-context 3D reconstruction, but its fully plastic inference-time updates remain vulnerable to catastrophic forgetting and overfitting. As a result, LaCT is typically instantiated with a single large chunk spanning the full input sequence, falling short of the broader goal of handling arbitrarily long sequences in a single pass. We propose Elastic Test-Time Training inspired by elastic weight consolidation, that stabilizes LaCT fast-weight updates with a Fisher-weighted elastic prior around a maintained anchor state. The anchor evolves as an exponential moving average of past fast weights to balance stability and plasticity. Based on this updated architecture, we introduce Fast Spatial Memory (FSM), an efficient and scalable model for 4D reconstruction that learns spatiotemporal representations from long observation sequences and renders novel view-time combinations. We pre-trained FSM on large-scale curated 3D/4D data to capture the dynamics and semantics of complex spatial environments. Extensive experiments show that FSM supports fast adaptation over long sequences and delivers high-quality 3D/4D reconstruction with smaller chunks and mitigating the camera-interpolation shortcut. Overall, we hope to advance LaCT beyond the bounded single-chunk setting toward robust multi-chunk adaptation, a necessary step for generalization to genuinely longer sequences, while substantially alleviating the activation-memory bottleneck.
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All authors Ziqiao Ma, Xueyang Yu, Haoyu Zhen, Yuncong Yang, Joyce Chai, Chuang Gan

Computer Vision

MoRight: Motion Control Done Right

Shaowei Liu, Xuanchi Ren, Tianchang Shen et al. (+5 more)

Generating motion-controlled videos–where user-specified actions drive physically plausible scene dynamics under freely chosen viewpoints–demands two capabilities: (1) disentangled motion control, allowing users to separately control the object motion and adjust camera viewpoint; and (2) motion causality, ensuring that user-driven actions trigger coherent reactions from other objects rather than merely displacing pixels. Existing methods fall short on both fronts: they entangle camera and object motion into a single tracking signal and treat motion as kinematic displacement without modeling causal relationships between object motion. We introduce MoRight, a unified framework that addresses both limitations through disentangled motion modeling. Object motion is specified in a canonical static-view and transferred to an arbitrary target camera viewpoint via temporal cross-view attention, enabling disentangled camera and object control. We further decompose motion into active (user-driven) and passive (consequence) components, training the model to learn motion causality from data. At inference, users can either supply active motion and MoRight predicts consequences (forward reasoning), or specify desired passive outcomes and MoRight recovers plausible driving actions (inverse reasoning), all while freely adjusting the camera viewpoint. Experiments on three benchmarks demonstrate state-of-the-art performance in generation quality, motion controllability, and interaction awareness.
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All authors Shaowei Liu, Xuanchi Ren, Tianchang Shen, Huan Ling, Saurabh Gupta, Shenlong Wang, Sanja Fidler, Jun Gao

Computer Vision

TC-AE: Unlocking Token Capacity for Deep Compression Autoencoders

Teng Li, Ziyuan Huang, Cong Chen et al. (+5 more)

We propose TC-AE, a ViT-based architecture for deep compression autoencoders. Existing methods commonly increase the channel number of latent representations to maintain reconstruction quality under high compression ratios. However, this strategy often leads to latent representation collapse, which degrades generative performance. Instead of relying on increasingly complex architectures or multi-stage training schemes, TC-AE addresses this challenge from the perspective of the token space, the key bridge between pixels and image latents, through two complementary innovations: Firstly, we study token number scaling by adjusting the patch size in ViT under a fixed latent budget, and identify aggressive token-to-latent compression as the key factor that limits effective scaling. To address this issue, we decompose token-to-latent compression into two stages, reducing structural information loss and enabling effective token number scaling for generation. Secondly, to further mitigate latent representation collapse, we enhance the semantic structure of image tokens via joint self-supervised training, leading to more generative-friendly latents. With these designs, TC-AE achieves substantially improved reconstruction and generative performance under deep compression. We hope our research will advance ViT-based tokenizer for visual generation.
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All authors Teng Li, Ziyuan Huang, Cong Chen, Yangfu Li, Yuanhuiyi Lyu, Dandan Zheng, Chunhua Shen, Jun Zhang

