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新论文 · v1arXiv:2611.02056

Do Embodied VLMs Actually Use Their Scene-Graph Memory?

Shubh Garg, Divyansh Pandey, Vedant Khandelwal, Niyati Rawal, Amit Sheth

原文摘要

Embodied agents that answer questions about their route need a memory of what they saw, and scene graphs are a natural form for it. A vision-language model (VLM) can receive such a graph as text or through a graph encoder, but accuracy alone cannot show whether the graph holds the episode's facts, reaches the model, or is actually relied on. In this diagnostic study, we introduce a graph-swap test for the last of these: each episode is given another episode's graph, and we count how many answers change. On an embodied question-answering benchmark with routes through two to seven rooms, we use it to compare ways of delivering scene-graph memory to a fine-tuned VLM. As text, the memory is used strongly, adding 30 points on route questions. As a graph, it is not, and we trace why: the encoder preserves the information, but standard pooled and late fusion discard it. Giving each node its own input token recovers part of it, a gain of 8.3 points on route questions that the swap test confirms comes from the graph. The test also exposes a shortcut that accuracy hides: when the same facts appear in the text, the model ignores its graph. The test thus offers a cheap check of whether a VLM uses its scene-graph memory, and our analysis points to how that memory should be delivered.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02053

Learning to Look: A Foundation for Visual Understanding

Wenshuai Zhao, Yihao Wang, Benjamin Robson, Juho Kannala, Arno Solin

原文摘要

Vision-language models (VLMs) suffer from visual hallucination, such as saying an object that is not present in an image. We ask a more fundamental question: whether a VLM is even aware of where it is looking before understanding the semantic meaning in the image. We formulate this question as a LOOK task: identifying which parts of its visual input were available to the model. We construct the task in a self-supervised way without manually labeling the available region to the model. Our experiments show that existing VLMs fail to localize the visible region. We further show that fine-tuning VLMs on the proposed LOOK task improves a model's awareness of visual input.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02051

UniGS-SLAM: Monocular Gaussian SLAM with Enhanced Geometry and Open-Vocabulary Semantics

Xingyuan Ding, Sicheng Yu, Kaiyong Zhao, Hao Wang

原文摘要

Monocular semantic SLAM aims to reconstruct scene geometry and build semantic maps from RGB observations. Existing Gaussian-based methods often attach semantic labels or features to evolving Gaussian primitives, making semantic fusion difficult to maintain and increasing reconstruction overhead. Hybrid Gaussian--voxel representations provide more stable semantic support, but often rely on RGB-D input or known poses and do not revise historical semantic evidence after geometry updates. We present UniGS-SLAM, an RGB-only framework that decouples open-vocabulary semantics from Gaussian reconstruction while preserving bidirectional interaction. Foundation priors enhance monocular depth and pose estimation, while semantic observations are fused into an independent sparse voxel map with observation provenance, enabling historical contributions to be revised as reconstruction evolves. The fused semantics further guide Gaussian filtering and local surface refinement. Experiments on Replica, ScanNet, and KITTI-360 show leading tracking, rendering, and geometric reconstruction performance among representative RGB-only methods, together with strong open-set semantic mapping on Replica and ScanNet. We also achieve a 2.37-fold reconstruction speedup over the fastest compared semantic SLAM baseline. Project page: https://3dagentworld.github.io/UniGS-SLAM/.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02037

Scalar Smoothness Is One Point on a Besov Spectrum

Bum Jun Kim, Anastasis Kratsios

原文摘要

Studies of neural network generalization and robustness often summarize smoothness with a single number, such as a Lipschitz constant or a Hessian curvature statistic. However, Lipschitz constants summarize global worst-case sensitivity and Hessian statistics summarize local curvature; neither captures how model responses vary with the size, direction, and location of perturbations encountered in real-world deployment. To measure smoothness under these perturbations, we introduce a finite-difference roughness spectrum that profiles model responses across these conditions. Our roughness spectrum generalizes scalar smoothness measures, bringing Lipschitz sensitivity and directional Hessian curvature into a common framework across perturbation scales. We connect this spectrum to classical Besov theory, which describes how a function's variation changes with scale. Our theoretical analysis also proves that a larger output shift can cause less task damage than a smaller one, and that local curvature alone can miss the blocks most vulnerable to finite perturbations. In image classification, Roughness Source Control (RSC) suppresses margin roughness along noise directions and improves noise robustness in a comparison of 80 checkpoints across four model--dataset combinations. In post-training quantization, we identify blocks that need higher precision by measuring task-loss increases from perturbations matched to the size and direction of each block's quantization error. Our mixed-precision allocation achieves lower perplexity than the Hessian-based HAWQ-V2 baseline under the same GPTQ weights and bit budgets in all 14 settings across seven held-out large language models.

cs.LG · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02034

4D Triangle Splatting Reconstruction of Dynamic Endoscopic Scenes from Monocular Videos

Laura Salort-Benejam, Stamatia Giannarou, Antonio Agudo

原文摘要

Robust 4D reconstruction of deformable endoscopic scenes from monocular videos remains challenging due to non-rigid tissue deformation, illumination changes, occlusions, and unknown camera trajectories. Reliable dynamic reconstruction of endoscopies could significantly enhance visualization, diagnostic accuracy and intraoperative guidance of minimally invasive procedures. We propose SurgicalTS, a self-supervised triangle-splatting framework for dynamic endoscopic scene reconstruction from static monocular cameras. The scene is represented by a canonical set of triangles jointly optimized with a deformation network. We introduce a quaternion-based deformation model, an improved color parametrization, spatio-temporal priors, and a redefined initialization strategy that improves completeness under occlusions. Extensive evaluation on challenging in-vivo endoscopy videos from diverse procedures shows that SurgicalTS successfully models soft-tissue deformations and tool-tissue interactions over time, while consistently outperforming state-of-the-art methods. Our method also reduces training times while maintaining competitive geometric and photometric accuracy results, highlighting the effectiveness of quaternion-based deformation modelling with physical consistency for robust and efficient 4D reconstruction of endoscopic scenes.

