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Computer Science Computer Vision

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Monday 7 September

Computer Vision · Cross-listed from cs.SD

TAD: Token-Adaptive Contrastive Decoding with Confidence-Guided Gating for Hallucination Mitigation in Large Audio-Language Models

Heyu Chang, Nianwen Si, Hao Zhang et al. (+2 more)

Large audio-language models (LALMs) can hallucinate audio objects, answering "yes" to absent sound events, thus undermining reliability in audio question answering. We propose Token-Adaptive Decoding (TAD), a training-free strategy for hallucination mitigation that grounds the initial yes/no decision by contrasting logits under real audio with a matched silent reference. TAD introduces a token-adaptive, confidence-guided gate that is decision-critical at the first decoding step and class-conditional on affirmative tokens, using the audio-silent margin to avoid overcorrection when evidence is weak or already sufficient. Experiments on AudioCaps-Hallucination show that, relative to Audio-Aware Decoding (AAD), a contrastive baseline with fixed contrast strength, TAD improves F1 for Qwen2 by 0.059 to 0.117 across Popular, Adversarial, and Random splits, and for Gemma by 0.025 to 0.064, while on Clotho-AQA it raises F1 from 0.810 to 0.816 on Qwen2 and remains comparable to AAD on Gemma.
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All authors Heyu Chang, Nianwen Si, Hao Zhang, Wenlin Zhang, Dan Qu

Computer Vision · Cross-listed from cs.RO

LightSplat: Real-Time High-Fidelity 3D Gaussian SLAM with Loop Closure

Junze Bao, Ye Gao, Yiming Huang et al. (+5 more)

SLAM systems based on 3D Gaussian Splatting (3DGS) have recently demonstrated promising reconstruction accuracy for dense 3D scene representations. However, current 3DGS systems struggle to meet the strict demands of real-world deployments due to severe limitations in operational performance and map adaptability. To this end, we propose LightSplat, a hybrid-representation RGB-D SLAM framework. It synergizes local sparse features for robust and fast tracking with a dual-thread backend that progressively constructs dense Gaussian submaps. Crucially, we enable online loop closure through feature-accelerated 3DGS registration, refining overall map consistency through pose graph optimization. Ultimately, LightSplat achieves the online reconstruction of high-fidelity Gaussian map. Extensive experiments on multiple datasets and real-world robotic platform demonstrate that our method achieves near state-of-the-art reconstruction quality and the capability to accommodate practical camera motions, maintaining an average framerate of 8 FPS. Overall, LightSplat provides an efficient and robust foundation for deploying high-fidelity 3DGS in real-world environments.
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All authors Junze Bao, Ye Gao, Yiming Huang, Xiaolong Yu, Chen Dong, Qing Gao, Wei Wang, Jinhu Lü

Computer Vision

MV-STRIDE: Enabling MLLMs to Master Multi-View Spatial Reasoning via Hierarchical Capability Modeling

Jin Xu, Xiaojian Huang, Zhuodong Luo et al. (+6 more)

Despite the rapid progress of Multimodal Large Language Models (MLLMs) in 2D vision-language tasks, robust multi-view spatial reasoning remains a fundamental bottleneck due to the lack of structured 3D cognitive pathways in existing datasets. To address this, we introduce MV-STRIDE, a Multi-View hierarchical SpaTial Reasoning dataset with Interdependent and DEcomposed capabilitiEs. Moving beyond flat data structures, MV-STRIDE explicitly models the dependency relationships between foundational perception, scene understanding, and complex contextual reasoning, providing a coherent learning pathway aligned with human spatial cognition. We develop a systematic QA generation pipeline leveraging diverse 3D scene sources that enforces cross-view dependency constraints to prevent single-view solvability, generating multi-level spatial reasoning tasks supported by cognitively grounded chain-of-thought supervision for complex inference. Extensive evaluations demonstrate that our multi-stage training framework based on our hierarchical dataset achieves state-of-the-art performance across multiple spatial reasoning benchmarks, notably the multi-view oriented MMSI-Bench. Our approach enables MLLMs to maintain robust, 3D-consistent spatial reasoning across diverse viewpoints. The code and dataset are available at https://co1dspring.github.io/MV-STRIDE/.
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All authors Jin Xu, Xiaojian Huang, Zhuodong Luo, Zhihong Zhang, Xin Liu, Jiansheng Wei, Xinzhi Wang, Jie Zhao, Xuejin Chen

Computer Vision

Proximity-CLIP: Text-Guided Semantic Proximity Learning for Zero-Shot Anomaly Detection

Manwen Yang, Leqian Ding, Yu Guo et al. (+1 more)

Vision-language models offer a promising approach for zero-shot anomaly detection (ZSAD). However, due to object-centric bias, normal and anomalous text prototypes exhibit a high semantic overlap. While enforcing strict orthogonality between them improves discriminability, mapping highly contiguous visual inputs onto drastically orthogonal prototypes introduces a geometric dilemma, disrupting the pre-trained structural continuity. To address this problem, we propose Proximity-CLIP, a framework that visually calibrates the semantic margin to guide visual adaptation. First, we introduce a visually-calibrated semantic proximity learning mechanism that uses a bounded dynamic regularization to learn an appropriate semantic margin, ensuring discriminative separation while preserving structural alignment. Second, we design an Anomaly Query Module (AQM) driven by these text priors. Using the calibrated anomalous prototype as a semantic query, the AQM actively retrieves localized defect cues from contextual visual patches, mitigating the dilution of subtle anomalies during global pooling. Extensive experiments demonstrate that Proximity-CLIP outperforms current state-of-the-art methods across multiple ZSAD benchmarks with minimal architectural modifications.
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All authors Manwen Yang, Leqian Ding, Yu Guo, Fei Wang