Computer Vision

Appear2Meaning: A Cross-Cultural Benchmark for Structured Cultural Metadata Inference from Images

Yuechen Jiang, Enze Zhang, Md Mohsinul Kabir et al. (+4 more)

Recent advances in vision-language models (VLMs) have improved image captioning for cultural heritage. However, inferring structured cultural metadata (e.g., creator, origin, period) from visual input remains underexplored. We introduce a multi-category, cross-cultural benchmark for this task and evaluate VLMs using an LLM-as-Judge framework that measures semantic alignment with reference annotations. To assess cultural reasoning, we report exact-match, partial-match, and attribute-level accuracy across cultural regions. Results show that models capture fragmented signals and exhibit substantial performance variation across cultures and metadata types, leading to inconsistent and weakly grounded predictions. These findings highlight the limitations of current VLMs in structured cultural metadata inference beyond visual perception.
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All authors Yuechen Jiang, Enze Zhang, Md Mohsinul Kabir, Qianqian Xie, Stavroula Golfomitsou, Konstantinos Arvanitis, Sophia Ananiadou

Computer Vision

From Blobs to Spokes: High-Fidelity Surface Reconstruction via Oriented Gaussians

Diego Gomez, Antoine Guédon, Nissim Maruani et al. (+2 more)

3D Gaussian Splatting (3DGS) has revolutionized fast novel view synthesis, yet its opacity-based formulation makes surface extraction fundamentally difficult. Unlike implicit methods built on Signed Distance Fields or occupancy, 3DGS lacks a global geometric field, forcing existing approaches to resort to heuristics such as TSDF fusion of blended depth maps. Inspired by the Objects as Volumes framework, we derive a principled occupancy field for Gaussian Splatting and show how it can be used to extract highly accurate watertight meshes of complex scenes. Our key contribution is to introduce a learnable oriented normal at each Gaussian element and to define an adapted attenuation formulation, which leads to closed-form expressions for both the normal and occupancy fields at arbitrary locations in space. We further introduce a novel consistency loss and a dedicated densification strategy to enforce Gaussians to wrap the entire surface by closing geometric holes, ensuring a complete shell of oriented primitives. We modify the differentiable rasterizer to output depth as an isosurface of our continuous model, and introduce Primal Adaptive Meshing for Region-of-Interest meshing at arbitrary resolution. We additionally expose fundamental biases in standard surface evaluation protocols and propose two more rigorous alternatives. Overall, our method Gaussian Wrapping sets a new state-of-the-art on DTU and Tanks and Temples, producing complete, watertight meshes at a fraction of the size of concurrent work-recovering thin structures such as the notoriously elusive bicycle spokes.
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All authors Diego Gomez, Antoine Guédon, Nissim Maruani, Bingchen Gong, Maks Ovsjanikov

Computer Vision · Cross-listed from cs.RO

RoSHI: A Versatile Robot-oriented Suit for Human Data In-the-Wild

Wenjing Margaret Mao, Jefferson Ng, Luyang Hu et al. (+2 more)

Scaling up robot learning will likely require human data containing rich and long-horizon interactions in the wild. Existing approaches for collecting such data trade off portability, robustness to occlusion, and global consistency. We introduce RoSHI, a hybrid wearable that fuses low-cost sparse IMUs with the Project Aria glasses to estimate the full 3D pose and body shape of the wearer in a metric global coordinate frame from egocentric perception. This system is motivated by the complementarity of the two sensors: IMUs provide robustness to occlusions and high-speed motions, while egocentric SLAM anchors long-horizon motion and stabilizes upper body pose. We collect a dataset of agile activities to evaluate RoSHI. On this dataset, we generally outperform other egocentric baselines and perform comparably to a state-of-the-art exocentric baseline (SAM3D). Finally, we demonstrate that the motion data recorded from our system are suitable for real-world humanoid policy learning. For videos, data and more, visit the project webpage: https://roshi-mocap.github.io/
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All authors Wenjing Margaret Mao, Jefferson Ng, Luyang Hu, Daniel Gehrig, Antonio Loquercio

