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Tuesday 2 June

Computer Vision · Cross-listed from cs.RO

Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulation

Yilong Wang, Cheng Qian and Edward Johns

Deformable object manipulation (DOM) is challenging due to high-dimensional, partially observable states that evolve through long-horizon, topology-changing interactions with multiple valid manipulation modes. We introduce Instant-Fold, an in-context imitation learning framework for DOM. Given a single human demonstration, our policy infers and executes diverse manipulation modes directly from the demonstration, including variations in spatial execution and ordering, without requiring gradient updates. Our approach first learns deformation-aware visual representations via temporal contrastive pretraining, after which a flow-matching transformer policy conditioned on the demonstration predicts actions to execute the intended manipulation mode. Trained entirely in simulation, Instant-Fold generalizes across diverse folding modes and transfers zero-shot to real-world settings without additional data collection or finetuning. Videos are available at https://instant-fold.github.io.
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Computer Vision

UniCanvas: A Diffusion-base Unified Model for Text-in-Image Joint Generation

Zeyuan Yang, Hao-Wei Chen, Xueyang Yu et al. (+5 more)

Recent years have seen remarkable progress in unified vision-language models handling both multimodal understanding and generation within a single architecture. While autoregressive VLMs can reason across modalities, they fail to generate high-quality images. In contrast, diffusion models produce photorealistic visuals yet struggle to generate coherent text, making it challenging to develop a single unified model that can seamlessly handle both visual and text generation. Recent advances suggest that language can be effectively embedded within visual representations, allowing models to reason about textual semantics directly from images. To this end, we propose UniCanvas, a first attempt that unifies diffusion models to generate interleaved multimodal contents through text-in-image generation. Diffusion models naturally capture transformations on a shared pixel canvas, which can be viewed as world models of visual change. Instead of producing discrete text tokens, the model learns to represent language as visual patterns inside images, leveraging its inherent multimodal embedding space. This design allows the model to "draw" text naturally within a single pixel canvas during image synthesis, achieving seamless multimodal generation. Experiments demonstrate that UniCanvas improves performance over previous unified models, positioning text-in-image generation with diffusion models as a promising unified multimodal generation paradigm.
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All authors Zeyuan Yang, Hao-Wei Chen, Xueyang Yu, Yuncong Yang, Haoyu Zhen, Ziqiao Ma, Maohao Shen, Chuang Gan

Computer Vision · Cross-listed from cs.AI

Can Generalist Agents Automate Data Curation?

Feiyang Kang, Hanze Li, Adam Nguyen et al. (+5 more)

Curating training data is among the most consequential yet labor-intensive parts of modern AI development: practitioners iteratively propose, implement, evaluate, and revise data policies against noisy benchmark feedback. We ask whether generalist coding agents can automate this data-curation loop. We introduce *Curation-Bench*, an agent-centric benchmark that fixes the model, training recipe, and evaluation suite while giving agents command-line access to inspect data, implement policies, submit them to a fixed training/evaluation pipeline, and revise. In a vision-language instruction-tuning instantiation, out-of-the-box agents reach strong published data-selection baselines within ten iterations. However, trajectory analysis reveals a persistent *execution-research gap*: agents mainly tune local policy variants rather than explore new policy families, even when given strategy guides and paper references. Scaffolds requiring each iteration to cite, instantiate, and adapt a prior method shift agents toward method-guided exploration. The scaffolded agent autonomously composes – without human design input – a data-selection policy that outperforms strong published baselines at one-tenth their data budget. Overall, current agents can run the curation loop, but reliable data research requires scaffolded method adaptation, not open-ended prompting alone. Code and benchmark are open-sourced.
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All authors Feiyang Kang, Hanze Li, Adam Nguyen, Mahavir Dabas, Jiaqi W. Ma, Frederic Sala, Dawn Song, Ruoxi Jia

Computer Vision

SBP-Net: Learning Thin Structure Reconstruction with Sliding-Box Projections

Ofir Gilad and Andrei Sharf

Reconstructing thin 3D structures is challenging due to their sparsity, scale variation, and complex geometry. Such structures arise in a wide range of domains, including medical imaging of vascular systems and industrial pipe systems. While recent neural methods perform well on dense surfaces, they often fail to recover fine thin geometries. We propose a reconstruction approach based on local depth projections, which provide an efficient and informative 2D representation of thin structures. Specifically, we traverse the 3D model with a sliding box to generate local orthographic depth projections, which are processed by a neural network to reconstruct missing thin structures in 2D. The local reconstructions are subsequently fused back into the 3D model to produce a coherent and detailed shape. Experiments on pulmonary artery reconstruction from CT volumes and industrial pipeline recovery from synthetic and real scans demonstrate improved preservation of fine structural details over existing methods.
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Computer Vision

Prospective Dynamic 3D MRI Reconstruction via Latent-Space Motion Tracking from Single Measurement

Lixuan Chen, Zhongnan Liu, Jesse Hamilton et al. (+3 more)