Computer Vision

The Price of Consistency: Exploiting Visual Anchors for Multimodal Jailbreaking in Video Generation

Peng Li, Qianqian Xu, Yangbangyan Jiang et al. (+2 more)

The rapid evolution of video generation has shifted the paradigm from pure text-driven to multi-conditional controllable generation, with reference images now widely adopted as conditional inputs to achieve superior spatiotemporal consistency. While these reference images serve as powerful visual anchors that significantly enhance controllability, their impact on safety remains largely unexplored. In this work, we reveal the visual anchoring effect: by enforcing consistency, the mechanism prevents the generated content from drifting away from the original harmful intent, thereby eliminating the model's natural safety escape route from harmful to benign content. Consequently, visual anchors inherently increase the safety risk—this is the price of consistency. Building on this insight, we propose Decoupling Intent via Visual Anchors (DIVA), a training-free multimodal jailbreak framework for video generation that exploits this vulnerability. DIVA decouples harmful intent into a static visual anchor image and a dynamic motion text prompt, and employs dual-criteria selection to balance attack stealthiness with semantic preservation. Extensive experiments across various leading commercial platforms and mainstream open-source video generation models demonstrate that DIVA achieves a substantially higher Attack Success Rate than existing text-only methods. To facilitate future research, we additionally contribute TI2VSafetyBench, the first safety benchmark for multi-conditional video generation.
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All authors Peng Li, Qianqian Xu, Yangbangyan Jiang, Zhipeng Yu, Qingming Huang

Computer Vision · Cross-listed from cs.AI

Unraveling the Real Working Mechanism and Inherent Flaws of GAE: A Method for Interpreting Transformer Processes from an Economic Perspective

Yongjin Cui and Xiaohui Fan

We observe a phenomenon that current algorithmic research in the field of explainable artificial intelligence primarily pursues better performance on several proxy metrics. On the one hand, these proxy metrics themselves are more or less flawed and cannot properly measure the quality of methods. On the other hand, metric-oriented research approaches often lead to the neglect of the rationality and interpretability of the methods themselves. Explainable artificial intelligence is abbreviated as XAI. The metric-driven research paradigm has resulted in a lack of interpretability of the relevant XAI methods themselves. Accordingly, there is a need for interpretability research on XAI methods, which can be playfully referred to as XXAI. This paper is one of our works on XXAI. This paper takes Generic Attention-model Explainability (GAE), a widely influential model interpretation method , or rather, XAI method that represents an important technical route, as the research object, and explores the real working mechanism and flaws of this method as well as the technical route it represents. Based on the conclusions of this study, it may be necessary to re-examine or verify GAE-related methods and their domain applications. We argue that GAE is an interpretation method that focuses on the attention process. After pointing out the working mechanism and flaws of GAE, we propose Cumulative Asset Holdings (CAH), a more reasonable Transformer interpretation method integrating both process-based and feature-based ideas from an economic zero-sum games perspective. In addition, it is worth noting that our method is applicable to models with special tokens, where existing methods may suffer from limitations. The model simplification research method and the analysis of additive operations adopted in this study may provide inspiration for other research works in XAI.
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Computer Vision

CHILD: Human-in-the-Loop OOD Detection for Safe Clinical Deployment

Jinlun Ye, Kaiyue Lu, Runhe Lai et al. (+3 more)

Out-of-distribution (OOD) detection is critical for safe deployment of medical AI systems. Recently, test-time adaptation (TTA) has emerged as a new paradigm for OOD detection, automatically adjusting detector behavior during deployment. However, such automatic adaptation mechanisms may raise safety concerns in safety-critical clinical environments. While physician oversight can mitigate these risks, it is resource-intensive and must be judiciously allocated. To reconcile safety with efficiency, we propose CHILD, a training-free framework designed to enhance streaming OOD detection via sparse human feedback. Operating under strict budget constraints, CHILD employs an adaptive risk-aware sample selection mechanism to pinpoint only the most decision-uncertain samples for review. Crucially, it maximizes the utility of this sparse feedback through a retrieval-based score calibration module, which refines model predictions using a compact feature cache without any parameter updates. Extensive experiments on four medical benchmarks demonstrate that CHILD turns limited supervision into significant reliability gains: with a sparse feedback budget of only 5%, it reduces the average FPR95 from 72.63% to 60.26% and improves AUROC from 75.53% to 81.85%, consistently outperforming state-of-the-art baselines. Our code is publicly available at https://github.com/figec/CHILD.
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All authors Jinlun Ye, Kaiyue Lu, Runhe Lai, Xinhua Lu, Jia-Xin Zhuang, Ruixuan Wang

Computer Vision

Deep Learning for Biopsy-Free Subtyping of Basal Cell Carcinoma from Dermatoscopic Images

Alexandros Papadopoulos, Chrysa Episkopou, Ioannis Sarafis et al. (+2 more)