Computer Vision

Distilling Photon-Counting CT into Routine Chest CT through Clinically Validated Degradation Modeling

Junqi Liu, Xinze Zhou, Wenxuan Li et al. (+10 more)

Photon-counting CT (PCCT) provides superior image quality with higher spatial resolution and lower noise compared to conventional energy-integrating CT (EICT), but its limited clinical availability restricts large-scale research and clinical deployment. To bridge this gap, we propose SUMI, a simulated degradation-to-enhancement method that learns to reverse realistic acquisition artifacts in low-quality EICT by leveraging high-quality PCCT as reference. Our central insight is to explicitly model realistic acquisition degradations, transforming PCCT into clinically plausible lower-quality counterparts and learning to invert this process. The simulated degradations were validated for clinical realism by board-certified radiologists, enabling faithful supervision without requiring paired acquisitions at scale. As outcomes of this technical contribution, we: (1) train a latent diffusion model on 1,046 PCCTs, using an autoencoder first pre-trained on both these PCCTs and 405,379 EICTs from 145 hospitals to extract general CT latent features that we release for reuse in other generative medical imaging tasks; (2) construct a large-scale dataset of over 17,316 publicly available EICTs enhanced to PCCT-like quality, with radiologist-validated voxel-wise annotations of airway trees, arteries, veins, lungs, and lobes; and (3) demonstrate substantial improvements: across external data, SUMI outperforms state-of-the-art image translation methods by 15% in SSIM and 20% in PSNR, improves radiologist-rated clinical utility in reader studies, and enhances downstream top-ranking lesion detection performance, increasing sensitivity by up to 15% and F1 score by up to 10%. Our results suggest that emerging imaging advances can be systematically distilled into routine EICT using limited high-quality scans as reference.
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All authors Junqi Liu, Xinze Zhou, Wenxuan Li, Scott Ye, Arkadiusz Sitek, Xiaofeng Yang, Yucheng Tang, Daguang Xu, Kai Ding, Kang Wang, Yang Yang, Alan L. Yuille, Zongwei Zhou

Computer Vision

Beyond Loss Values: Robust Dynamic Pruning via Loss Trajectory Alignment

Huaiyuan Qin, Muli Yang, Gabriel James Goenawan et al. (+5 more)

Existing dynamic data pruning methods often fail under noisy-label settings, as they typically rely on per-sample loss as the ranking criterion. This could mistakenly lead to preserving noisy samples due to their high loss values, resulting in significant performance drop. To address this, we propose AlignPrune, a noise-robust module designed to enhance the reliability of dynamic pruning under label noise. Specifically, AlignPrune introduces the Dynamic Alignment Score (DAS), which is a loss-trajectory-based criterion that enables more accurate identification of noisy samples, thereby improving pruning effectiveness. As a simple yet effective plug-and-play module, AlignPrune can be seamlessly integrated into state-of-the-art dynamic pruning frameworks, consistently outperforming them without modifying either the model architecture or the training pipeline. Extensive experiments on five widely-used benchmarks across various noise types and pruning ratios demonstrate the effectiveness of AlignPrune, boosting accuracy by up to 6.3% over state-of-the-art baselines. Our results offer a generalizable solution for pruning under noisy data, encouraging further exploration of learning in real-world scenarios. Code is available at: https://github.com/leonqin430/AlignPrune.
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All authors Huaiyuan Qin, Muli Yang, Gabriel James Goenawan, Kai Wang, Zheng Wang, Peng Hu, Xi Peng, Hongyuan Zhu

Computer Vision

Region-Graph Optimal Transport Routing for Mixture-of-Experts Whole-Slide Image Classification

Xin Tian, Jiuliu Lu, Ephraim Tsalik et al. (+3 more)

