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新论文 · v1arXiv:2611.17185

面向交互式与可微光照的神经渲染代理

Neural Render Proxies for Interactive and Differentiable Lighting

Sergio Sancho, Alexander Rath, Marco Manzi, Pascal Chang, Amit H. Bermano, Derek Nowrouzezahrai, Markus Gross, Marios Papas

AI 速读 基于摘要

作者提出一种神经渲染代理(NRP),通过将渲染解耦为路径采样与发光计算,实现固定相机与材质下静态场景的可交互、可微重光照。

cs.GR · cs.CV

查看原文摘要

Within the CG animation production pipeline, the challenges artists tackle in Lighting can be immense. Even minor adjustments require re-rendering massive scenes with slow offline renderers; global illumination has to be sampled and complex shaders have to be evaluated, leading to iteration times of minutes to hours per frame. To accelerate this process, we introduce a novel neural render proxy (NRP) that enables differentiable relighting of static scenes with fixed camera and materials at interactive rates. Our main insight is the decoupling of traditional rendering into path sampling and emission computation. From a single, light-agnostic render pass, we collect light transport data in the form of path samples. This enables rapidly sampling lighting conditions on the fly, and training a scene-specific lightweight neural network that learns how light is transported from any scene location to any image pixel. This approach is compatible with non-differentiable production renderers, induces minimal memory requirements during inference, and scales only with resolution and the number of light sources and parameters, but independently of scene and appearance complexity. Our evaluation demonstrates interactive frame rates for relighting (~30-60 Hz) while closely approximating the visual fidelity of ground-truth path tracing. In addition, the differentiable NRP enables fast, gradient-based inverse workflows, allowing artists to efficiently solve for lighting parameters from intuitive image-space edits or generative targets.

新论文 · v1arXiv:2611.16861

Visual Cipher Bench: Benchmarking LLM Agents on Long-Horizon Visual Reasoning

Deyao Hong, Jiayi Jiang, Yuchun Chen, Yixuan Shi, Wenyi Li, Zheng Jiang, Chengxing Xie, Mingyu Su 等 15 位作者

原文摘要

While language-model agents excel at long-horizon coding and terminal tasks, this success relies on two conditions: explicit text specifications and immediate execution feedback. However, neither condition holds in real-world problems where critical information exists only in images, leaving it unclear whether long-horizon capability transfers from text to visual reasoning. In such visual settings, because rules and clues resist text transcription and lack test-case feedback, agents must repeatedly inspect images, simulate spatial transformations, and autonomously cross-check clues. Despite this challenge, existing evaluations fail to capture such capability: visual reasoning benchmarks largely reduce tasks to single-turn, short-chain question answering, whereas agent benchmarks focus on text-based environments or interactive states that permit trial-and-error. To bridge this gap, we introduce Visual Cipher Bench, a collection of 40 original visual puzzles across four categories: spatial manipulation and simulation, logical constraints and planning, rule induction, and knowledge-based decoding. Each puzzle provides only one to three black-and-white line drawings and a minimal submission instruction, requiring agents to discover the underlying solving mechanism entirely from the images. Across 29 reasoning-effort configurations of eight frontier models, even the strongest model, GPT-6 Astra (max), achieves only 26.7% accuracy, while five of the eight models score below 1%. Yet on a ten-task subset, providing a single non-spoiler mechanism hint boosts accuracy from 7.8% to 55.6%. This sharp contrast shows that the primary bottleneck of current agents lies not in executing multi-step plans, but in autonomously discovering rules from visual evidence. Visual Cipher Bench thus provides a rigorous benchmark for measuring long-horizon visual reasoning in agents.

cs.CV

新论文 · v1arXiv:2611.16583

ReFineR: Single image to dense point cloud registration at pixel level with point splatting

Ugo Insalaco, Jean-Emmanuel Deschaud, Pierre Dellenbach

原文摘要

Cameras and LiDARs (Light Detection and Ranging) provide complementary observations of the same scene: cameras capture rich appearance cues while LiDAR sensors provide accurate geometric measurements. In this work, we address the problem of fine image-to-point cloud registration from a single image and a roughly estimated camera pose. On robotic platforms, residual reprojection errors of several pixels are commonly observed even after calibration due to temporal desynchronization, mechanical vibrations, or inaccuracies in point cloud reconstruction. Such errors can lead to decimeter-level geometric discrepancies at moderate distances and significantly affect multiple downstream tasks, such as dense cross-modal supervision, texture mapping, and semantic label transfer. To address this challenge, we introduce ReFineR: an offline framework to finely register individual images to pre-reconstructed point clouds. ReFineR builds upon differentiable point splatting rasterization and a smooth Gradient Orientation Measure (GOM) to iteratively refine the camera pose through analysis-by-synthesis optimization. We evaluated the method on a curated dataset of manually calibrated images collected from heterogeneous data sources. Furthermore, we show that an automatic point cloud rescale factor can be estimated prior to optimization, enabling robust refinement across a wide range of scenarios using a single scale-invariant formulation. The project page can be found at https://refiner-project.github.io/