Basal Cell Carcinoma (BCC) is the most common type of skin cancer, accounting for nearly 80% of skin cancer di- agnoses. Its optimal clinical management is guided by the distinct histopathologic subtype, with aggressive variants requiring more drastic measures. In current clinical practice, subtyping relies on skin biopsies, a procedure both costly and invasive. In this paper, we conduct a preliminary investigation into using deep learning for BCC subtyping, solely from a single dermatoscopic image of the lesion. Given the limited data at our disposal, we employ pre-trained vision transformers (ViTs), a state-of-the-art family of models highly effective for challenging downstream tasks with limited labeled data. Through repeated stratified k-fold cross-validation, we demonstrate that ViTs can achieve superior performance (AUC 0.784 on a dataset of 1271 dermatoscopic images of various BCC subtypes) over standard CNN-based baselines as well as previously-reported human reader perfor- mance, on the task of differentiating aggressive BCCs from other subtype families. These initial findings highlight the potential of combining deep learning and dermatoscopy to provide a biopsy- free alternative for BCC subtyping, thus aiding in improving treatment planning and patient outcomes.
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All authors Alexandros Papadopoulos, Chrysa Episkopou, Ioannis Sarafis, Aimilios Lallas, Anastasios Delopoulos

Computer Vision

Weakly-supervised Kidney Tumor Classification from CT Scans with Multi-Instance Learning and Anatomical Filtering

Joonas Ariva and Dmytro Fishman

Deep learning models for CT scan analysis are often limited by the scarcity of precise pixel-level annotations, which require significant radiologist effort to produce. Training on scan-level labels alone reduces annotation requirements but introduces challenges: low supervision ratios and large input volumes make models prone to overfitting and shortcut learning. In this work, we investigate two complementary methods to address these challenges: multi-instance learning (MIL) and anatomical filtering. MIL divides CT volumes into 2D slice instances, enabling efficient 2D architectures with ImageNet pretraining rather than computationally demanding 3D models. Anatomical filtering uses Compass, our self-supervised body part regression model, to crop scans to pathology-relevant subregions without requiring segmentation masks. We evaluate two MIL frameworks - Attention-based MIL (ABMIL) and FocusMIL - on kidney tumor classification across one internal dataset (TUH) and two external datasets (KiTS23 and TCGA-KiRC). Our best models achieve F1 = 0.83 on the internal test set using only scan-level labels. We further show that anatomical filtering with the Compass model is critical for the out-of-distribution generalization of embedding-based ABMIL, while instance-based FocusMIL demonstrates greater inherent robustness to distribution shift. While evaluated on kidney tumors, we consider this a proof-of-concept for a broader weakly supervised CT classification pipeline applicable to other organs and pathologies.
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Computer Vision

Unsupervised Domain Adaptation for Symbol Spotting in Historical Encrypted Manuscripts

Giuseppe De Gregorio, Alicia Fornés, Lei Kang et al. (+1 more)

The decipherment of historical encrypted manuscripts poses a fundamental challenge in Digital Humanities: before any transcription can begin, the symbol inventory of the underlying cipher alphabet must first be identified and characterized. We address this challenge through symbol spotting: given a candidate alphabet specified as a set of rendered font glyphs, the task is to determine whether and where its characters appear in an unseen handwritten document, without any labeled examples from the target script. The main difficulty lies in the domain gap between clean, digitally rendered font queries and degraded handwritten manuscript symbols. We propose a three-stage pipeline that bridges this gap without manual annotation, combining a joint SimCLR+DANN encoder for domain-invariant glyph representations with an embedding-space style-adaptation mechanism applied at retrieval time, requiring no re-training. Experiments on fourteen pages from seven encrypted manuscript collections show that our method outperforms zero-shot foundation models, including CLIP and DINOv2, by a large margin ($+0.194$ P@1 over CLIP ViT-L/14), and surpasses task-specific trained baselines by $+0.138$ P@1. We further demonstrate that the Raw-Cover metric, computed in a fully unsupervised setting, provides a meaningful script-family fingerprint that identifies the underlying alphabet of an unknown document. This capability is of direct practical relevance to palaeographers, historians, and other researchers working with undeciphered manuscripts.
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All authors Giuseppe De Gregorio, Alicia Fornés, Lei Kang, Beáta Megyesi

Computer Vision

Mind the Approximation: Fisher-Weighted SVD Compression for ViTs

Moritz Thoma, Maximilian Groezinger, Maximilian Forstenhäusler et al. (+7 more)

Model compression is key to mitigate deployment challenges of ever growing machine learning models. In this area of research, singular value decomposition (SVD)-based compression offers a compelling trade-off between computational efficiency and model accuracy. Fisher-weighted SVD in particular provides principled, loss-aware compression. However, we find that improving the fidelity of Fisher approximation used in the compression is poorly predictive of post-compression accuracy for Vision Transformers (ViTs). Motivated by this observation, we propose FACTS, a structured Fisher Approximation tailored to Compressing ViTs with Fisher-weighted SVD, which enforces token-local aggregation while preserving within-token activation-gradient dependence. Additionally, we introduce a fast Constrained Rank Search (CoRS), that optimizes layer-wise rank allocation while adhering to a fixed floating point operation (FLOP) constraint. Extensive experiments across ViTs and hybrid architectures demonstrate that FACTS consistently improves accuracy-efficiency trade-offs without requiring finetuning. Notably, it outperforms the strongest SVD baseline by up to +5.8 percentage points (p.p.) Top-1 on Swin-B, with further gains driven by our search method. Code is available at https://github.com/MoritzTho/FACTS.
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All authors Moritz Thoma, Maximilian Groezinger, Maximilian Forstenhäusler, Emad Aghajanzadeh, Ryan Pegoud, Manoj Rohit Vemparala, Pierpaolo Mori, Alexander Frickenstein, Daniel Mueller-Gritschneder, Ulf Schlichtmann