Prospective reconstruction is crucial in many clinical applications such as MRI-guided radiotherapy, which demands accurate image reconstruction and fast motion estimation from currently acquired measurements. However, prospective reconstruction remains challenging due to ultra-sparse sampling and stringent latency requirements. In this work, we propose PDMR, a Prospective Dynamic 3D MRI Reconstruction framework with latent-space motion tracking. Our core idea is to learn an efficient and generalizable latent manifold of motion fields offline, enabling rapid online adaptation for prospective reconstruction. Specifically, we parameterize the deformation vector fields (DVFs) on a low-dimensional manifold, effectively reducing the search space for fast online adaptation, and employ a tri-plane representation to achieve geometry-aware and memory-efficient encoding of 3D motion. Experiments on both XCAT digital phantoms and in-house abdominal MRI datasets demonstrate that PDMR achieves high-fidelity and temporally consistent reconstruction across multiple prospective scenarios (Immediate and After-2min), outperforming state-of-the-art retrospective and online methods. Our results suggest a promising pathway toward ultra-fast, motion-aware prospective MRI reconstruction in clinical practice.
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All authors Lixuan Chen, Zhongnan Liu, Jesse Hamilton, James M. Balter, Jeong Joon Park, Liyue Shen

Computer Vision · Cross-listed from cs.AI

VAMPS: Visual-Assisted Mathematical Problem Solving Benchmark

Amirhossein Dabiriaghdam, Shayan Vassef, Mohammadreza Bakhtiari et al. (+5 more)

Multimodal large language models are increasingly capable of complex reasoning, yet their performance often degrades when they must externalize a problem through a tool and then reason over the tool's output, specifically when they rely on visual aids. This gap is especially important because real engineering and scientific workflows often rely on visualization tools for analysis, validation, and decision-making. To study this discrepancy, we introduce VAMPS (Visual-Assisted Mathematical Problem Solving), a benchmark for graph-assisted mathematics. VAMPS contains 1,168 multimodal, bilingual multiple-choice question-answer pairs drawn from Iranian University Entrance Exam algebra and calculus problems and expanded with human-reviewed LLM-generated synthetic variants, all selected so that plotting provides a natural solution strategy by revealing intersections, extrema, asymptotes, etc. Designed for both benchmarking and diagnosis, VAMPS goes beyond prior multimodal benchmarks that primarily evaluate reasoning over fixed visual inputs by testing whether a model can benefit from constructing a useful graph and grounding its answer in the resulting visualization. Overall, we found that across a diverse set of models, direct analytical solving surprisingly outperforms tool-enabled visual solving, even on problems where plotting is a natural strategy.
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All authors Amirhossein Dabiriaghdam, Shayan Vassef, Mohammadreza Bakhtiari, Yasamin Medghalchi, Ilker Hacihaliloglu, Mesrob Ohannessian, Lele Wang, Giuseppe Carenini

Computer Vision

Overview of the EReL@MIR 2025 Multimodal Document Retrieval Challenge (Track 1)

Jingbiao Mei

Retrieval over visually-rich documents, pages that interleave text with figures, tables, and charts, is essential for multimodal retrieval-augmented generation, yet most retrievers still discard the visual channel. The Multimodal Document Retrieval Challenge, Track~1 of the MIR Challenge at the first EReL@MIR workshop, co-located with The Web Conference 2025, asks participants to build a single retrieval system that handles two complementary regimes: closed-set document page retrieval within long documents from a text query (MMDocIR), and open-domain retrieval of Wikipedia-style passages from an image or image-plus-text query (M2KR). Systems are ranked by the macro-average of mean Recall@$\{1,3,5\}$ over the two tasks. The challenge drew 455 entrants and 586 submissions across 22 teams. This report describes the challenge design, datasets, and evaluation protocol; reports the final standings; and analyses the three winning teams' systems. All three build on decoder-based Multimodal-LLM embedders from the Qwen2-VL family rather than on CLIP-style encoders, and differ chiefly in whether they reach the top through fine-tuned ensembles, training-free multi-route fusion with a strong vision-language re-ranker, or zero-shot late interaction. The training-free system finished within $0.1$ point of the fine-tuned winner.
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Computer Vision · Cross-listed from cs.MM

DetectZoo: A Unified Toolkit for AI-Generated Content Detection Across Text, Audio, and Image Modalities

Sajad Ebrahimi, Nima Jamali, Bardia Shirsalimian et al. (+8 more)

The growing popularity and capacity of generative models have eroded the distinction between human and machine-generated content, motivating a growing body of work on detection across text, images, and audio. Most available detectors are either commercial software or, if open-source, come with incompatible codebases with bespoke preprocessing, evaluation protocols, and evaluation metrics, which make their adoption, fair comparison, and reproduction quite difficult. To address this critical gap, we introduce DetectZoo, a first-of-its-kind, extensible toolkit designed to provide a unified interface for AI-generated content detection across text, audio, and image modalities. DetectZoo standardizes the complete empirical pipeline, from data ingestion and preprocessing to model assessment, offering researchers a cohesive framework to benchmark state-of-the-art detectors systematically. By integrating diverse public datasets and baseline detection algorithms under a single, unified API, our toolkit facilitates rigorous and reproducible evaluation. DetectZoo provides reference implementations of 61 detectors, native loaders for 22 benchmark datasets, and a standardized evaluation pipeline that reports multiple metrics through a common interface. Each detector is self-contained yet accessible through the same interface, automatically caches pretrained weights, and reproduces the original published results. DetectZoo lowers the barrier to entry for multi-modal AI forensics, enabling researchers to identify performance gaps across domains and accelerating the development of robust, generalizable detection techniques. The open-source repository and comprehensive documentation are publicly available at https://github.com/sadjadeb/DetectZoo, and the package can be installed via pip install detectzoo.
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All authors Sajad Ebrahimi, Nima Jamali, Bardia Shirsalimian, Kelly McConvey, Wentao Zhang, Jalehsadat Mahdavimoghaddam, Maksym Taranukhin, Maura Grossman, Vered Shwartz, Yuntian Deng, Ebrahim Bagheri