cs.CV · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.22850

Accelerating New Product Introduction for Visual Quality Inspection via Few-Shot Diffusion-Based Defect Synthesis

Serkan Hamdi Güğül, Kemal Levi, Burak Acar

原文摘要

Industrial visual inspection systems often suffer from a severe scarcity of labeled defect data, particularly during the early stages of New Product Introduction (NPI). This limitation hinders the deployment of robust supervised detectors precisely when automated quality control is most needed. We present an end-to-end generative framework for high-fidelity, few-shot defect synthesis that enables both in-domain augmentation and cross-domain transfer. Our approach disentangles defect morphology from background appearance by combining masked textual inversion for defect representation learning, noise-blended conditioned generation for surface-aware synthesis, and gradient-aware post-processing for seamless visual integration. We evaluate the framework in two practically relevant settings: few-shot data augmentation, where synthetic samples enrich a small set of real defects, and zero-shot adaptation, where defects learned from a source domain are transferred to a novel target surface without any real target-domain defect examples. Using RF-DETR as the downstream detector, we show that the proposed pipeline substantially narrows the domain gap on a private industrial dataset. In the few-shot setting, synthetic augmentation improves mAP from 78.8% to 83.3%. In the zero-shot setting, synthetic domain adaptation improves mAP from 65.0% to 85.1%. These results demonstrate that high-fidelity defect synthesis can meaningfully accelerate NPI by enabling effective inspection models before sufficient real defect data has been collected.

cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02026

Reconstruction as Spatial Evaluation: Diagnosing Cross-View Spatial Intelligence in Large Vision-Language Models

Junfei Wu, Qiuyue Wang, Xuhong Huang, Qihang Peng, Mingsheng Li, Jian Guan, Qiang Liu, Shu Wu 等 11 位作者

原文摘要

The spatial intelligence of large vision-language models (LVLMs) requires the ability to combine local visual observations into a geometrically consistent representation of the physical world. Many static benchmarks assess isolated spatial judgments, such as relative direction or distance, while interactive embodied evaluations combine perception with exploration, planning, control, and simulator-specific execution. To bridge this gap, we introduce RECONSPATIAL, a benchmark centered on multi-view 3D scene reconstruction across indoor, tabletop, and outdoor environments. Given real multi-view images and target-object queries, LVLMs are required to jointly predict oriented 3D bounding boxes in a shared, camera-anchored metric coordinate frame. Reconstructions are evaluated along two complementary axes: Structure for relative layout and Metric for physical scale and camera-anchored placement. Nine atomic spatial QA tasks, grouped into Geometric Perception and Spatial Relations, probe spatial capabilities involved in joint reconstruction. Offline navigation extends evaluation to path planning. Evaluation of 18 frontier LVLMs reveals a consistent gap between relative scene structure and metric reconstruction; even GPT-6-Astra scores 81.4% on Structure but only 58.7% on Metric. Tracing this gap, diagnostic analyses link atomic spatial capabilities to reconstruction quality and show that relational consistency alone does not ensure metric accuracy. Experiments with 3D map injection further separate scene construction from path planning, revealing how these geometric errors limit navigation success. Finally, spatial fine-tuning yields broad transfer across both spatial and general vision-language benchmarks.

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.23335

The Gate Always Closes: On Injecting Auxiliary Signals into Frozen Vision-Language Models

Moshiur Farazi, Sameera Ramasinghe, Bekir Sait Ciftler, Mahbub Ahmed Turza, Shafin Rahman

原文摘要

Auxiliary signal pathways in VLMs are routinely fitted with learnable gates so the optimiser can decide how much of the signal to admit. We study what the optimiser decides, and whether the model then uses the signal, with hyperbolic visual relational graphs as the experimental vehicle. We find that under cross-entropy fine-tuning the optimiser decides on zero: the gate closes in every design we trained, across five injection designs on LLaVA-1.5-7B, 15 of 15 runs on Qwen2-VL-7B spanning four task families, 3 of 3 seeds on InternVL3-8B, and with LoRA on all linear layers. We attribute this suppression phenomenon to two regimes, a dead-gradient regime formalised through the caption-invariance of image-derived signals and measured directly, and a negative-utility regime in which the auxiliary signal actively hurts the loss. A closed gate does not by itself mean an inert pathway, so we ablate each pathway at inference under one protocol with real region proposals: the norm-aligned designs are behaviourally closed (at most 1.5pp change at the learned gate), whereas the un-normalised gated prefix is open and harmful, costing 6.7pp on relational GQA at its learned gate of +0.005 while helping SugarCrepe. Evaluating every configuration under one inference mode shows that an active injected pathway costs up to 15pp on relational GQA and 7-12pp on out-of-distribution VSR, that the geometric training losses give no measurable in-distribution gain once the pathway is dropped, and that a Euclidean containment control ties the hyperbolic one. Embedding-norm alignment remains necessary for prefix injection that preserves generation. We recommend testing signal use by ablation rather than by reading gate values or attention mass. We open-source the implementation, the checkpoints and the result files behind every table at https://github.com/mrfarazi/the-gate-always-closes.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02008