Computer Vision

Ambient @ EgoLongQA 2026: Distilling Long-Video perception into a Sub-2B Model

Logesh Kumar Umapathi

We describe our entry to the EgoLongQA track of the Wearable-AI Challenge in ECCV 2026, which placed first in the <=2B parameter division with 0.8279 on the held-out test set. Our system is a single 2B vision-language model that answers multiple-choice questions about ten-minute egocentric videos in one greedy forward pass; It is obtained by distilling the junior perception module of a tool-using agentic pipeline, not the agent itself into a small student, using teacher traces filtered to those that answered correctly. it reaches 89% of the accuracy of the large agentic pipeline using 1.1% of its parameters. This raises a 27.1% base model to 81.4% on our held-out questions. The 2B backbone has 2.2132B parameters and therefore over the divisional limit, to make the entry admissable we prune the multilingual embedding table from 248,320 to 143,469 rows, reaching 1.9985B with provably identical logits on retained rows.
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Computer Vision · Cross-listed from cs.LG

Stable-MM-R1: Anchoring Multimodal Reasoning Dynamics via Entropy-Guided Stratification

Yimeng Ye, Shuang Chen, Wenxuan Huang et al. (+8 more)

While Reinforcement Learning (RL) effectively incentivizes reasoning in Large Language Models, current pipelines are hindered by training instability and rapid entropy collapse. These limitations often stem from "Rollout Silencing" and low-quality gradient signals in standard sampling procedures. In this work, we propose a robust, data-centric framework to stabilize RL training. We first introduce Potential-Aware Query Mining (PAQM), which filters data dynamically to focus on the "Distillation Zone"—samples with high potential for capability elicitation. Furthermore, we present Hybrid Stratified Replay (HSR), a novel mechanism that restructures batches by stratifying rollouts based on Path Entropy, a rollout-level confidence proxy, and outcome reward. Within each optimization step, HSR reuses current-policy "Stability Anchors" and "Hard Negatives" to construct high-contrast optimization groups, then clears its buffers before the next step. This approach mitigates entropy collapse while improving the utilization of learning signals under limited compute. Our method outperforms strong baselines on complex reasoning tasks, offering a principled solution for stable and efficient RL fine-tuning.
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All authors Yimeng Ye, Shuang Chen, Wenxuan Huang, Manyuan Zhang, Kaituo Feng, Zhangquan Chen, Jiayu Chen, Yucheng Zhou, Yicheng Xiao, Zhiyuan Feng, Tianyu Shi

Computer Vision

Flow3D-OPD: Multi-Teacher On-Policy Distillation for 3D Geometry Generation with Flow-Matching Diffusion Transformer

Zhiwei Ning, Zhen Zhou, Puhua Jiang et al. (+7 more)

Recent image-to-3D generation models built on flow-matching diffusion Transformers (DiT) can produce high-fidelity meshes, yet their post-training strategy remains largely unexplored. There exist several critical bottlenecks in reinforcement learning: the inherent difficulty of defining comprehensive rewards for 3D geometric quality, and the gradient interference that arises when jointly optimizing heterogeneous objectives. Inspired by the practicability of on-policy distillation (OPD) in large language models and image generation, we propose Flow3D-OPD, a two-stage post-training framework that introduces multi-teacher distillation into 3D geometry generation. In the first stage, we utilize the semi-policy to enhance the foundational capability of the pretrained model and then design an agentic verifier for 3D geometric quality evaluation. Based on the verifier, we could cultivate domain-specialized teacher models via direct preference optimization (DPO). In the second stage, we consolidate heterogeneous expertise into a unified student model through on-policy distillation with hard task-routing sampling and gradient accumulation, which could mitigate the gradient interference in joint optimization. Without relying on elaborate modifications, our straightforward yet effective design achieves consistent improvements across all geometric quality dimensions and surpasses all teacher models in the average metric. Extensive experiments demonstrate that our approach provides an effective paradigm for reinforcement learning in 3D generation.
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All authors Zhiwei Ning, Zhen Zhou, Puhua Jiang, Xintong Han, Gengming Zhang, Jie Yang, Zhonglong Zheng, Yuanjie Zheng, Wei Liu, Chunchao Guo

Computer Vision

NutriBench-Kitchen: Benchmarking Embodied AI for Nutrition Management

Yulin Wei, Xiangchen Wang, Jianhui Pan et al. (+5 more)