Computer Vision

Spatial Artifact Coherence Determines Codec Robustness in Patch-Based rPPG

Achraf Ben Ahmed

Remote photoplethysmography (rPPG) achieves low heart-rate error on uncompressed benchmarks yet is deployed over compressed video channels in telehealth, neonatal ICU, and driver fatigue applications. No prior work identifies the physical quantity determining when spatial decomposition outperforms global-projection methods under codec compression. We propose Spatial Artifact Coherence (SAC), defined as the ratio of off-diagonal to diagonal energy in the 4x4 inter-patch Green-channel covariance matrix (bandpass 0.75-2.5 Hz), and the PatchPCA algorithm family (four codec-aware rPPG algorithms). We evaluate 280 subjects across three public datasets, 11 codec degradation variants (MPEG-4, H.265, H.264, JPEG, chroma subsampling), and 13 algorithms via Wilcoxon tests (BH-FDR, q < 0.05, 904 tests). SAC explains 93.8% of between-variant variance in PCA advantage (r = +0.969), with zero overlap between codec families: non-MPEG-4 variants cluster at SAC 0.10-0.18 with 84-90% PCA win rates, while MPEG-4 variants cluster at SAC 0.48-0.59 with 61% win rate and a 5.8x reduction in mean improvement. Within subjects, 78% confirm the expected pattern (p < 10^-22, dz = 0.73). Within-variant subject-level SAC correlation is r = +0.099, confirming SAC classifies codec families rather than predicting individual outcomes. MPEG-4's effect is structural (macroblock DCT geometry, not noise amplitude), governed by source codec state, not resolution. P-Hybrid is identified as the most deployment-robust algorithm. Two necessary operating conditions for PatchPCA advantage are established: SAC < 0.30 and low-to-moderate motion, directly ruling out raw-to-MPEG-4 transcoding pipelines. SAC provides a physically grounded metric for codec-aware rPPG algorithm selection in clinical remote monitoring systems.
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Computer Vision

GroupToM-Bench: Benchmarking Group Theory of Mind and Nonlinear Social Emergence in MLLMs

Weidong Tang, Jierui Li, Yueling Hou et al. (+7 more)

True general intelligence requires not only a model of the physical world but also a social world model: the capacity to infer how individual mental states interact and crystallize into group-level outcomes. Despite notable progress in individual-level Theory of Mind (ToM) reasoning, existing multimodal large language models fail at this broader task. Collective behavior emerges non-linearly from social tensions, conformity dynamics, and structural constraints, meaning it cannot be recovered by merely summing individual intentions. We present GroupToM-Bench, the first multimodal benchmark for group-level ToM, built around a causal chain spanning micro-level BDI states (belief, desire, intention), meso-level group tension and structural constraints, and macro-level outcome prediction and mechanistic attribution. To probe this full arc, we develop a seven-level cognitive audit framework. Experiments reveal a gap between current models and human baselines, highlighting a failure to process social structures and non-linear collective dynamics.
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All authors Weidong Tang, Jierui Li, Yueling Hou, Zihan Mei, Can Zhang, Xinyan Wan, Zhiyuan Liang, Pengfei Zhou, Yang You, Wangbo Zhao

Computer Vision

End-to-End Text Line Detection and Ordering

Benjamin Kiessling

Practical text-recognition pipelines for historical documents typically decompose layout analysis into line detection followed by a separate reading-order step, with the latter most often handled by a hand-coded geometric heuristic that struggles with marginalia, multiple columns, tables, and source-specific editorial conventions. This article introduces Orli (Ordered Regression of Lines), an end-to-end model that casts both sub-tasks as a single image-to-sequence problem: from a page image, Orli autoregressively generates text-line baselines directly in reading order. Baselines are represented in a chord-frame parameterization that anchors a line's position, orientation, and extent while encoding local geometry through perpendicular offsets; an iterative refinement head and a local visual refiner produce the final curve. Trained on a heterogeneous corpus of 196,691 pages spanning ten writing systems, Orli marginally exceeds the previously reported state of the art for cBAD line detection without dataset-specific training, reaches near perfect coverage and ordering on multiple reading-order benchmarks zero-shot, and adapts to more specialized out-of-domain layouts with limited fine-tuning. The method's source code and model weights are available under an open license at https://github.com/mittagessen/orli.
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Computer Vision

Pinpoint: Grounded Worldwide Image Geolocation via Cross-Source Retrieval and Reranking

Nika Chuzhoy, Brian Hu, Amit A. Arora et al. (+2 more)