Multiple Instance Learning (MIL) is the dominant framework for gigapixel whole-slide image (WSI) classification in computational pathology. However, current MIL aggregators route all instances through a shared pathway, constraining their capacity to specialise across the pathological heterogeneity inherent in each slide. Mixture-of-Experts (MoE) methods offer a natural remedy by partitioning instances across specialised expert subnetworks; yet unconstrained softmax routing may yield highly imbalanced utilisation, where one or a few experts absorb most routing mass, collapsing the mixture back to a near-single-pathway solution. To address these limitations, we propose ROAM (Region-graph OptimAl-transport Mixture-of-experts), a spatially aware MoE-MIL aggregator that routes region tokens to expert poolers via capacity-constrained entropic optimal transport, promoting balanced expert utilisation by construction. ROAM operates on spatial region tokens, obtained by compressing dense patch bags into spatially binned units that align routing with local tissue neighbourhoods and introduces two key mechanisms: (i) region-to-expert assignment formulated as entropic optimal transport (Sinkhorn) with explicit per slide capacity marginals, enforcing balanced expert utilisation without auxiliary load-balancing losses; and (ii) graph-regularised Sinkhorn iterations that diffuse routing assignments over the spatial region graph, encouraging neighbouring regions to coherently route to the same experts. Evaluated on four WSI benchmarks with frozen foundation-model patch embeddings, ROAM achieves performance competitive against strong MIL and MoE baselines, and on NSCLC generalisation (TCGA-CPTAC) reaches external AUC 0.845 +- 0.019.
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All authors Xin Tian, Jiuliu Lu, Ephraim Tsalik, Bart Wanders, Colleen Knoth, Julian Knight

Computer Vision

Compatibility of Face Embeddings Across Deep Neural Networks

Fizza Rubab, Yiying Tong and Arun Ross

Automated face recognition has made rapid strides over the past decade due to the unprecedented rise of deep neural network (DNN) models that can be trained for domain-specific tasks. At the same time, large foundation models that are pretrained on broad vision or vision-language tasks have shown impressive generalization across diverse domains, including biometrics. This raises an important question: Do different DNN models—both domain-specific and foundation models—encode facial identity in similar ways, despite being trained on different datasets, loss functions, and architectures? In this regard, we directly analyze the geometric structure of embedding spaces imputed by different DNN models. Treating embeddings of face images as point clouds, we study whether simple affine transformations can align face representations of one model with another. Our findings reveal substantial cross-model compatibility: low-capacity linear mappings substantially improve cross-model face recognition over unaligned baselines for both identification and verification, including across foundation models never trained for face recognition. Alignment patterns generalize across datasets and vary systematically across model families, indicating representational convergence in facial identity encoding. These findings reframe independently trained templates as transferable rather than revocable, with implications for interoperability, ensemble design, and biometric template security.
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Computer Vision

Mem3R: Streaming 3D Reconstruction with Hybrid Memory

Changkun Liu, Jiezhi Yang, Zeman Li et al. (+4 more)

Streaming 3D perception is well suited to robotics and augmented reality, where long visual streams must be processed efficiently and consistently. Recent recurrent models offer a promising solution by maintaining fixed-size states and enabling linear-time inference, but they often suffer from temporal forgetting over long sequences due to the limited capacity of compressed memories. We propose Mem3R, a streaming 3D reconstruction model with a hybrid memory design that decouples camera tracking from geometric mapping to improve temporal consistency over long sequences. For camera tracking, Mem3R employs an implicit fast-weight memory implemented as a lightweight Multi-Layer Perceptron updated via Test-Time Training. For geometric mapping, Mem3R maintains an explicit token-based fixed-size state. Compared with CUT3R, this design not only significantly improves long-sequence performance but also reduces the model size from 793M to 644M parameters. Mem3R supports existing improved plug-and-play state update strategies developed for CUT3R. Specifically, Mem3R combined with TTT3R reduces absolute trajectory error by up to 39% relative to CUT3R combined with TTT3R on 500- to 1000-frame sequences from the TUM Dynamics dataset. The resulting improvements also extend to other downstream tasks, including video depth estimation and 3D reconstruction. Project page: https://lck666666.github.io/Mem3R/.
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All authors Changkun Liu, Jiezhi Yang, Zeman Li, Yuan Deng, Jiancong Guo, Binbin Xu, Luca Ballan