An embodied kitchen assistant must do more than recognize food in isolated frames. It must track ingredient states over time and integrate visual observations with recipe and nutritional knowledge to support constraint-aware decision-making. We formalize this capability as Embodied Nutrition Management: perceiving nutrition-relevant events, maintaining a persistent food state, and using it for knowledge-grounded planning. Existing benchmarks evaluate static food understanding or embodied cooking actions, but do not measure whether an agent can continuously update and use nutrition-relevant states in dynamic kitchens. To fill this gap, we introduce NutriBench-Kitchen, a benchmark containing 1,500 manually verified question–answer pairs from 160 cooking videos. It covers five task families: Ingredient Entry, Memory Management, Recipe Query, Long-Term Planning, and Short-Term Planning, spanning food-state construction, maintenance, knowledge retrieval, and decision-making across different planning horizons. Evaluations of proprietary and open-source large vision-language models reveal a substantial gap from human performance, particularly in quantitative ingredient estimation, long-term state tracking, and reasoning under interacting constraints. We further introduce Nutri-Vgent, a diagnostic long-video agent with separate episodic, food-state, and recipe memories. Its consistent improvements demonstrate the value of explicit state representations and structured memory for nutrition management. Together, NutriBench-Kitchen and Nutri-Vgent provide a testbed for studying persistent state tracking and knowledge-grounded reasoning in dynamic kitchens. Code is available at https://github.com/V1ol1n/NutriBench-Kitchen.
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All authors Yulin Wei, Xiangchen Wang, Jianhui Pan, Jinyu Xiao, Zheng Tan, Ruozai Tian, Guanhua Chen, Feng Zheng

Computer Vision

A Two-Stage Framework for Ego-Centric Key Object Identification via Object State Prediction

Shihong Ling, Yue Wan, Xiaowei Jia et al. (+1 more)

This paper presents a novel framework designed to enhance key object identification in autonomous driving. Existing methods primarily focus on either detecting objects independently or leveraging visual relationships, but they do not explicitly consider the ego vehicle's perspective in determining object importance. To address this gap, we propose a structured approach that integrates a virtual ego-vehicle representation and a modular object state predictor, enabling a more accurate estimation of object behaviors relative to the ego-vehicle. Subsequently, our framework employs spatial-temporal reasoning to refine key object identification, prioritizing objects based on their states and relative spatial information rather than relying solely on visual relationships. Experimental results on real-world driving datasets demonstrate the effectiveness of our approach in accurately detecting critical objects in complex traffic environments.
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All authors Shihong Ling, Yue Wan, Xiaowei Jia, Na Du

Computer Vision

Discovering Natural Transformation Vulnerabilities in Black-Box Vision Models

Dongsu Song, DaeYun GO and Jay Hoon Jung

Natural adversarial examples (NAEs) reveal that vision models can fail under realistic semantic changes beyond norm-bounded perturbations. However, generating NAEs in a black-box setting remains challenging because existing generative attacks often rely on surrogate models, learned attack priors, or costly query-based optimization, whereas the natural transformations that expose model vulnerabilities are unknown a priori. We propose Adversarial Scenario Attack (ASA), a query-based black-box framework that searches over natural-language editing scenarios using a multimodal language model and a modern text-guided generative editor. ASA jointly explores background, weather, and material/color transformations through winner–loser feedback, and uses a greedy explorer to compose only attack-improving scenarios. Across diverse ImageNet classifiers, ASA achieves substantially higher attack success rates than prior query-based generative attacks while requiring fewer victim-model queries and preserving competitive perceptual quality. Moreover, ASA exhibits both image-level and prompt-level transferability: its adversarial images remain effective across victim-model architectures, while its discovered editing scenarios can be reused across same-class images and, in some cases, across architectures. These findings suggest that vision models possess reusable vulnerabilities to natural transformation patterns, which ASA can efficiently identify in a black-box setting.
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Computer Vision

Ambient @ EgoProactive 2026 : Proactive Egocentric Assistance with Visually Grounded Supervision

Logesh Kumar Umapathi

We present our submission to the EgoProactive track of the ECCV 2026 Wearable AI Challenge, which ranked first in the large-model division and second in the <=2B division. The task requires a wearable assistant to decide after each eight-second segment of egocentric video whether to intervene or remain silent. Our approach has two main components. First, we reformulate intervention timing as single-token classification. Rather than generating either $interrupt$<utterance> or $silent$, the model predicts yes or no, and we derive the decision from the renormalised probabilities of these two tokens. This formulation improved macro-F1 by 0.249 and G-mean by 0.30 over free-form generation. Second, because labelled data were limited to the released validation set, we generated additional supervision using a tool-calling video agent that inspects each clip and assigns intervention timestamps. A narration-only alternative was four times larger and ten times cheaper, but transferred worse than supervision from an unrelated real corpus, suggesting that visual grounding is more important than annotation volume for this task.
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Computer Vision

CASCADE: A Spatio-Temporal-Causal Reasoning Representation and Dataset for Driving

Jenny Schmalfuss, Despoina Paschalidou, Simon Gerstenecker et al. (+2 more)

Reasoning is a promising route to the generalization that autonomous driving requires in the long tail, as it can infer how the elements of a scene depend on one another and traverse those dependencies to conclusions beyond what is observed. Yet it is hard to tell whether a model's conclusions follow the scene's dependencies, because no driving representation makes them explicit enough to test against. Text-based reasoning traces lack spatio-temporal grounding, spatio-temporal scene graphs lack causal links, and reasoning annotations at scale are increasingly model-generated and hard to verify. To this end, we introduce CASCADE (Causal Spatio-Temporal Analysis of Driving Environments), which encompasses two components: (1) a structured scene representation for reasoning in driving scenes and (2) a human-annotated dataset built on it. For every actor that interacts with the ego vehicle, the CASCADE representation records frame-by-frame, for as long as the actor is visible, what action is taken, where it occurs, and how it depends on the actions and states of others. The resulting structure makes reasoning predictions machine-verifiable: they can be scored against it element by element, without relying on (M)LLM judges. The CASCADE dataset provides comprehensive human annotations for 2,066 driving clips of the PhysicalAI dataset, with over 34K elements that establish the spatio-temporal and causal context of each scene, including 8.6K time-stamped ego and agent actions, 3.7K causal links and 2.9K potential influences, and 6.1K annotations for agents, objects, traffic lights, and environments. Being entirely human-annotated, CASCADE provides the reference for this comparison: benchmarking the reasoning abilities of Physical AI models, and verifying the quality of automatically generated reasoning labels. The CASCADE dataset is available at https://huggingface.co/datasets/nvidia/cascade.
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All authors Jenny Schmalfuss, Despoina Paschalidou, Simon Gerstenecker, German Ros, Jose M. Alvarez