Image geolocation aims to estimate where a photograph was taken from its visual content. At worldwide scale, this remains challenging because visual evidence is often ambiguous, diverse, and unevenly distributed. Prior work has typically treated geolocation of ordinary internet photos and street-view imagery as separate tasks, despite their complementary strengths: internet photos better match the appearance distribution of user-captured queries, while street-view imagery provides denser, geographically grounded coverage. We present Pinpoint, a retrieve-and-rerank architecture that combines both sources in a coarse-to-fine pipeline. A contrastive image-GPS embedder is trained on both user-uploaded Flickr photos and street-view imagery, learning a shared image-GPS embedding space that is used to retrieve candidate locations. An attention-based reranker then rescores retrieved candidates by combining candidate-level visual and GPS features with cross-source evidence from nearby locations to ground the prediction. Unlike recent prior work, Pinpoint does not rely on multimodal large-language models, making inference faster and more reproducible. Pinpoint achieves state-of-the-art results across all metrics on standard benchmarks for internet photos (IM2GPS3k and YFCC4k) and street-view imagery (OSV-5M).
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All authors Nika Chuzhoy, Brian Hu, Amit A. Arora, Jae Ro, Sarthak S. Sahu

Computer Vision · Cross-listed from cs.GR

SymTRELLIS: Symmetry-Enforced Voxel Latents for 3D Generation

Guangda Ji, Qimin Chen, Qinchan Li et al. (+3 more)

Single-view 3D generative models have achieved impressive visual quality, yet they are not designed to satisfy structural or functional requirements, and in practice, often fall short. Symmetry is one such requirement: violations, even subtle ones, on symmetry can render a model physically unusable. We present SymTRELLIS, a method that enforces arbitrary finite point group symmetries (rotational, reflectional, and polyhedral) during the flow-based 3D generation of TRELLIS.2, without retraining the underlying VAE or flow model. Our key idea is to approximate the latent-space action of spatial transformations as a learned linear operator on voxel latents, implemented as a lightweight spatial-transform latent mapper trained on generic, non-symmetric 3D data. At generation time, we enforce symmetry by averaging predicted flow velocities across all symmetry-equivalent transformations at each ODE step, a process we call velocity symmetrization. The symmetry specification can be estimated automatically from an initial TRELLIS.2 generation or supplied by the user, enabling deliberate fold manipulation beyond what the input image suggests. On a curated benchmark of 266 strictly symmetric objects spanning 2- to 20-fold rotations and polyhedral symmetry groups, SymTRELLIS substantially reduces all symmetry error metrics compared to TRELLIS.2, Hunyuan3D-2.1, and TripoSG, while maintaining reconstruction accuracy comparable to the base model.
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All authors Guangda Ji, Qimin Chen, Qinchan Li, Mingrui Zhao, Kai Wang, Hao Zhang

Computer Vision

Reflection Separation from a Single Image via Joint Latent Diffusion

Zheng-Hui Huang, Zhixiang Wang, Yu-Lun Liu et al. (+1 more)

Single-image reflection separation is highly challenging under extreme conditions like glare or weak reflections. Existing methods often struggle to recover both layers in glare or weak-reflection scenarios because of insufficient information. This paper presents a diffusion model explicitly fine-tuned for this task, leveraging generative diffusion priors for robust separation. Our method simultaneously generates transmission and reflection layers through a unified diffusion model, incorporating a novel cross-layer self-attention mechanism for better feature disentanglement. We further introduce a disjoint sampling strategy to iteratively reduce interference between the layers during diffusion and a latent optimization step with a learned composition function for improved results in complex real-world scenarios. Extensive experiments demonstrate that our approach surpasses state-of-the-art methods on multiple real-world benchmarks. Project page: https://brian90709.github.io/diff-reflection-separation/
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All authors Zheng-Hui Huang, Zhixiang Wang, Yu-Lun Liu, Yung-Yu Chuang

Computer Vision

When Seeing Is Not Believing – A Benchmark for Search-Grounded Video Misinformation Detection

Tao Yu, Yujia Yang, Shenghua Chai et al. (+17 more)

Video misinformation increasingly operates at the semantic and evidential level: authentic footage may be selectively edited, temporally reordered, spliced across sources, or augmented with AI-generated content to construct false narratives. Such evidence-dependent manipulations cannot be reliably verified from the input video alone, because the missing, reordered, replaced, or recontextualized evidence lies outside the video itself. We introduce EVID-Bench, a benchmark for search-grounded video misinformation detection, where a system must search the open web for related videos and identify what information is false through cross-video comparison. EVID-Bench comprises 222 videos spanning 9 manipulation types across 3 categories: AI generation, single-source editing, and multi-source editing. All samples are verified to be undetectable by frontier models through visual inspection alone. We evaluate nine frontier multimodal models using a retrieval-augmented verification baseline. The best system achieves only 61.43% point-level accuracy and 43.24% video-level accuracy, while AI-generated manipulations remain especially challenging. Error analysis reveals recurring challenges: models fixate on irrelevant anchors, misattribute synthetic content to editorial splicing, and terminate search prematurely before fully explaining the manipulation.
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All authors Tao Yu, Yujia Yang, Shenghua Chai, Jinshuai Zhang, Haopeng Jin, Hao Wang, Minghui Zhang, Zhongtian Luo, Yuchen Long, Xinlong Chen, Jiabing Yang, Zhaolu Kang, Yuxuan Zhou, Zhengyu Man, Xinming Wang, Hongzhu Yi, Zheqi He, Xi Yang, Yan Huang, Liang Wang