Computer Vision

GenLCA: 3D Diffusion for Full-Body Avatars from In-the-Wild Videos

Yiqian Wu, Rawal Khirodkar, Egor Zakharov et al. (+6 more)

We present GenLCA, a diffusion-based generative model for generating and editing photorealistic full-body avatars from text and image inputs. The generated avatars are faithful to the inputs, while supporting high-fidelity facial and full-body animations. The core idea is a novel paradigm that enables training a full-body 3D diffusion model from partially observable 2D data, allowing the training dataset to scale to millions of real-world videos. This scalability contributes to the superior photorealism and generalizability of GenLCA. Specifically, we scale up the dataset by repurposing a pretrained feed-forward avatar reconstruction model as an animatable 3D tokenizer, which encodes unstructured video frames into structured 3D tokens. However, most real-world videos only provide partial observations of body parts, resulting in excessive blurring or transparency artifacts in the 3D tokens. To address this, we propose a novel visibility-aware diffusion training strategy that replaces invalid regions with learnable tokens and computes losses only over valid regions. We then train a flow-based diffusion model on the token dataset, inherently maintaining the photorealism and animatability provided by the pretrained avatar reconstruction model. Our approach effectively enables the use of large-scale real-world video data to train a diffusion model natively in 3D. We demonstrate the efficacy of our method through diverse and high-fidelity generation and editing results, outperforming existing solutions by a large margin. The project page is available at https://onethousandwu.com/GenLCA-Page.
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All authors Yiqian Wu, Rawal Khirodkar, Egor Zakharov, Timur Bagautdinov, Lei Xiao, Zhaoen Su, Shunsuke Saito, Xiaogang Jin, Junxuan Li

Computer Vision · Cross-listed from cs.HC

BATON: A Multimodal Benchmark for Bidirectional Automation Transition Observation in Naturalistic Driving

Yuhang Wang, Yiyao Xu, Chaoyun Yang et al. (+3 more)

Existing driving automation (DA) systems on production vehicles rely on human drivers to decide when to engage DA while requiring them to remain continuously attentive and ready to intervene. This design demands substantial situational judgment and imposes significant cognitive load, leading to steep learning curves, suboptimal user experience, and safety risks from both over-reliance and delayed takeover. Predicting when drivers hand over control to DA and when they take it back is therefore critical for designing proactive, context-aware HMI, yet existing datasets rarely capture the multimodal context, including road scene, driver state, vehicle dynamics, and route environment. To fill this gap, we introduce BATON, a large-scale naturalistic dataset capturing real-world DA usage across 127 drivers, and 136.6 hours of driving. The dataset synchronizes front-view video, in-cabin video, decoded CAN bus signals, radar-based lead-vehicle interaction, and GPS-derived route context, forming a closed-loop multimodal record around each control transition. We define three benchmark tasks: driving action understanding, handover prediction, and takeover prediction, and evaluate baselines spanning sequence models, classical classifiers, and zero-shot VLMs. Results show that visual input alone is insufficient for reliable transition prediction: front-view video captures road context but not driver state, while in-cabin video reflects driver readiness but not the external scene. Incorporating CAN and route-context signals substantially improves performance over video-only settings, indicating strong complementarity across modalities. We further find takeover events develop more gradually and benefit from longer prediction horizons, whereas handover events depend more on immediate contextual cues, revealing an asymmetry with direct implications for HMI design in assisted driving systems.
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All authors Yuhang Wang, Yiyao Xu, Chaoyun Yang, Lingyao Li, Jingran Sun, Hao Zhou

Computer Vision

Non-identifiability of Explanations from Model Behavior in Deep Networks of Image Authenticity Judgments