Computer Vision · Cross-listed from cs.LG

Conditioned Initialization for Attention

Hemanth Saratchandran and Simon Lucey

Transformers are a dominant architecture in modern machine learning, powering applications across vision, language, and beyond. At the core of their success lies the attention layer, where the query, key, and value matrices determine how token dependencies are captured. While considerable work has focused on scaling and optimizing Transformers, comparatively little attention has been paid to how the weights of the queries, keys and values are initialized. Common practice relies on random initialization or alternatives such as mimetic initialization, which imitates weight patterns from converged models, and weight selection, which transfers weights from a teacher model. In this paper, we argue that initialization can introduce an optimization bias that fundamentally shapes training dynamics. We propose conditioned initialization, a principled scheme that initializes attention weights to improve the spectral properties of the attention layer. Theoretically, we show that conditioned initialization can potentially reduce the condition number of the attention Jacobian, leading to more stable optimization. Empirically, it accelerates convergence and improves generalization across diverse applications, highlighting conditioning as a critical yet underexplored area for advancing Transformer performance. Importantly, conditioned initialization is simple to apply and integrates seamlessly into a wide range of Transformer architectures.
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Computer Vision

Single Image to Textured 3D Object Generation in Frequency Domain: From Theory to Pipeline

Qisen Wang, Yifan Zhao and Jia Li

Single-view 3D reconstruction, also known as image-to-3D, is a persistently challenging task due to the extreme lack of information. Recently, diffusion models pre-trained on large-scale datasets served as 2D priors are used to solve the ill-posed task but suffer from color deviation and view inconsistency, which can be curbed by using diffusion models fine-tuned with 3D annotated data served as 3D priors. However, 3D priors lack high-frequency details, which cannot be solved by direct complementation with 2D priors in spatial domain for introducing erroneous low-frequency 2D prior guidance. In this paper, we revisit the characteristics of different diffusion priors from the frequency perspective. Based on our observations, we theoretically present a unified framework of hybrid optimization using multiple diffusion priors in frequency domain. Under this framework, we further propose Morpheus3D, a pipeline of 3D object generation from any single unposed image in the wild. Morpheus3D enhances 3D prior with high-pass image-prompt 2D prior guidance to reconstruct high-quality 3D objects while effectively suppressing view inconsistency, low-frequency color deviation, and high-frequency lacking problems. Both quantitative and qualitative experiments on the public and our collected datasets with complex textures show that our method exhibits significant improvements in generation quality.
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Computer Vision

SupGRPO: Enhancing GRPO with Matching-based Online SFT for Text Spotting

Xudong Xie, Yuzhe Li, Jing Shi et al. (+3 more)

Text spotting requires both accurate text recognition and precise spatial localization. Current specialised spotters excel at predicting tight bounding boxes in natural scenes, but falter on complex or artistic text, whereas multimodal large language models (MLLMs) possess strong recognition capabilities yet remain weak at localisation. To equip the text spotter with general and powerful recognition capabilities and to maximize its localization ability, we explore two MLLM-based fine-tuning methods: Supervised Fine-Tuning (SFT) and reinforcement learning fine-tuning based on Group Relative Policy Optimisation (GRPO). An interesting finding is that SFT is less effective than GRPO at enhancing recognition, while GRPO is less effective than SFT at enhancing detection. To compensate for each other's shortcomings, we introduce a joint training strategy, SupGRPO, which simultaneously optimizes the model using both SFT and GRPO. SupGRPO employs the specially designed reward functions and develops a matching-based online SFT applied solely to coordinate tokens. It both mitigates the reward sparsity problem of GRPO and avoids the instance order dependency problem of SFT. To evaluate particularly challenging cases, we curate ATS, a dataset for artistic text spotting. Experiments demonstrate that SupGRPO improves both text recognition and detection, and attains superior performance. Our code and dataset will be released at https://github.com/Psycho-9/SupGRPO.
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All authors Xudong Xie, Yuzhe Li, Jing Shi, Zhifei Zhang, Curtis Wigington, Zhaowen Wang

Computer Vision

One for All: Generalist Foundation Model for Cross-Sensor Skeleton Representation Learning