Computer Vision

Optimal Transport Flow Matching by Design

Shimon Malnick, Matan Rusanovsky, Ohad Fried et al. (+1 more)

Flow matching models learn to transport samples from a simple prior distribution to a complex data distribution. When prior-data pairs are coupled via optimal transport (OT), the learned trajectories are straight and non-crossing, enabling fast, even single-step, generation. However, computing the OT coupling in high dimensions is intractable, and existing methods attempt to solve the OT problem, at the cost of persistent bias or significant overhead. Rather than solving for the OT coupling, we reformulate the problem. Once the prior is treated as a design choice rather than a fixed input, the OT coupling between prior and data is no longer unique. Many priors admit an OT-optimal identity coupling to the data, leaving us free to choose one that is also tractable to sample. We identify low-frequency projection of natural images as such a choice. The identity coupling between data and its low-frequency representation is empirically OT-optimal, the prior is structured enough to be sampled by a lightweight model at inference, and the remaining flow-matching task reduces to synthesizing high-frequency detail. Interpolating the prior with Gaussian noise further improves generation quality while preserving the OT coupling. The approach requires no modifications to the flow model itself, and integrates naturally with latent-space models, classifier-free guidance, and one-step generation frameworks. Across all benchmarks, our method reduces trajectory curvature by more than $2\times$ compared to existing flow matching methods, yielding better generation quality in the few-step regime.
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All authors Shimon Malnick, Matan Rusanovsky, Ohad Fried, Shai Avidan

Computer Vision

Intra-Modal Neighbors Never Lie: Rectifying Inter-Modal Noisy Correspondence via Graph-Based Intra-Modal Reasoning

Yang Liu, Wentao Feng, Shu-Dong Huang et al. (+2 more)

Large-scale web-harvested datasets have fueled the progress of cross-modal retrieval but inevitably suffer from noisy correspondence, which severely degrades model generalization. Existing methods primarily address this by filtering out noise or seeking a substitute label, yet they predominantly remain bound by a "Discrete Selection" paradigm. We argue that relying on a single discrete proxy induces Single-Point Fragility and Discretization Error. To overcome these limitations, we propose a novel framework, Intra-modal Neighbor-aware Noise Rectification (IN2R), which shifts the paradigm from searching for a substitute to synthesizing a reliable supervision target. Leveraging the intrinsic geometric stability of intra-modal data, IN2R employs a Graph Refiner to perform relational reasoning over neighbors retrieved from a dynamic Cross-Model Memory. Instead of propagating discrete labels, our method synthesizes a continuous, soft prototype that reflects the consensus of the local semantic neighborhood, effectively rectifying inter-modal misalignment. Extensive experiments on Flickr30K, MS-COCO, and CC152K demonstrate that IN2R significantly outperforms state-of-the-art methods. Our code and pre-trained models are publicly available at https://github.com/liuyyy111/IN2R.
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All authors Yang Liu, Wentao Feng, Shu-Dong Huang, Yalan Ye, Jiancheng Lv

Computer Vision

Weakly Supervised Incremental Segmentation via Semantic Anchors and Spatial Arbitration

Zhonggai Wang, Kai Fang and Guangyu Gao

Weakly Incremental Learning for Semantic Segmentation (WILSS) suffers from the continuous introduction of noisy supervision, which progressively corrupts class-level representations, leading to severe feature drift and semantic corruption, thereby causing newly learned classes to overwrite old ones. To address these issues, we propose a drift-resilient WILSS approach, named SASA, designed to stabilize semantic learning via Semantic Anchors and Spatial Arbitration. Specifically, at the representation level, we introduce semantic anchors of learnable tokens as rigid class-level references to preserve long-term semantic identity. Complementary to this, an elastic residual adaptation facilitates controlled, instance-specific refinement, ensuring a stable yet flexible learning trajectory. At the supervision level, we develop a Spatial Label Arbitration mechanism that performs geometry-aware decisions to directly filter unreliable signals and enforce a strict "one object, one class" constraint. By synergistically stabilizing representations and improving supervision reliability, SASA effectively mitigates feature drift under weak supervision. Extensive experiments on standard benchmarks demonstrate that our approach consistently outperforms existing state-of-the-art methods, particularly in challenging multi-step incremental settings. The code is available at https://github.com/ZhonggaiWang/SASA.
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Computer Vision

Dive into the Scene: Breaking the Perceptual Bottleneck in Vision-Language Decision Making via Focus Plan Generation

Boyuan Xiao, Bohong Chen, Yumeng Li et al. (+3 more)