NAS-PO: Native Attention-Strategy Policy Optimization for Vision-Language Models

Ke An, Shizhe Xiang, Yue Liu, Liang Chen, Pei Fu, Shaojie Zhang, Xiaoxing Hu, Yupei Wang

原文摘要

Reinforcement learning with verifiable rewards (RLVR) has become an effective post-training paradigm for vision-language models (VLMs). Standard RLVR, however, assigns identical outcome-derived credit to all generated tokens regardless of their perceptual relevance. Recent perception-aware methods estimate visual reliance through image perturbation or masking. These indirect proxies require perturbation branches, while corruption sensitivity does not necessarily identify the visual evidence used for reasoning. We instead shape model perception through native attention, an intrinsic model signal. Rather than treating attention as a post-hoc explanation, we formulate it as a reward-anchored, token-aligned routing signal that encourages attention patterns supporting visually grounded reasoning. To this end, we propose NAS-PO, a Native Attention-Strategy Policy Optimization framework. NAS-PO analyzes native attention with a visual mass policy that quantifies visual allocation and a conditional visual policy that captures spatial routing over visual tokens, making the optimization well-posed. Based on this, Native Attention-Strategy Advantage Shaping (NAS-AS) draws on the visual-mass policy to redistribute signed policy-gradient credit for visually engaged rollouts. The Adaptive Attention-Coupled (AAC) loss then aligns the visual-mass policy on all response tokens and the conditional visual policy on visually active ones, consolidating the visual-routing patterns that drive successful trajectories. Experiments demonstrate that NAS-PO substantially surpasses leading RL-tuned VLMs across 7 out-of-domain reasoning and perception benchmarks, with its effectiveness consistently validated across 8B and 32B. Visual-Routing Sensitivity (VRS) analysis further indicates that the optimized attention prioritizes visually load-bearing regions.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01992

Cross-Dataset Generalization of Glaucoma Detection CNNs: Effects of Operating Threshold, Multi-Source Training, and Color Normalization

Al-Amin Rahman, Saifuddin Ahmed, Resalat Ahmed

原文摘要

Deep learning models for glaucoma detection are usually tested on images from the same dataset used for training. That says little about how they will work at a new hospital or with a new camera. We fine-tuned five ImageNet-pretrained CNNs (ResNet50, DenseNet121, MobileNetV2, EfficientNet-B0, InceptionV3) with identical settings on one of three public fundus datasets (ACRIMA, ORIGA, RIM-ONE DL). Each was tested on a held-out part of its own dataset and on the other two datasets in full. We used three random seeds and report mean and SD over seeds. Mean in-domain AUC was 0.913 and cross-source AUC was 0.702, a drop of 0.211 (SD 0.030; 95% CI 0.135 to 0.286). After correction for multiple comparisons we found no evidence that any architecture did better, though three seeds give low power. At thresholds set on the source validation data, specificity fell from 0.870 to 0.506 and sensitivity from 0.831 to 0.726. Resetting the threshold on 10% of the target images raised specificity to 0.670 but lowered sensitivity to 0.609, and balanced accuracy rose only from 0.616 to 0.639. Training on two sources together did not help (held-out AUC 0.695 versus 0.702). LAB reference normalization (cross-source AUC 0.755) and strong color augmentation (0.754) gave similar gains, cutting the drop to about 0.16. Ben Graham normalization (0.733) and CLAHE (0.712) helped less, and gray-world (0.696) did not help. The two best methods raised specificity but lowered sensitivity. On G1020, used only for testing, AUC stayed near 0.5 in every condition, and networks trained within G1020 were also close to chance. Strong in-domain results do not show that a glaucoma model will work on new data. Normalization and color augmentation reduce the drop but do not remove it. Studies should report external validation and check the operating threshold, not only AUC.

eess.IV · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01990

Synthetic Realities: Evaluating Human Ability to Distinguish AIGenerated Videos from Real Footage

Danyal Sarfraz, Raja Mubashar Karim, KwanMyung Kim

原文摘要

Recent advances in generative AI have enabled multiple pathways for high-fidelity video synthesis: text-to-video, image-to-video animation, and video outpainting. Empirical side-by-side evaluations of how untrained viewers perceive and distinguish these outputs from real footage remain scarce. In this study, we systematically compare human detection accuracy across these three AI generation techniques within three thematic contexts: historical footage, film and media content, and natural environments. We constructed a balanced stimulus set comprising equal amounts of real and AI-generated videos (18 each). The AI clips were evenly distributed across the three generation methods using Google's Veo 3, Lightricks LTX Video, and Wan VACE. All videos were produced and standardized within the ComfyUI framework to ensure consistent quality and duration. 87 participants judged every clip in a binary forced-choice task ("real" vs. "AI-generated"). Participants correctly identified videos 60% of the time on average. Image-to-video clips were recognized most accurately (79%), followed by real footage (64%), outpainting (49%), and text-to-video (43%). Accuracy also varied by theme: film and historical scenes yielded higher detection rates than environmental clips, which were frequently mistaken for AI. Logistic regression confirmed significant effects of both technique and theme as well as their interaction (p < 0.001), indicating that detection success depends jointly on how the content was generated and what it depicts. Findings reveal a consistent bias toward assuming synthetic origins and highlight that perceptual realism in AI video is shaped more by context than by model type, underscoring the importance of media-literacy approaches and context-aware evaluation tools for navigating increasingly synthetic visual media.