Jeonghyeok Do, Yun Chen and Munchurl Kim

For learning generalizable motion representations from large-scale unlabeled data, Self-supervised learning (SSL) has become a widely adopted methodology. However, existing approaches are primarily limited by the inherent heterogeneity of skeleton data—characterized by varying joint counts, indexing protocols, and topological structures across different sensors—which typically necessitates training separate, sensor-specific, or even entirely dataset-specific models. To overcome this, we introduce SOfA (Skeleton One for All), the first generalist foundation model designed to achieve sensor-unified skeleton representation learning across diverse sensors. To accommodate the dimensional gap caused by varying joint counts, we introduce a fixed-size set of learnable Canonical Joint Slots, acting as a universal vessel that seamlessly accommodates arbitrary skeletal topologies. SOfA fills these slots via an attention mechanism that dynamically aggregates skeletal information from sensor-specific inputs. Furthermore, we resolve joint index misalignment between various sensors by introducing a Semantic Joint Embedding derived from a pre-trained text encoder, rather than relying on absolute positional embeddings. To validate our approach, we standardized ten 3D skeleton datasets for unified training. Extensive experiments demonstrate that SOfA can serve as a truly universal encoder, achieving state-of-the-art (SOTA) performance across a wide range of downstream tasks and sensor types, often outperforming dataset-specific specialist models with a single foundation model.
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Computer Vision

Detect Anything in Graphic Design: Element-Level Rewards for Autoregressive Detection

Jiangning Zhu, Bowen Li, Shenyu Qiao et al. (+4 more)

Graphic designs, such as posters, advertisements, and infographics, are an important medium for communicating information and shaping understanding. Unlike natural images, they consist of layered elements with explicit compositional order. However, existing object detection models treat these elements as an unordered set, leaving compositional order unexploited. To address this limitation, we present Detect Anything in Graphic Design (DAD), a model that formulates graphic design detection as compositional deconstruction. It decodes elements in compositional order, using lower-layer elements to better detect higher-layer ones. The key feature of DAD is amodal detection, which predicts the full bounding box of each element, including regions occluded by elements placed above it. Building on this formulation, we propose Element Relative Policy Optimization (EleRPO), which extends GRPO from sequence-level supervision to element-level optimization. EleRPO provides fine-grained training signals that capture how each detected element contributes to overall detection quality, and works synergistically with compositional order to improve detection performance. To support training and evaluation, we build a dataset of 10 million graphic designs. Experiments show that DAD outperforms all baselines and achieves human-level performance in amodal detection, supporting effective image-to-layer decomposition. EleRPO consistently improves over GRPO across nine detection benchmarks.
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All authors Jiangning Zhu, Bowen Li, Shenyu Qiao, Yima Gu, Zhao Zhang, Yuhui Yuan, Shixia Liu

Computer Vision

Continuous Token-Level Spatio-Temporal Context Modeling for Visual Object Tracking

Ding Xia, Meiqin Liu, Jing Zhou et al. (+1 more)

Spatio-temporal context has become increasingly crucial for visual tracking. However, most existing approaches extract spatio-temporal cues via discrete sampling strategies, which inherently deviate from the continuity of spatio-temporal context, thereby deteriorating tracking performance. To address this challenge, we propose TLCTrack, a novel tracking framework that models token-level spatio-temporal context through continuously updated salient tokens, enabling more accurate target representation. Specifically, TLCTrack incorporates three components: Masked Unidirectional Attention (MUA), Spatial Salient Token Collection (SSTC), and Temporal Salient Token Bank (TSTB) modules. By explicitly integrating spatio-temporal context, MUA extracts discriminative targetaware spatial features in the search region. To avoid the negative impact of background on feature learning, SSTC progressively suppresses background interference, thereby enhancing target spatial representation. Finally, TSTB captures high-quality spatio-temporal information through continuous salient token updates. Extensive experiments on five benchmarks demonstrate that our method achieves superior performance over state-of-the-art trackers. Code and models are available at https://github.com/xiading123/TLCTrack.
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All authors Ding Xia, Meiqin Liu, Jing Zhou, Jian Lan

Computer Vision

SpatialBlock: Enhancing Spatial Intelligence in LVLMs via Synthetic Block-Stacking Problem

Soohyun Ryu, Sohee Kim and Eunho Yang

Large Vision-Language Models (LVLMs) have achieved strong performance on diverse visual tasks, yet their ability to reconstruct and reason about the 3D structure of the scene depicted in 2D images – referred to as spatial intelligence – remains limited. Existing approaches attempt to address this gap by using real-scene spatial question answering datasets that require dense geometric annotations. However, constructing such labels is costly, time-consuming, and often noisy due to reliance on external perception modules. In this work, we propose a novel paradigm inspired by human cognitive development: learning foundational spatial skills through structured block-manipulation tasks. We introduce SpatialBlock-15k, a synthetic dataset of 15,000 block-stacking problems covering 3D-to-2D projection, viewpoint transformation, and structural combination. The dataset further incorporates controlled color modulation as visual cues to encourage anchor-based reasoning in visually complex conditions. Experiments demonstrate that LVLMs trained on our dataset through either direct answering or reasoning-based prediction significantly outperform baselines and generalize to real-world spatial tasks, despite the dataset's synthetic and compact nature. Code and data are available at https://github.com/rsoohyun/SpatialBlock.
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Computer Vision

CNsEMD: An Expert-Annotated Multi-Field-Strength MRI Dataset and a Hyperspherical Manifold Network for Multimodal Cranial Nerve Parcellation

Lei Xie, Junxiong Huang, Guoqiang Xie et al. (+9 more)