cs.CV

新论文 · v1arXiv:2611.13955

RB-LDC: Redundancy-Balanced Latent Coding for Noise-Robust Diffusion Latents

Hyunseok Jeong, Jaeho Jeon, Young-Sik Kim

原文摘要

Latent diffusion models decode approximately correct latents, making decoder sensitivity to perturbations relevant to image quality. After whitening, forward diffusion corrupts every direction at the same signal-to-noise ratio (SNR), despite unequal decoder sensitivities. We study an invertible linear layer between the encoder and diffusion process that shifts each direction's log-SNR. Its linear minimum mean-square-error (LMMSE) recovery risk has an exact spectral expression for any whitened latent distribution. Under an energy budget and a floor ensuring invertibility, minimizing decoder-sensitivity-weighted LMMSE risk integrated over the diffusion schedule yields a unique optimal allocation. The layer aligns with the decoder's expected pullback metric and equalizes marginal risk reduction across directions, computed by a deterministic spectral solver. At large budgets, the allocation follows a power law in sensitivity whose exponent is determined by the low-SNR tail of the loss weighting: one half for noise prediction and two thirds for data prediction under the cosine schedule, with a crossover on truncated schedules. We instantiate this principle as RB-LDC using Jacobian-based sensitivity estimates. On ImageNet at 256 x 256 resolution with SD-VAE and VA-VAE, trained RB-LDC improves reconstruction from noisy latents over budget-matched isotropic coding in all four metrics and five coding configurations, averaged over 15 SNRs and three pipeline seeds. It reduces average perturbed FID by 17.1 for VA-VAE block-local coding while preserving clean reconstruction. We also report intermediate SNRs where perturbed FID worsens. With a frozen diffusion model, RB-LDC yields lower FID point estimates in all 12 tested combinations of sampling progress and channel SNR under corruption during sampling.

cs.LG · cs.CV

新论文 · v1arXiv:2611.11833

Answer or Defer? Testing VLMs' Stated Confidence on Brain MRI

Amir Sabbaghziarani, Parsa Ghazvinian, Sepehr Salem, Sergey Plis

原文摘要

Vision-language models (VLMs) could support medical-image interpretation, but their use requires deciding which interpretations to accept and which images to refer to a clinician. We test whether thresholding stated confidence can retain useful coverage while limiting errors among accepted answers, and how this depends on the population. Eight open-weight VLMs, including two reasoning models, assess 3,888 brain MRI slices from post-treatment glioma patients (BraTS 2024) and healthy volunteers (IXI) for tumor or gross abnormality. BraTS labels are mask-derived; IXI slices are treated as negatives. On BraTS, no threshold selects a nonempty set with at most 5% empirical error for any model, even when chosen retrospectively. This also holds for four models evaluated on a large-lesion, distant-negative subset. At a 10% error budget, Gemma-4-12B retains 24.4% of slices and every other model at most 2.5%. To investigate this limited selection ability, we separate confidence differences between predicted answers from differences within each answer. For four models with available outcome-level summaries, pooled mean confidence differs more between answers than between correct and incorrect responses within each answer. A covariance decomposition explains how this pattern can produce opposite confidence-correctness associations across populations. At a 20% error budget, accepting every "tumor" answer covers more slices than any confidence threshold for two models. These findings caution against using unvalidated stated confidence as a standalone deferral signal and support population-specific validation before deployment. Code is available at https://github.com/amir-sbg/VLM-Answer-or-Defer.

cs.CV · cs.AI · cs.LG

版本更新 · v2arXiv:2610.12468

DreamTrue: Action-Faithful Robot World Model with Counterfactual Post-Training

Junyan Li, Ruizhi Li, Yu Liu, Xiangshuo Liu, Mingchao Sun, Hongyu Pan, Mu Xu, Lue Fan 等 9 位作者

原文摘要

We present DreamTrue, a multi-view, cross-embodiment robot world model for action-faithful and physically plausible video prediction. Training such a model on existing robot datasets faces two obstacles: imprecise calibration can impair action following, while limited coverage of unsuccessful interactions can bias predictions toward successful outcomes. To improve action following across embodiments, we render action trajectories into image-space conditions and introduce offline geometric calibration to align these conditions with the target videos. To broaden interaction coverage, we introduce counterfactual post-training, modifying recorded action trajectories and generating future videos under a wider range of actions and contact configurations. To provide feedback on these predictions without paired ground-truth futures, we construct a human-annotated video dataset covering robot, object, and interaction defects and use it to train an embodied video reward model. Its scores guide reinforcement-learning post-training toward more physically plausible interaction outcomes. On AgiBot, DreamTrue attains state-of-the-art action following, while reducing the human-assessed interaction defect rate from from 48.12% to 6.25%. Notably, our model ranks first in the world model track of the AgiBot World Challenge 2026. The project page can be found at https://brave-eai.github.io/DreamTrue.