cs.CV · cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01982

SurgStream: A Workflow-Anchored Proactive Streaming Framework and Benchmark for Real-Time Surgical Video Understanding

Ruipeng Ma, Qing Xu, Jie Liang, Zhen Chen

原文摘要

Surgical video understanding is essential for intraoperative assistance such as workflow monitoring, instrument preparation and procedural documentation. Delivering such assistance in real time requires a model to jointly perceive the ongoing scene, remember past surgical events, and respond before clinically relevant moments pass. Existing approaches provide limited support for jointly retaining procedural evidence and deciding when to respond in streaming surgical video. In this work, we propose SurgStream, a workflow-anchored proactive streaming framework for real-time surgical video understanding. We first introduce Workflow-Anchored Memory (WAM) to record structured instrument-action-target observations and fold them into phase-level summaries, providing compact and queryable surgical memory. Deadline-aware Transition Learning (DTL) is then devised to supervise response states within clinical windows, enabling timely responses before procedural deadlines. We further introduce SurgStream-Bench, comprising 11.7K streaming interactions across various tasks covering real-time perception, backward memory queries, forward proactive QA, proactive alerts and caption memory. Experiments on SurgStream-Bench show gains over state-of-the-art methods, especially in memory and forward proactive QA. The source code will be available.

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v6arXiv:2509.24644

RIFLE: Removal of Image Flicker-Banding via Latent Diffusion Enhancement

Libo Zhu, Zihan Zhou, Xiaoyang Liu, Weihang Zhang, Keyu Shi, Yifan Fu, Yulun Zhang

原文摘要

Capturing screens is now routine in our everyday lives. But the photographs of emissive displays are often influenced by the flicker-banding (FB), which is alternating bright-dark stripes that arise from temporal aliasing between a camera's rolling-shutter readout and the display's brightness modulation. Unlike moire degradation, which has been extensively studied, the FB remains underexplored despite its frequent and severe impact on readability and perceived quality. We formulate FB removal as a dedicated restoration task and introduce Removal of Image Flicker-Banding via Latent Diffusion Enhancement, RIFLE, a diffusion-based framework designed to remove FB while preserving fine details. We propose the flicker-banding prior estimator (FPE) that predicts key banding attributes and injects it into the restoration network. Additionally, Masked Loss (ML) is proposed to concentrate supervision on banded regions without sacrificing global fidelity. To overcome data scarcity, we provide a simulation pipeline that synthesizes FB in the luminance domain with stochastic jitter in banding angle, banding spacing, and banding width. Feathered boundaries and sensor noise are also applied for a more realistic simulation. For evaluation, we collect a paired real-world FB dataset with pixel-aligned banding-free references captured via long exposure. Across quantitative metrics and visual comparisons on our real-world dataset, RIFLE consistently outperforms recent image reconstruction baselines from mild to severe flicker-banding. To the best of our knowledge, it is the first work to research the simulation and removal of FB. Our work establishes a great foundation for subsequent research in both the dataset construction and the removal model design. Our dataset and code will be released soon.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01978

Multimodal BVP and Respiration for Automated Pain Recognition with Hankel-FCN

Valentina Becchetti, Muhammad Umar Khan, Stefanos Gkikas, Alessandro Giuseppi, Raul Fernandez Rojas

原文摘要

Automated pain recognition is a fundamental challenge for the advancement of clinical care and empathetic human-computer interaction, due to the subjective and dynamic nature of pain. In this study, we propose a deep learning framework for objective pain assessment based on multimodal physiological signals from the AI4Pain dataset. The approach focuses on Blood Volume Pulse (BVP) and Respiration (RESP), capturing complementary aspects of autonomic responses to nociceptive stimulation. To explicitly model their temporal dynamics, the signals are transformed into structured trajectory representations using Hankel matrix embeddings, enabling the learning of dynamical patterns beyond conventional time-series representations. These embeddings are processed by modality-specific Fully Convolutional Networks, and their outputs are integrated through a late fusion strategy for three-class classification (No Pain, Low Pain, High Pain). Experimental results demonstrate that the proposed method achieves an accuracy of 67.09% and an F1-score of 66.41%, providing competitive performance compared to existing approaches, while relying on no handcrafted feature engineering. Multimodal fusion significantly outperformed either modality alone, and the Hankel embedding showed a trend towards further improvement. Further validation is required to establish generalisability to broader populations and clinical settings.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01974

MUPA${}^2$S: Multimodal Unified Perception with Asymmetric Attention for Stress Assessment

Stefanos Gkikas, Thomas Kassiotis, Yu Fang, Christian Arzate Cruz, Miao Cheng, Zongyi Jiang, Zacharias Kamarianakis, Houshyar Asadi 等 11 位作者

原文摘要

Stress is a leading contributor to long-term physical and mental health decline. The automatic assessment of stress is a promising approach for continuous monitoring and mitigating human biases. However, the development of automated systems remains challenging due to the heterogeneity of physiological and behavioral signals. This paper presents MUPA${}^2$S, a multimodal framework for automatic stress assessment that combines facial video and ECG signals within a unified perception architecture. Both modalities are mapped into a shared token representation without modality-specific components, and processed through asymmetric attention comprising segment-local cross-attention and global self-attention across segment states. Experiments on a newly collected 58-subject stress dataset, evaluated under a stratified subject-level protocol, show that facial video achieves 69.44% test accuracy, while ECG-only performance remains close to chance under the proposed representation. Unified Video-ECG fusion achieves a test accuracy of 69.58% at approximately half the number of parameters of feature-level fusion, with negligible additional computational cost. Feature-level fusion does not exceed the video-only baseline, while unified input-level integration provides a parameter-efficient mechanism for jointly processing the two modalities.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01970