Cranial nerves (CNs) play essential roles in sensory, motor, and autonomic functions. Accurate CN parcellation from multimodal magnetic resonance imaging (MRI) is crucial for neuroanatomical analysis and neurosurgical planning. However, accurate CN parcellation remains extremely challenging because CNs are very small, exhibit low image contrast, and have slender tubular morphologies and complex anatomical trajectories. Moreover, the lack of publicly available, expert-annotated datasets has impeded the development and fair benchmarking of learning-based CN analysis methods. In this work, we introduce CNsEMD, an expert-annotated multimodal dataset for CN parcellation. It comprises data from 202 subjects acquired on 3T, 5T, and 7T MRI scanners. We further propose the projective hyperspherical manifold network (PHM-Net), which learns cross-modal representations by capturing angular relationships in a shared hyperspherical embedding space. Rather than performing multimodal fusion in Euclidean space, the proposed Hyperspherical cross-modal interaction (HCI) module enables bidirectional feature exchange between T1-weighted (T1w) and direction-encoded color (DEC) representations on a unit hypersphere. The Magnitude-preserving projective hyperspherical orientation representation (PHOR) captures the axial nature of DEC orientations while preserving diffusion magnitude. The hyperspherical prototype segmentation head (HPSH) further extends angular similarity to voxel-wise classification using normalized voxel embeddings and learnable class prototypes. Extensive experimental results on the CNsEMD dataset demonstrate the effectiveness of our PHM-Net against state-of-the-art methods. CNsEMD establishes a reproducible benchmark for multimodal CN imaging, while PHM-Net provides a geometry-consistent solution for CN parcellation across diverse MRI acquisitions.
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All authors Lei Xie, Junxiong Huang, Guoqiang Xie, Jiawei Zhang, Jiahao Huang, Tianling Lyu, Ye Wu, Mingchu Li, Shoujun Yu, Shanshan Wang, Qingrun Zeng, Yuanjing Feng

Computer Vision · Cross-listed from cs.RO

Large Discrete Policy: Advancing Explicit Behavior Modeling with Stochastic Iterative Scoring

Zhenxin Li, Nadine Chang, Xinglong Sun et al. (+8 more)

Behavior policies are often formulated as continuous generative models, whose iterative denoising processes are expressive but difficult to interpret and prone to producing implausible actions. We propose the Large Discrete Policy (LDiP), a fully discrete behavior modeling framework that selects actions from a large vocabulary of physically plausible candidates. Rather than perturbing actions, LDiP improves expressivity through stochastic iterative scoring: it progressively re-scores and prunes candidates with score-space stochasticity, enabling fine-grained ranking and exploration among plausible actions while preserving an explicit decision process. Across end-to-end planning, closed-loop driving, robotic manipulation, and vision-language-action settings, LDiP consistently outperforms strong discrete and continuous baselines in autonomous driving, and exceeds or matches continuous generative policies in robotic manipulation. These results show that discrete policies, when equipped with effective scoring mechanisms, offer an expressive, plausible, and interpretable alternative for behavior modeling. Project website: https://zhenxinli.net/LargeDiscretePolicy/.
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All authors Zhenxin Li, Nadine Chang, Xinglong Sun, Jingde Chen, Wenhao Yao, Zi Wang, Maying Shen, Yu-Gang Jiang, Zuxuan Wu, Shiyi Lan, Jose M. Alvarez

Computer Vision

FreqDoor: A Hidden Trojan in the Frequency Domain for Backdoor Attacks on Vision-Language Models

Yasir Arafat Prodhan, Sadad Hasan and Mohammed Imamul Hassan Bhuiyan

Vision-language models (VLMs) have recently shown excellent progress in open-ended image-to-text generation. However, their multimodal nature makes them persistently vulnerable to backdoor attacks. Existing backdoor triggers for VLMs are either spatial, textual, or bimodal, which may yield localized or recognizable trigger patterns. In this work, we explore a different attack surface and propose \ textsc {FreqDoor}, a training-time backdoor attack that implants triggers in the frequency domain. \ textsc {FreqDoor} mixes amplitude-spectrum components from a trigger-source image selectively while preserving the phase of a clean image to generate a spatially distributed and visually imperceptible trigger without modifying the textual input. We evaluate the attack on BLIP-2, InstructBLIP, and LLaVA for image captioning and visual question answering. On Flickr8k, \ textsc {FreqDoor} achieves attack success rates of $99.6\%$, $99.8\%$, and $98.4\%$ on the three models, respectively, while preserving the semantic quality of the generated captions. On VQAv2, the corresponding attack success rates are $99.6\%$, $92.4\%$, and $79.6\%$.
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Computer Vision

LoGAN: Multilingual Font Localization with Generative Agents

Zhuoning Yuan, Ta-Ying Cheng and Benjamin Klein

Localizing a font into new languages is a highly intricate task requiring precise design adaptation of glyphs, color/texture, and spacing/kerning, from source to target languages. Most existing methods focus on single glyph generation with limited capability in handling multilingual font rendering. In this work, we propose LoGAN, a VLM-based agentic framework for few-shot multilingual font localization, which takes in a small number of individual glyphs from a font or letters from a logo and uses them to generate complete character sets in other languages. LoGAN breaks down this task into multiple components: a glyph-level diffusion model, a style finetuning module, a spacing and kerning transfer algorithm, and a texture expansion model, with a VLM agent coordinator. LoGAN achieves broad language coverage for font localization with various styles, including Chinese/Korean/Japanese (CJK). We evaluate our approach on both font and real-world logo datasets spanning more than 27 languages and compare it against both specialized font generation and state-of-the-art image editing models with strong text rendering capabilities (e.g., FLUX, Nano-Banana). Our approach yields higher glyph fidelity while maintaining better style, texture, and kerning consistency according to both quantitative and qualitative evaluations.
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