In embodied vision-language decision making tasks such as robotic manipulation and navigation, Vision-Language and Vision-Language-Action Models (VLMs & VLAs) are powerful tools with different benefits: VLMs are better at long-term planning, while VLAs are better at reactive control. However, their performance is limited by the same perceptual bottleneck: visual hallucinations arise due to the models' inability to distinguish task-relevant objects from distractors. In principle, accurate identification and focus on critical objects while filtering out irrelevant ones is the key to break this limitation. A straightforward solution is one-step focus: directly attending to essential objects. However, this approach proves ineffective because effective focus inherently requires deep scene understanding. To this end, we propose SceneDiver, a coarse-to-fine focus plan generation method for VLMs leveraging their long-term planning abilities, that first constructs a holistic scene graph to establish initial comprehension, then progressively decomposes the task into simpler sub-problems through an iterative cycle of recognition, understanding, and analysis. To enable reactive control, we also design a lightweight adapter for distilling the deliberate focus ability into VLAs. Evaluations on standard embodied AI benchmarks confirm that our method substantially reduces visual hallucinations for both VLMs and VLAs, while preserving computational efficiency in tasks requiring fast execution. Our code and data are released at: https://future-item.github.io/SceneDiver.
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All authors Boyuan Xiao, Bohong Chen, Yumeng Li, Ji Feng, Yao-Xiang Ding, Kun Zhou

Computer Vision

SimuScene: Simulation-Ready Compositional 3D Scene Reconstruction from a Single Image

Inhee Lee, Sangwon Baik, Sungjoo Kim et al. (+3 more)

Reconstructing interactive, simulation-ready 3D scenes from a single image is a critical bottleneck for robotic manipulation. While recent single-image lifters recover plausible per-object shapes, composing them yields scenes that collapse under physical simulation due to interpenetrating, hovering, or sinking objects. Existing physics-aware compositional reconstruction methods mainly address this as a post-hoc layout correction, leaving the underlying geometric errors unresolved. To address this, we introduce SimuScene, a compositional 3D reconstruction pipeline that puts physics in the loop of shape and layout estimation. Rather than using physics merely for layout cleanup, we utilize the physics engine as a diagnostic measurement tool during the generative process itself. By diagnostically simulating reconstructed objects under gravity, we convert penetration and support failures into quantitative correction signals that drive amodal shape resampling, with gravity-axis stretching as a lightweight correction for minor errors. This physics-informed feedback loop mitigates accumulated reconstruction errors and produces a stable, simulation-ready compositional 3D scene. Extensive experiments demonstrate state-of-the-art performance on physical stability and geometric alignment benchmarks. We further highlight SimuScene's utility by deploying reconstructed environments in humanoid control and robot-arm manipulation tasks.
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All authors Inhee Lee, Sangwon Baik, Sungjoo Kim, Hyeonwoo Kim, Hyunsoo Cha, Hanbyul Joo

Computer Vision

Exploring Easy Boosts for Lidar Semantic Scene Completion

Tetiana Martyniuk, Jonathan Seele, Alexandre Boulch et al. (+3 more)

This paper investigates "free lunch" strategies to boost the performance of lidar semantic scene completion (SSC) without requiring complex architectural redesigns. We first demonstrate that endowing input point clouds with semantic pseudo-labels from off-the-shelf segmentors significantly improves the performance of existing architectures. By evaluating these models against an oracle, we establish that high-quality semantic priors are a primary driver of mIoU gains. Furthermore, we equip the input lidar scan with visibility information that distinguishes between empty and unknown spaces, which provides a secondary performance boost across the tested architectures. Using these simple enhancements, we observe that older models remain competitive with state-of-the-art systems, and can even outperform them. Our code is available at https://github.com/astra-vision/SSC-Priors.
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All authors Tetiana Martyniuk, Jonathan Seele, Alexandre Boulch, Gilles Puy, Renaud Marlet, Raoul de Charette

Computer Vision · Cross-listed from cs.LG

Neuron Populations Exhibit Divergent Selectivity with Scale

Amil Dravid, Yasaman Bahri, Alexei A. Efros et al. (+1 more)

We investigate whether neuron populations within neural networks evolve predictably with scale, extending scaling laws beyond macroscopic observables such as loss. To probe this question, we study Rosetta Neurons, a previously characterized class of neurons whose activation patterns are similar across independently trained models (Dravid et al., 2023). In separate analyses of language models up to 30B parameters and vision models up to 5B parameters, we observe that the population of Rosetta Neurons follows a sublinear power law in model size, growing in absolute number but occupying a shrinking fraction of the total neuron count. We further observe a Neuron Polarization Effect: Rosetta Neurons become more selective and increasingly monosemantic with scale, separating from a growing non-Rosetta population that remains less selective. An analytical model balancing feature utility against limited neuron capacity explains the sublinear power-law scaling and this polarization effect. Finally, we find that Rosetta Neurons become more domain-specialized with scale and illustrate their selectivity through a targeted data-filtering case study for continued pretraining. Our results point to a scaling law for interpretable, shared neuron-level structure, linking model size to systematic changes in neuron universality, selectivity, and specialization.
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All authors Amil Dravid, Yasaman Bahri, Alexei A. Efros, Yossi Gandelsman

Computer Vision

PixVOD: Pixel-Distributed Direct Visual Odometry and Depth Estimation

Shinjeong Kim, Ignacio Alzugaray, Callum Rhodes et al. (+2 more)