Knowledge-Guided Floodwater Level Reasoning for Cloud-Edge Collaborative Monitoring

Zhengshu Zhou, Shaoyu Wang, Ziyi Geng, Lu Tao, Qian Long

原文摘要

Frequent urban floodwater poses a serious threat to the safety and efficiency of intelligent transportation systems. Existing vision-based methods for floodwater level detection face two main limitations. First, the lack of explicit reasoning leads to poor detection performance and little interpretability. Second, these methods struggle to generalize to the complex and varied real-world road scenes seen from different viewpoints. To address this, we reformulate the task as an explicit visual reasoning problem and propose HydroReasoner, a floodwater level reasoning framework designed for cloud-edge collaboration. HydroReasoner builds on Qwen2.5-VL and is trained with Group Relative Policy Optimization. To address the scarcity of reasoning process annotations, we build a floodwater domain knowledge graph HydroKG and design a novel KG path reward. Through deterministic graph traversal over HydroKG, this reward supervises the model's reasoning process at a fine granularity, which improves both reasoning and generalization. For edge deployment, we apply 4-bit quantization to the model, cutting GPU memory usage by 57% and inference latency by 43% while out-of-domain accuracy drops by only 0.2 percentage points. We also propose a confidence-based cloud-edge routing mechanism, which improves system safety and eases the computational load on the cloud. In addition, we build HydroLevel, a floodwater benchmark dataset of 3,000 images, for training and evaluating the model. Experimental results show that HydroReasoner achieves detection accuracy 4.0 and 13.6 percentage points higher than conventional vision baselines in the in-domain and out-of-domain evaluations respectively, with performance dropping by only 4.4 percentage points out of domain.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01962

Object-Only Is Not Context-Free: A Counterfactual Diagnostic for Context Removal in Object Retrieval

Boaz Meivar, Shai Avidan

原文摘要

Object-centric retrieval pipelines often mask the background before pooling backbone features, aiming for a descriptor that reflects the object rather than its scene. Whether this truly yields an object-only descriptor, however, is rarely tested. We introduce the Keyhole Aperture Probe (KAP), a counterfactual diagnostic that repurposes the ground-truth masks of existing panoptic segmentation datasets (COCO, ADE20K) for retrieval: it holds the pooled object region fixed and varies only the pixels outside it, summarizing a backbone's context dependence in a single number. We find that the pooled object region has already integrated its surround. Replacing the context, with a neutral fill or even a different real scene, changes the descriptor, and when retrieval fails under a blank fill, the descriptor matches plain-background images rather than its own object. Object-only is not context-free. Across ten modern backbones, object-only descriptors retain only about a quarter to two-thirds of their full-image accuracy, and the effect is not unique to Transformer self-attention: a convolutional backbone shows it too. The dependence is also reducible: a lightweight adapter that encourages the descriptor to stay stable as context is removed lowers it and improves full-image instance retrieval on INSTRE, transferring to ILIAS with accuracy improved or preserved. A matched contrastive-fine-tuning control does not reproduce those gains. We release KAP as a simple, backbone-agnostic evaluation protocol to measure and reduce this dependence before deployment.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01960

Event-Based Optical Flow Constraint via Time-Sliced Plane Fitting

Masaki Koike, Yusuke Kameda, Shunichi Sato, Takayuki Hamamoto

原文摘要

Event-based optical flow estimation using spatiotemporal planar approximation inherently assumes constant velocity and tends to average out temporal velocity variations. In this paper, we propose a flow estimation method that extends this planar approximation along the temporal axis. The resulting event-based optical flow constraint allows existing variational optical flow formulations to model temporal motion variation. Specifically, we partition the space-time volume into sub-intervals and apply a two-step planar approximation to track object edges consistently. Moreover, a spatial compensation mechanism and a temporal regularization term are incorporated to compensate for edge displacements and temporally stabilize the flow estimation, respectively. The experimental results show that modeling temporal motion variation improves flow estimation accuracy over conventional methods.

cs.CV · eess.IV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01958

Answering Without Arriving: An Evidence Audit for Embodied Question Answering

Shubh Garg, Divyansh Pandey, Niyati Rawal, Vedant Khandelwal, Amit Sheth

原文摘要

Embodied question answering asks an agent to navigate, observe, and then answer questions about what it saw, yet answer accuracy alone cannot tell whether any of this happened. A plausible answer can come from the question, the room label, or the answer choices, and a correct answer does not show that the supporting observation was ever made. We present a multi-room benchmark whose 200 test episodes and 800 questions are stratified by route extent, with an evaluation ladder that holds the questions fixed while varying only the evidence supplied to the answerer, from text-only probes through closed-loop agents to replay of the reference trajectory. Questions are generated from symbolic records of rooms, visible objects, and frames, so every answer can be traced to the observations that support it. A closed-loop vision-language agent reaches no target in 200 episodes yet answers 45.5% of questions, within 0.1 points of the same model given no images; replaying the reference trajectory raises the same model to 57.4%, so the evidence exists along the route but is not gathered. A family-level audit then shows that access to evidence is not the same as use of it. Four of eight families are largely answerable from text, one cites frames that cannot establish its own answer, and the oracle conditions reach 59.5% on Rooms-visited by counting the supplied images. Evidence acquisition, answer coverage, and shortcut sensitivity must therefore be established before an accuracy gain can be credited to memory.