Icaro Re Depaolini and Uri Hasson

Deep neural networks can predict human judgments, but this does not imply that they rely on human-like information or reveal the cues underlying those judgments. Prior work has addressed this issue using attribution heatmaps, but their explanatory value in itself depends on robustness. Here we tested the robustness of such explanations by evaluating whether models that predict human authenticity ratings also produce consistent explanations within and across architectures. We fit lightweight regression heads to multiple frozen pretrained vision models and generated attribution maps using Grad-CAM, LIME, and multiscale pixel masking. Several architectures predicted ratings well, reaching about 80% of the noise ceiling. VGG models achieved this by tracking image quality rather than authenticity-specific variance, limiting the relevance of their attributions. Among the remaining models, attribution maps were generally stable across random seeds within an architecture, especially for EfficientNetB3 and Barlow Twins, and consistency was higher for images judged as more authentic. Crucially, agreement in attribution across architectures was weak even when predictive performance was similar. To address this, we combined models in ensembles, which improved prediction of human authenticity judgments and enabled image-level attribution via pixel masking. We conclude that while deep networks can predict human authenticity judgments well, they do not produce identifiable explanations for those judgments. More broadly, our findings suggest that post hoc explanations from successful models of behavior should be treated as weak evidence for cognitive mechanism.
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Computer Vision

Geo-EVS: Geometry-Conditioned Extrapolative View Synthesis for Autonomous Driving

Yatong Lan, Rongkui Tang and Lei He

Extrapolative novel view synthesis can reduce camera-rig dependency in autonomous driving by generating standardized virtual views from heterogeneous sensors. Existing methods degrade outside recorded trajectories because extrapolated poses provide weak geometric support and no dense target-view supervision. The key is to explicitly expose the model to out-of-trajectory condition defects during training. We propose Geo-EVS, a geometry-conditioned framework under sparse supervision. Geo-EVS has two components. Geometry-Aware Reprojection (GAR) uses fine-tuned VGGT to reconstruct colored point clouds and reproject them to observed and virtual target poses, producing geometric condition maps. This design unifies the reprojection path between training and inference. Artifact-Guided Latent Diffusion (AGLD) injects reprojection-derived artifact masks during training so the model learns to recover structure under missing support. For evaluation, we use a LiDAR-Projected Sparse-Reference (LPSR) protocol when dense extrapolated-view ground truth is unavailable. On Waymo, Geo-EVS improves sparse-view synthesis quality and geometric accuracy, especially in high-angle and low-coverage settings. It also improves downstream 3D detection.
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Computer Vision · Cross-listed from physics.optics

TurPy: a physics-based and differentiable optical turbulence simulator for algorithmic development and system optimization

Joseph L. Greene, Alfred Moore, Iris Ochoa et al. (+3 more)

Developing optical systems for free-space applications requires simulation tools that accurately capture turbulence-induced wavefront distortions and support gradient-based optimization. Here we introduce TurPy, a GPU-accelerated, fully differentiable wave optics turbulence simulator to bridge high fidelity simulation with end-to-end optical system design. TurPy incorporates subharmonic phase screen generation, autoregressive temporal evolution, and an automated screen placement routine balancing Fourier aliasing constraints and weak-turbulence approximations into a unified, user-ready framework. Because TurPy's phase screen generation is parameterized through a media-specific power spectral density, the framework extends to atmospheric, oceanic, and biological propagation environments with minimal modification. We validate TurPy against established atmospheric turbulence theory by matching 2nd order Gaussian beam broadening and 4th order plane wave scintillation to closed-form models with 98% accuracy across weak to strong turbulence regimes, requiring only the medium's refractive index structure constant and power spectral density as inputs. To demonstrate TurPy as a gradient-based training platform, we optimize a dual-domain diffractive deep neural network (D2NN) in a two-mask dual-domain architecture to recover a Gaussian beam from a weakly turbulent path and achieving over 58% reduction in scintillation relative to an uncompensated receiver in simulation. TurPy is released as an open-source package to support synthetic data generation, turbulence-informed algorithm development, and the end-to-end design of optical platforms operating in turbulent environments.
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All authors Joseph L. Greene, Alfred Moore, Iris Ochoa, Emily Kwan, Patrick Marano, Christopher R. Valenta

Computer Vision

PhyEdit: Towards Real-World Object Manipulation via Physically-Grounded Image Editing