Images composed of 2D pixel arrays are the standard input to computer vision algorithms, yet many underlying computations can be distributed across pixels. Transmitting raw, redundant, and noisy pixel data off the sensor remains inefficient, motivating a shift toward focal-plane sensor-processors that perform a significant part of the computation directly within each pixel. We envision pixels synthesizing higher-level signals locally, reducing downstream load, and providing richer inputs for higher-level vision tasks. We propose a fully parallelizable form of visual odometry and depth estimation across pixels, where sensor-processors exchange information through Gaussian Belief Propagation (GBP) to achieve consensus about camera motion and infer depth from per-pixel photometric observations and a surface normal prior. To maintain geometric stability during optimization, we introduce a keyframe-like anchoring mechanism that regulates the effective baseline between frames, enabling consistent motion and depth updates. Our method is evaluated on realistic datasets, demonstrating the feasibility of GBP-based pixel-level distributed odometry and depth estimation with keyframe anchoring on-sensor. Project Page: https://www.shinjeongkim.com/pixvod/
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All authors Shinjeong Kim, Ignacio Alzugaray, Callum Rhodes, Paul H. J. Kelly, Andrew J. Davison

Computer Vision

NewtPhys: Do Foundation Models Understand Newtonian Physics?

Sebastian Cavada, Soumava Paul, Tuan-Hung Vu et al. (+2 more)

Previous work has evaluated physics reasoning in foundation models using synthetic or semi-synthetic scenes and visual question-answering tasks. However, these benchmarks emphasize high-level events and lack the visual fidelity required to assess true low-level Newtonian understanding. We introduce NewtPhys, a 4D physically annotated dataset built from multiview images of real-world scenes with physics-grounded simulations. The dataset provides dense, fine-grained annotations across timesteps – including 3D forces and amodal per-pixel quantities covering physics, tracking, semantics and geometry – bridging the gap between simplistic synthetic setups and realistic visual complexity. Using NewtPhys, we systematically evaluate 56 VLMs, including 54 open-weight models and 2 closed-source frontier models, and 10 VFMs and reveal limitations in low-level physics reasoning. Beyond benchmarking, our dataset enables future research in physics-grounded vision and the development of next-generation physics-aware evaluations. Code and datasets are available at https://astra-vision.github.io/NewtPhys.
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All authors Sebastian Cavada, Soumava Paul, Tuan-Hung Vu, Andrei Bursuc, Raoul de Charette

Computer Vision · Cross-listed from cs.RO

Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking

Zekun Qi, Xuchuan Chen, Dairu Liu et al. (+10 more)

We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrained by scarce data and an agility-generalization trade-off, Humanoid-GPT is pre-trained on a 2B-frame retargeted corpus that unifies all major mocap datasets with large-scale in-house recordings. Scaling both data and model capacity yields a single generative Transformer that tracks highly dynamic behaviors while achieving unprecedented zero-shot generalization to unseen motions and control tasks. Extensive experiments and scaling analyses show that our model establishes a new performance frontier, demonstrating robust zero-shot generalization to unseen tasks while simultaneously tracking highly dynamic and complex motions.
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All authors Zekun Qi, Xuchuan Chen, Dairu Liu, Chenghuai Lin, Yunrui Lian, Sikai Liang, Zhikai Zhang, Yu Guan, Jilong Wang, Wenyao Zhang, Xinqiang Yu, He Wang, Li Yi

Computer Vision

Formalizing the Binding Problem

Lianghuan Huang, Yihao Li, Saeed Salehi et al. (+3 more)

Representations of the world, arguably, contain information about features (e.g. something is blue, something is a circle) but also information about which features are part of the same object (e.g. the circle is blue), which we call binding information. Any system with the ability to understand scenes with multiple objects must be able to solve the binding problem: it needs to know which features belong together. However, despite work showing that Vision Transformers (ViTs) know which patches belong together, it is not known whether current deep learning models learn to exhibit binding information, i.e., for features. We may believe that there is not much binding information, after all misattributing features to wrong objects is a common failure of ViT-based architectures, especially in scenes with objects sharing features. Here we formalize the binding problem with an information-theoretic approach, and introduce a probing method to measure binding information in model representations. We perform experiments on ViTs, measuring binding from different components of the architecture, such as the image summary token [CLS] or the spatial tokens. We use datasets with different binding challenges, such as feature sharing, occlusion, and natural features, while comparing the performance of several pre-trained ViTs. Overall, our research demonstrates binding as a key ingredient to strong visual recognition and reasoning.
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All authors Lianghuan Huang, Yihao Li, Saeed Salehi, Yingshan Chang, Ansh Soni, Konrad P. Kording

Computer Vision

AAD-1: Asymmetric Adversarial Distillation for One-Step Autoregressive Video Generation

Haobo Li, Yanhong Zeng, Yunhong Lu et al. (+6 more)