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01939

VLSplat: Vision-Language Guided Object-Centric 3D Gaussian Splatting via Scene Graph

Yuntae Jeon, Younho Jeon, Sujin Jin, Sungho Jo, Seunghee Park

原文摘要

Learning semantic representations for 3D Gaussian Splatting has recently emerged as a promising direction for 3D scene understanding. However, existing 2D-to-3D semantic lifting approaches rely primarily on 2D segmentation supervision and lack object-level priors, causing the learned representation to be driven by local mask evidence rather than holistic object structure. In this paper, we present VLSplat, a vision-language guided approach for object-centric semantic lifting in 3D Gaussian Splatting. Our method augments mask-based lifting with object-level semantic priors derived from vision-language models and refines Gaussian representations using an object-group scene graph. The refinement is performed through two language-guided modules: intra-group refinement suppresses semantic noise within object groups, while inter-group acquisition expands object support regions by incorporating structurally relevant candidates from neighboring groups. Extensive experiments on indoor scene datasets demonstrate that VLSplat improves the semantic consistency and structural completeness of object-level categories. Our code and models are available at https://vlsplat.github.io/.

cs.CV · cs.AI

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新论文 · v1arXiv:2611.01937

Spade-SLAM: Sparse Correspondence Anchors for Dense Self-Supervised Visual SLAM

Julian Philipp Schmitt, Weirong Chen, Ganlin Zhang, Felix Wimbauer, Daniel Cremers

原文摘要

We introduce Spade-SLAM, a self-supervised dense visual SLAM framework that substantially narrows the long-standing performance gap to supervised methods in a zero-shot setting. By demonstrating that high-fidelity tracking can be achieved without explicit ground-truth pose and depth labels, our approach offers a highly effective and label-efficient alternative to fully supervised pretraining. Our core contribution is a complementary sparse-to-dense training regime: While a warping-based photometric loss provides a dense training signal, we stabilize the optimization and suppress drift in ambiguous regions using a sparse correspondence loss derived from image feature matches. Extensive experiments demonstrate that Spade-SLAM significantly improves robustness and accuracy compared to existing self-supervised baselines, closely rivaling SLAM systems trained with explicit pose and depth supervision. The code will be made publicly available at https://github.com/JulianPSchmitt/Spade-SLAM.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01934

TriPhysBench: Evaluating Physical Intelligence for Embodied Agents

Zhongxiang Sun, Chenghao Yang, Haojie Ding, Boheng Zhang, Fan Yang, Qingsong Wen, Kun Wang

原文摘要

Embodied agents need physical intelligence to understand their surroundings through physical perception, physical knowledge retrieval, and physical reasoning. These capabilities must work together to interpret events and make quantitative judgments. Existing benchmarks advance physical understanding and general-purpose tool use, yet the coordination of these capabilities in physical scenarios remains insufficiently characterized. Inspired by Popper's Three Worlds, we introduce TriPhysBench, a benchmark of 410 questions from 200 videos that brings physical perception, physical knowledge retrieval, and physical reasoning into a shared evaluation setting. Its measurement-grounded and knowledge-grounded subtasks impose complementary demands on obtaining observations and acquiring external specifications, then applying them to quantitative problems. Among six representative vision-language models, the best achieves an answer accuracy of only 50.38%, revealing limited performance on tasks that require these capabilities to work together. We further introduce TriPhys, a framework that learns a unified policy for physical perception, knowledge retrieval, and quantitative reasoning from complete tool-integrated trajectories. The policy uses intermediate reasoning to guide retrieval and computation, then incorporates tool feedback into subsequent physical inference. On 110 questions from videos excluded from training, TriPhys improves answer and solution scores across three Qwen configurations, with a 17.7% relative gain in answer accuracy for TriPhys-27B over its Qwen3.6-27B backbone. This work provides a benchmark and a learning pathway toward embodied agents that move beyond recognizing events to understanding and reasoning about the physical processes behind them.

cs.AI · cs.CV

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版本更新 · v2arXiv:2610.37297

TRUCO: A Scalable Lock-Free Algorithm for Parallel Contour Extraction

Rafael Munoz-Salinas, Francisco J. Romero-Ramirez, Manuel J. Marin-Jimenez

原文摘要

Extracting closed pixel contours from a binary image, together with the hierarchy that records which contours enclose which, is a basic step in many computer vision pipelines, from fiducial marker detection to the vectorization of segmentation masks. The reference algorithm, by Suzuki and Abe, is inherently sequential: each contour is found by a raster scan that depends on the labels left by all previous contours, and its parent is obtained from the last contour met by the scan. This paper presents TRUCO (Threaded Raster Unrestricted Contour Ownership), a multi-core algorithm that returns exactly the output of Suzuki--Abe (the same contours, in the same order, with the same hierarchy) without locks, read-modify-write operations or a stitching phase. The method rests on two ideas. First, the image is divided into horizontal stripes, one per thread, and two rules, row-local writes and geometric contour ownership, let each thread trace complete contours independently of the others. Second, the tracing of the contours is separated from the computation of the hierarchy, which is recovered afterwards from one reference per contour; the trace therefore stores no contour numbers in the label image, which also makes it more efficient than that of the original algorithm when a single thread is used. We prove that the output is deterministic and identical to that of Suzuki--Abe, and that the algorithm is free of data races. Experiments on synthetic images, high-resolution photographs and segmentation masks, on a desktop and a server CPU, show that TRUCO scales with the number of threads and is several times faster than the fastest sequential methods, with and without the hierarchy. With a single thread, it is already faster than Suzuki--Abe.

cs.CV

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新论文 · v1arXiv:2611.01921

Vision-language classification of Torsades de Pointes risk from pseudo-coloured ECG images: do T-wave morphology and colour context help or hinder?