Ruihang Xu, Dewei Zhou, Xiaolong Shen et al. (+2 more)

Achieving physically accurate object manipulation in image editing is essential for its potential applications in interactive world models. However, existing visual generative models often fail at precise spatial manipulation, resulting in incorrect scaling and positioning of objects. This limitation primarily stems from the lack of explicit mechanisms to incorporate 3D geometry and perspective projection. To achieve accurate manipulation, we develop PhyEdit, an image editing framework that leverages explicit geometric simulation as contextual 3D-aware visual guidance. By combining this plug-and-play 3D prior with joint 2D–3D supervision, our method effectively improves physical accuracy and manipulation consistency. To support this method and evaluate performance, we present a real-world dataset, RealManip-40K, for 3D-aware object manipulation featuring paired images and depth annotations. We also propose ManipEval, a benchmark with multi-dimensional metrics to evaluate 3D spatial control and geometric consistency. Extensive experiments show that our approach outperforms existing methods, including strong closed-source models, in both 3D geometric accuracy and manipulation consistency.
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All authors Ruihang Xu, Dewei Zhou, Xiaolong Shen, Fan Ma, Yi Yang

Computer Vision

VersaVogue: Visual Expert Orchestration and Preference Alignment for Unified Fashion Synthesis

Jian Yu, Fei Shen, Cong Wang et al. (+4 more)

Diffusion models have driven remarkable advancements in fashion image generation, yet prior works usually treat garment generation and virtual dressing as separate problems, limiting their flexibility in real-world fashion workflows. Moreover, fashion image synthesis under multi-source heterogeneous conditions remains challenging, as existing methods typically rely on simple feature concatenation or static layer-wise injection, which often causes attribute entanglement and semantic interference. To address these issues, we propose VersaVogue, a unified framework for multi-condition controllable fashion synthesis that jointly supports garment generation and virtual dressing, corresponding to the design and showcase stages of the fashion lifecycle. Specifically, we introduce a trait-routing attention (TA) module that leverages a mixture-of-experts mechanism to dynamically route condition features to the most compatible experts and generative layers, enabling disentangled injection of visual attributes such as texture, shape, and color. To further improve realism and controllability, we develop an automated multi-perspective preference optimization (MPO) pipeline that constructs preference data without human annotation or task-specific reward models. By combining evaluators of content fidelity, textual alignment, and perceptual quality, MPO identifies reliable preference pairs, which are then used to optimize the model via direct preference optimization (DPO). Extensive experiments on both garment generation and virtual dressing benchmarks demonstrate that VersaVogue consistently outperforms existing methods in visual fidelity, semantic consistency, and fine-grained controllability.
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All authors Jian Yu, Fei Shen, Cong Wang, Yi Xin, Si Shen, Xiaoyu Du, Jinhui Tang

Computer Vision

INSPATIO-WORLD: A Real-Time 4D World Simulator via Spatiotemporal Autoregressive Modeling

InSpatio Team: Donghui Shen, Guofeng Zhang, Haomin Liu et al. (+19 more)

Building world models with spatial consistency and real-time interactivity remains a fundamental challenge in computer vision. Current video generation paradigms often struggle with a lack of spatial persistence and insufficient visual realism, making it difficult to support seamless navigation in complex environments. To address these challenges, we propose INSPATIO-WORLD, a novel real-time framework capable of recovering and generating high-fidelity, dynamic interactive scenes from a single reference video. At the core of our approach is a Spatiotemporal Autoregressive (STAR) architecture, which enables consistent and controllable scene evolution through two tightly coupled components: Implicit Spatiotemporal Cache aggregates reference and historical observations into a latent world representation, ensuring global consistency during long-horizon navigation; Explicit Spatial Constraint Module enforces geometric structure and translates user interactions into precise and physically plausible camera trajectories. Furthermore, we introduce Joint Distribution Matching Distillation (JDMD). By using real-world data distributions as a regularizing guide, JDMD effectively overcomes the fidelity degradation typically caused by over-reliance on synthetic data. Extensive experiments demonstrate that INSPATIO-WORLD significantly outperforms existing state-of-the-art (SOTA) models in spatial consistency and interaction precision, ranking first among real-time interactive methods on the WorldScore-Dynamic benchmark, and establishing a practical pipeline for navigating 4D environments reconstructed from monocular videos.
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All authors InSpatio Team: Donghui Shen, Guofeng Zhang, Haomin Liu, Haoyu Ji, Hujun Bao, Hongjia Zhai, Jialin Liu, Jing Guo, Nan Wang, Siji Pan, Weihong Pan, Weijian Xie, Xianbin Liu, Xiaojun Xiang, Xiaoyu Zhang, Xinyu Chen, Yifu Wang, Yipeng Chen, Zhenzhou Fan, Zhewen Le, Zhichao Ye, Ziqiang Zhao