We present AAD-1, an Asymmetric Adversarial Distillation framework for One-step autoregressive image-to-video generation. State-of-the-art methods adopt adversarial distillation but suffer from motion collapse and training instability, resulting in static videos. AAD-1 addresses these challenges through two key designs in architecture and training strategy. Our key architectural insight is to break the symmetry between generator and discriminator. While the generator remains causal to preserve autoregressive sampling capability, the discriminator attends bidirectionally over the full spatiotemporal context and produces a single holistic realism score for the entire video sequence. This asymmetric design enables the discriminator to effectively detect global temporal failures and long-range drift that cause motion collapse in autoregressive generation. To stabilize training, we introduce a phased strategy that first uses distribution matching to bootstrap a stable one-step generator, providing a warm-up phase that brings the student distribution closer to the teacher before adversarial distillation begins. Extensive experiments on VBench demonstrate that AAD-1 achieves state-of-the-art performance in one-step autoregressive video generation.
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All authors Haobo Li, Yanhong Zeng, Yunhong Lu, Jiapeng Zhu, Hao Ouyang, Qiuyu Wang, Ka Leong Cheng, Yujun Shen, Zhipeng Zhang

Computer Vision

Video-Mirai: Autoregressive Video Diffusion Models Need Foresight

Yonghao Yu, Lang Huang, Runyi Li et al. (+2 more)

Causal video generators must predict from the past, but they need not learn only from it. In streaming autoregressive video diffusion, each emitted segment becomes a commitment that future segments must preserve. Standard training, however, only asks each causal state to explain the present. This creates what we call a representation-level planning gap: states that fit the current segment may discard identity, layout, and motion information needed for a consistent future. We introduce Video-Mirai, a training-only method that closes this gap without changing causal inference: the generator rolls out causally, a frozen foresight encoder reads the completed rollout non-causally, and a lightweight predictor distills the resulting stopped-gradient targets into causal states. Future frames supervise representations, never generator inputs. At inference, the encoder and predictor are discarded, leaving the original architecture, per-step FLOPs, and KV-cache behavior unchanged. Video-Mirai improves a strong Causal-Forcing baseline on 5-second VBench from 83.8 to 84.6 in terms of Total Score. On 30-second rollouts beyond the training horizon, subject consistency improves from 84.9 to 88.5 and background consistency from 90.2 to 91.9. Ablations identify future-conditioned targets as the key ingredient, and probes show that future frames become more decodable from current features. Causality should constrain inference, not representation supervision. Our study highlights that visual autoregressive models need foresight. Project page: https://y0uroy.github.io/Video-Mirai.
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All authors Yonghao Yu, Lang Huang, Runyi Li, Zerun Wang, Toshihiko Yamasaki

Computer Vision

VLESA: Vision-Language Embodied Safety Agent for Human Activity Monitoring

Hanjiang Hu, Yiyuan Pan, Jiaxing Li et al. (+5 more)

As AI systems increasingly assist humans in physical tasks, ensuring safety becomes paramount – physical actions carry immediate and irreversible consequences that digital errors do not. We introduce the Vision-Language Embodied Safety Agent (VLESA), a framework that monitors human activities from egocentric video and triggers real-time safety interventions when dangerous actions are predicted. VLESA addresses intent-dependent safety where identical actions can be safe or dangerous depending on context. A dataset pairing egocentric frames with goal-conditioned safety annotations is introduced, enabling a goal-conditioned safety Q-filter trained via GRPO that evaluates actions with respect to inferred intent without retraining. On top of that, an intent-action prediction agent is proposed to jointly infer goals and predict future actions from video. On the ASIMOV-2.0 benchmark, VLESA achieves higher intervention accuracy at the exact ground-truth frame compared to baselines, while the GRPO-trained Q-filter improves action safety by over 41 percentage points through goal-conditioned constrained decoding. Code is available at https://github.com/HanjiangHu/VLESA.
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All authors Hanjiang Hu, Yiyuan Pan, Jiaxing Li, Xusheng Luo, Alexander Robey, Na Li, Yebin Wang, Changliu Liu

Computer Vision

Demo2Tutorial: From Human Experience to Multimodal Software Tutorials

Zechen Bai, Zhiheng Chen, Yiqi Lin et al. (+5 more)

Human experience in digital environments offers a vast, underexplored resource of authentic, untrimmed interactions that contain rich procedural knowledge. We introduce Demo2Tutorial, a framework that transforms this experience captured via screen recordings and interaction logs into structured, multimodal software tutorials for teaching both humans and agents. Demo2Tutorial first collects human experience via a dedicated recorder, then parses raw experience using a multimodal Action Parser to reconstruct perception, action, and intent. A Step Planner then abstracts these steps into hierarchical task graphs representing goals and steps. Finally, a Tutorial Composer transforms the parsed experience into structured, reusable image-text instructions. We evaluate the tutorial generation quality on a new benchmark derived from official software documentation. We further demonstrate that this distilled representation benefits (i) human learning, by automatically generating multimodal tutorials, and (ii) agent learning, by improving downstream GUI-agent planning and generalization. Experiments show Demo2Tutorial produces high-quality tutorials that surpass human-authored ones and significantly outperform baseline methods, while enabling both faster human task completion and improved GUI agent planning, demonstrating that structured tutorials distilled from human experience can serve as effective knowledge representations for advancing both human learning and agent capabilities. Code and data will be available at https://github.com/showlab/Demo2Tutorial.
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All authors Zechen Bai, Zhiheng Chen, Yiqi Lin, Kevin Qinghong Lin, Difei Gao, Xiangwu Guo, Xin Wang, Mike Zheng Shou