Dario Labrador Alonso, Alaa Alahmadi

原文摘要

Contextual prompting is widely presented as a cheap route to better performance from vision models, but the evidence comes largely from benchmarks in which an attribute named in a prompt is also present in the image, confounding the two channels. We investigate the significance of context for a semantically complex biomedical signal classification task using a domain-adapted vision-language model, BiomedCLIP. Building on our previous work that renders electrocardiogram (ECG) signals as colour-enhanced images to flag Torsades de Pointes risk using the QT-nomogram and pseudo-colouring technique, we cross four context strategies with four T-wave morphology label sets, evaluated zero-shot and with a class-balanced linear probe, under five-fold stratified cross-validation on 9,789 images. Zero-shot inference is unusable. Once trained, the colour-enhanced images outperform the colourless ones on every metric: balanced accuracy 0.903 versus 0.825, sensitivity 0.914 versus 0.827, specificity 0.892 versus 0.823, ROC-AUC 0.955 versus 0.888 and Matthews correlation coefficient (MCC) 0.437 versus 0.311. Crossing colour-in-image with colour-in-prompt separates the confounded channels: the image contributes +0.126 MCC (+0.078 balanced accuracy, +0.067 ROC-AUC) whether or not the prompt names colour, whereas naming it changes nothing under any metric. Context is two-sided: the best prompt set gains 0.008 MCC where colour is present and 0.016 where it is not, while the worst loses 0.017 and 0.013. For a signal rendered as an image, the leverage lies in how the signal is drawn rather than in how it is described - and where the endpoint is an interval measurement, prompts naming T-wave morphology describe the wrong quantity.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01913

SurgQ-VLM: Question-Conditioned Dual-Stream Compression and Answer-Type-Aware Reinforcement for Surgical Video Question Answering

Dhruv Makwana, Ananya Mantravadi

原文摘要

Reasoning about surgical video -- which phase is underway, which instruments act, and when events occur -- underpins operative documentation, workflow analysis, and skill assessment. Yet surgical visual question answering is still largely built on single frames and closed labels that cannot express a duration, an ordering, or a count, and the video models that lift the frame limit typically compress every clip the same way regardless of the question, discarding the temporal evidence the answer needs. Worse, the answers are structurally heterogeneous, spanning five incompatible structures -- binary, classification, multi-label, counting, and sentence-temporal -- that no single training signal scores uniformly well. We propose SurgQ-VLM, a two-stage model for surgical video question answering. Stage 1 trains a question-conditioned dual-stream (slow/fast) compressor for a LoRA-adapted Qwen2.5-VL-7B: cross-attention conditions both streams on the question, and each clip's visual tokens shrink 49x from the raw ViT patches (11x vs. post-merge backbone tokens). Stage 2 post-trains with GRPO under an answer-type-aware reward that scores each question on the metric matching its answer structure (micro-F1 for label sets, normalised error for counts, a content-timing blend for temporal windows). On a sealed 21,840-question test split over Cholec80 and CholecT50, SurgQ-VLM reaches 0.779 keyword accuracy and a 10x BLEU-4 gain over zero-shot; GRPO adds 2.5 pp K-Acc (2.0 pp attributable to the answer-type-aware reward), concentrated in the structurally hard types, with answer format unchanged (ROUGE-L). Code is available at https://github.com/DhruvMakwana/SurgQ-VLM.

cs.CV

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新论文 · v1arXiv:2611.01907

Online Active Learning Architecture for Safety-Critical Control Systems

Shuiwen Shen, Jinhua Zhang, Yan Wang, Huanqiang Zeng, Yueyun Xu, Song Gao, Haifeng Xiang, Yifu Shen

原文摘要

The transition of information-centric artificial intelligence to safety-critical applications is impeded by the limitations of conventional offline-training paradigms in open-world environments. This paper presents Control AI, an architecture for Online Active Learning (OAL) inspired by the continuous Prediction-Evaluation-Correction process of biological intelligence. The framework combines the hierarchical representation capacity of deep neural networks with the real-time error-feedback adaptation of adaptive control. A prediction model maps sensory input into a latent manifold, an optional latent model represents transitions in that space, and a reconstruction model maps the latent state back to observable signals. Residuals between predictions and measurements provide the internal learning signal. Spatial and temporal cross-reconstruction architectures prevent OAL from collapsing to a trivial identity mapping, while coupled, dual, and localized variants shorten error-transmission paths. Localized predictive coding style OAL is implemented through guidance-backpropagation and target-backpropagation architectures, and hybrid and scaled variants support high-dimensional deployment. The paper focuses on the architectural rationale and the progression from a conceptual feedback loop to practical large-scale configurations.

cs.CV

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新论文 · v1arXiv:2611.01902

Training-Free Motion-Corrected 3D Brain MRI Reconstruction via Event-Guided References