cs.RO · cs.CV

版本更新 · v3arXiv:2503.00747

LFX: Fusion-Form-Flexible Light Field Modeling for Dense Semantic Segmentation and Salient Object Detection

Fei Teng, Lingxin Huang, Buyin Deng, Kai Luo, Boyuan Zheng, Zheng Fang, Hong Zheng, Kunyu Peng 等 11 位作者

原文摘要

Two distinct light field (LF) observation forms, namely sub-aperture images (S.Aperture images) and focal stack (FS), correspond to two fusion settings: the central image with S.Aperture images (CS) and the central image with FS (CF). Existing LF perception methods are typically form-specific, while a modeling design that can be separately instantiated under either setting remains underexplored. To address this gap, we present LFX, a form-flexible LF perception framework. Here, ``X'' represents the LF observation form, indicating that the one modeling design can be separately instantiated under two fusion settings (CS and CF). Specifically, we propose Field-of-Parallax Angular Subspace Modeling (FoP-ASM), which maps the feature difference between each auxiliary observation and the central image to an observation-specific angular marker. This avoids pairwise modeling among auxiliary observations and form-specific geometric assumptions. Meanwhile, a shared manifold subspace and the associated regularization losses constrain the angular residuals within a common feature space, promoting semantic consistency across auxiliary observations. Extensive evaluations across three LF datasets show that LFX achieves state-of-the-art results across distinct LF forms. Under the S.Aperture images and FS settings, respectively, LFX reduces MAE by 12.12%/20.59% on DUTLF-V2 and by 6.15%/7.69% on HFUT, while achieving the best performance on UrbanLF-real. The source code will be made publicly available at https://github.com/FeiT-FeiTeng/LFX.

cs.CV · cs.RO · eess.IV

新论文 · v1arXiv:2611.11131

CrossLiDAR: Controllable Multi-Sensor LiDAR Sequence Generation

Khanh Nguyen, Thomas Walker, Hichem Telli, Carlos de la Torre-Ortiz, Stefano Fiorini, Salah Eddine Bekhouche, Mohammed-En-Nadhir Zighem, Wassim Swaileh 等 9 位作者

原文摘要

High-fidelity LiDAR simulation remains a bottleneck for scalable development and validation of autonomous systems. Existing generators can synthesize realistic scans, but they are typically constrained to a single sensor configuration, offer limited control over structure and geometry, and drift in long-horizon 4D generation. We present CrossLiDAR, a unified transformer-based framework capable of generating controllable and spatio-temporally consistent multi-sensor LiDAR sequences. Our approach leverages a rectified flow objective with a Multi-Modal Diffusion Transformer (MM-DiT) backbone, within a compact latent space of range images. To support multiple LiDAR sensors, an Inter-sensor Module enables interaction across sensors, while a ControlNet-style branch provides structural conditioning (e.g., BEV priors or 3D bounding boxes). For modeling the temporal consistency, CrossLiDAR generates short $N$-frame sequences and extends them autoregressively to improve long-horizon coherence. Our model significantly outperforms state-of-the-art baselines, achieving an average improvement of 29.56\% in JSD and 15.36\% in MMD evaluated on nuScenes and the Waymo Dataset. CrossLiDAR bridges the gap to modern autonomous-driving simulation by enabling calibration-consistent multi-sensor LiDAR rollouts over long horizons for controllable, scenario-based testing.

cs.CV · cs.AI · cs.RO

版本更新 · v2arXiv:2609.03102

WireSeg-32K: A Physics-Grounded Synthetic Dataset for Wire Instance Segmentation

Zilin Dai, Lehong Wang, Yi Yang, Xiang Fei

原文摘要

Deformable linear objects such as wires and cables are difficult to segment because they are thin, highly deformable, and frequently self-occluded, while large-scale instance-level annotations are expensive to obtain in real scenes. Existing resources either focus on cable tracing or semantic segmentation under constrained settings, or generate visually plausible images without physically grounded wire deformation. We present WireSeg-32k, a synthetic dataset for wire instance segmentation with 32,000 RGB images, instance masks, depth maps, and a complementary real-world test set with annotations. To generate this dataset, we develop DeformX, a co-simulation pipeline that couples Cosserat-rod dynamics with photorealistic Isaac Sim rendering, enabling physically plausible, contact-consistent wire shapes, CAD-based wire assets, and diverse visually grounded scenes. As a simple baseline, LoRA fine-tuning SAM3 on WireSeg-32k alone improves real-world mAP@75 by 10.2% over the off-the-shelf model, showing that physically grounded synthetic data can transfer to real wire perception.