Computer Vision · Cross-listed from cs.IR

BRIDGE: Multimodal-to-Text Retrieval via Reinforcement-Learned Query Alignment

Mohamed Darwish Mounis, Mohamed Mahmoud, Shaimaa Sedek et al. (+4 more)

Multimodal retrieval systems struggle to resolve image-text queries against text-only corpora: the best vision-language encoder achieves only 27.6 nDCG@10 on MM-BRIGHT, underperforming strong text-only retrievers. We argue the bottleneck is not the retriever but the query – raw multimodal queries entangle visual descriptions, conversational noise, and retrieval intent in ways that systematically degrade embedding similarity. We present BRIDGE, a two-component system that resolves this mismatch without multimodal encoders. FORGE (Focused Retrieval Query Generator) is a query alignment model trained via reinforcement learning, which distills noisy multimodal queries into compact, retrieval-optimized search strings. LENS (Language-Enhanced Neural Search) is a reasoning-enhanced dense retriever fine-tuned on reasoning-intensive retrieval data to handle the intent-rich queries FORGE produces. Evaluated on MM-BRIGHT (2,803 queries, 29 domains), BRIDGE achieves 29.7 nDCG@10, surpassing all multimodal encoder baselines including Nomic-Vision (27.6). When FORGE is applied as a plug-and-play aligner on top of Nomic-Vision, the combined system reaches 33.3 nDCG@10 – exceeding the best text-only retriever (32.2) – demonstrating that query alignment is the key bottleneck in multimodal-to-text retrieval. https://github.com/mm-bright/multimodal-reasoning-retrieval
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All authors Mohamed Darwish Mounis, Mohamed Mahmoud, Shaimaa Sedek, Mahmoud Abdalla, Mahmoud SalahEldin Kasem, Abdelrahman Abdallah, Hyun-Soo Kang

Computer Vision

TeaLeafVision: An Explainable and Robust Deep Learning Framework for Tea Leaf Disease Classification

Rafi Ahamed, Sidratul Moon Nafsin, Md Abir Rahman et al. (+3 more)

As the worlds second most consumed beverage after water, tea is not just a cultural staple but a global economic force of profound scale and influence. More than a mere drink, it represents a quiet negotiation between nature, culture, and the human desire for a moment of reflection. So, the precise identification and detection of tea leaf disease is crucial. With this goal, we have evaluated several Convolutional Neural Networks (CNN) models, among them three shows noticeable performance including DenseNet201, MobileNetV2, InceptionV3 on the teaLeafBD dataset. teaLeafBD dataset contains seven classes, six disease classes and one healthy class, collected under various field conditions reflecting real world challenges. Among the CNN models, DenseNet201 has achieved the highest test accuracy of 99%. In order to enhance the model reliability and interpretability, we have implemented Gradient weighted Class Activation Mapping (Grad CAM), occlusion sensitivity analysis and adversarial training techniques to increase the noise resistance of the model. Finally, we have developed a prototype in order to leverage the models capabilities on real life agriculture. This paper illustrates the deep learning models capabilities to classify the disease in real life tea leaf disease detection and management.
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All authors Rafi Ahamed, Sidratul Moon Nafsin, Md Abir Rahman, Tasnia Tarannum Roza, Munaia Jannat Easha, Abu Raihan