Wei Jiang, Hongli Chen, Tianyi Ding, Feng Liu, Nan Ye, Hongfu Sun

原文摘要

Head motion causes artefacts in 3D brain MRI and can bias structural measurements. Model-based correction alternates between image and motion estimation, but artefacts in the reconstructed reference can reinforce motion errors. Learned priors can reduce these artefacts but require pretraining and may add test-time computation. We propose EventMC (event-guided motion correction), a training-free method for interleaved Cartesian acquisitions. It iteratively detects motion events and estimates motion using reference images reconstructed from stable intervals. It then refines the image and motion from low to high spatial frequencies. In a fair comparison in simulation (same reconstruction), EventMC's motion estimates improve mean PSNR by up to 4.0 dB over those of the learning-based MotionTTT. A single run of EventMC is up to 7.5 times faster than MotionTTT with less than half the GPU memory. On in vivo motion-corrupted scans, EventMC achieves similar mean image quality to MotionTTT without any training. Code is available at https://github.com/bayesbreeze/EventMC.

cs.CV

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新论文 · v1arXiv:2611.01900

Systematic Evaluation of Robustness in Fine-tuned Models

Angela John, Hamayoon Behmanush

原文摘要

Our study systematically evaluates the robustness of fine-tuned pre-trained models across different datasets and attack types, aiming to provide insights for researchers in selecting pre-trained models for image classification tasks while prioritizing robustness against potential attacks. Our work explores the influence of fine-tuning pre-trained models with different datasets and attack types on their robustness and overview of the appropriate pre-trained model for image classification based on factors such as computation resources, memory usage, and accuracy on clean data. We fine-tune the models with weights. Evaluate the models on data before any attack and after different attack cases. The study utilizes publicly available image datasets such as MNIST, CIFAR10, CIFAR100, and SVHN to assess the robustness of pre-trained models. The results indicate that the robustness of fine-tuned models varies across different data distributions and sample sizes, emphasizing the need for tailored selection based on specific task requirements. The findings also highlight the varying performance of ResNet50, DenseNet, and MobileNet in defending against attacks on different datasets. Overall, this research provides valuable insights into the robustness of fine-tuned pre-trained models and their suitability for real-world applications in image classification.

cs.CV · cs.AI

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新论文 · v1arXiv:2611.01888

Prior-Guided Physics-Informed Deep Learning for Fast 4D MRI Reconstruction

Mojtaba Safari, Parag J. Parikh, Shansong Wang, Mingzhe Hu, Philip Connell, Stanley L. Liauw, Ralph R. Weichselbaum, Zhen Tian 等 9 位作者

原文摘要

Background and purpose: We propose PGPI4MR (prior-guided, physics-informed 4D MRI reconstruction), a deep learning method that leverages information from other respiratory phases or a setup scan, the first 30 s of the same scan, to improve 4D MRI reconstruction without extra scan time. Materials and methods: PGPI4MR is an unrolled network that reconstructs 16 respiratory phases from 60, 30, or 15 s of data, and single 3D volumes, each from 0.29-0.49 s of data, using a setup-scan image. The networks were trained once, on other volunteers, and were not retrained for new volunteers. We evaluated PGPI4MR on measured k-space from three datasets: free-breathing MR-linac (1.5T) and abdominal (3T) scans, and thigh scans with cuff compression (1.5T). All methods, including comparative models, received identical samples and were scored similarly. Results: In vivo, PGPI4MR had the lowest held-out error for 4D MRI at every scan time, and its 16 phases were ready a median of 7.5-13 s after the scan on the 2 GPUs tested. Coupling the 16 respiratory phases reduced the error at 60 s by 9.1% compared with reconstructing each phase alone. For sub-second MRI, the error at 0.49 s was 15.5% lower than that of the best comparison method, classical reconstruction toward the same prior, and on the faster GPU, every 0.29 s window was acquired and reconstructed within 0.5 s. Without retraining, PGPI4MR matched the best methods on the 3T abdominal scans but not on the thigh scans; after retraining on thigh data, it reduced the held-out error by 6.6% relative to the best comparison method. Conclusion: Prior information allowed PGPI4MR to reconstruct 4D and sub-second MRI more accurately than compressed sensing and a published 4D network, within seconds and without extra scan time. This could support 4D MRI for treatment planning and 3D motion monitoring during MR-guided radiotherapy.

cs.CV · physics.med-ph

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01860

Advances in Agentic Computer Graphics

Hengyu Liu, Jihyeon Je, Ruiqi Wang, Mingxuan Wu, Haven Feng, Qixing Huang, Georgios Pavlakos, Hao Zhang 等 14 位作者

原文摘要

Computer graphics is built on code. Large language model (LLM) agents can now generate graphics code and iteratively refine it through various feedback. This capability opens the door to a potentially new paradigm of computer graphics, with graphics algorithms increasingly built around agentic systems to automate progressively complex tasks. Over the past years, research on agentic graphics has expanded rapidly across a diverse range of tasks. This rapid growth makes it increasingly difficult for manual literature reviews to keep pace with new developments. At the same time, similar ideas are often described using different terminology across these tasks, further complicating efforts to develop a systematic understanding of the field. In this report, we address these challenges through two contributions. First, we introduce a unified taxonomy for characterizing agentic systems across diverse computer graphics tasks. Second, we develop an agentic literature system that can assist human researchers in analyzing existing and newly published papers at scale. Building on these contributions, we analyze emerging research trends and discuss open challenges in coordinating agents and tools across graphics tasks, designing interfaces and representations for human-agent collaboration, sustaining long-horizon planning and refinement, and reliably evaluating interactive graphics systems.

cs.CV

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