cs.CV

新论文 · v1arXiv:2611.10821

AmodalBox: Automated 3D Bounding Box Annotation under Partial Visibility

In-Jae Lee, Namtae Kim, Robert Exley, Kwonyoung Ryu, Jaesik Park

原文摘要

Recent progress in vision foundation models (VFMs) has made automated open-vocabulary 3D bounding box annotation increasingly feasible by jointly leveraging LiDAR point clouds and images. However, partial observations remain a major challenge in sparse driving scenes, where visible LiDAR points often cover only a small fraction of the object's surface and provide insufficient cues for estimating its full spatial extent. As a result, existing methods often produce mislocalized boxes or leave objects unlabeled. To address this limitation, we propose \textbf{\Ours{}}, an automated annotation framework that leverages image-generated 3D assets as amodal geometric priors for partially observed objects. By establishing correspondences between input images and rendered views of 3D assets, \Ours{} robustly aligns canonical amodal geometry with partially observed world-space LiDAR point clouds. To improve temporal consistency and reduce computational cost, \Ours{} generates a single asset per instance, estimates its metric scale once at a single frame and propagates it across frames for dynamic instances, and aggregates multi-frame observations for static instances. 3D object detectors trained on annotations from \Ours{} improve performance over strong baselines by 14.1 mAP on the nuScenes dataset and by 12.45 AP at IoU 0.5 for the vehicle class on the Waymo Open Dataset (WOD). Our project page is available at: \href{https://oliver0922.github.io/AmodalBox/}{https://oliver0922.github.io/AmodalBox/}

cs.CV

版本更新 · v3arXiv:2605.09586

DeformMaster: An Interactive Physics-Neural World Model for Deformable Objects from Videos

Can Li, Zhoujian Li, Ren Li, Jie Gu, Lei Lei, Jingmin Chen, Lei Sun

原文摘要

World models for deformable objects should recover not only geometry and appearance, but also underlying physical dynamics, interaction grounding, and material behavior. Learning such a model from real videos is challenging because deformable linear, planar, and volumetric objects evolve under high-dimensional deformation, noisy interactions, and complex material response. The model must infer a physical state from visual observations, roll it forward under new interactions, and render the resulting dynamics with high visual fidelity. We therefore present DeformMaster, a video-derived interactive physics-neural world model that turns real interaction videos into an online interactive model of deformable objects within a unified dynamics-and-appearance framework. DeformMaster preserves structured physical rollout while using a neural residual to compensate for unmodeled effects, grounds sparse hand motion as distributed compliant actuators for hand-continuum interaction, represents material response with spatially varying constitutive experts, and drives high-fidelity 4D appearance from the predicted physical evolution. Experiments on real-world deformable-object sequences demonstrate DeformMaster's ability to roll out future dynamics and render dynamic appearance, outperforming state-of-the-art baselines while supporting novel action rollout, material-parameter variation, and dynamic novel-view synthesis. Code and video demos are available at the project page: https://can-lee.github.io/deformmaster-web/

cs.CV · cs.RO

新论文 · v1arXiv:2611.10547

HSGNav: Hypothesis Scene Graphs for Multi-Scale Lifelong Navigation under Object Relocation

Kaiyao Liao, Qingfeng Li, Chen Chen, Qing Sun, Ningbo Gu, Xiaoze Wu, Haochen Zhao, Ying Li 等 9 位作者

原文摘要

In real homes, assistive robots must repeatedly locate targets from large furniture to tiny tabletop items, as people move objects between household surfaces. Uniformly instantiating detections at different scales as 3D objects can be brittle for small on-surface items; without explicit object-state validation, stale entries may persist after scene changes. Our key insight is to separate persistent 3D furniture entities from revisable surface-object hypotheses, retaining their visual evidence without requiring independent object geometry. We formalize this design as the Hypothesis Scene Graph (HSG), which preserves small-object evidence and supports local revision without rebuilding the stable entity topology. Building on HSG, HSGNav uses this separation for multi-scale lifelong navigation: retrieval selects entity or hypothesis evidence according to target scale, exploration acquires additional surface observations, and verification confirms target presence or invalidates contradicted hypothesis records. Because existing lifelong benchmarks such as GOAT-Bench rarely require mid-episode memory invalidation or multi-scale search, we introduce FAROS-Bench (Find And Re-find Objects across Scales) for mid-episode relocation of surface objects and multi-scale find goals. Experiments show that HSGNav performs competitively on GOAT-Bench while substantially outperforming prior methods on FAROS-Bench.

cs.RO · cs.CV

新论文 · v1arXiv:2611.09770

ROSE:面向多模态大语言模型终身知识编辑的风险感知正交子空间导航

ROSE: Risk-Aware Orthogonal Subspace Navigation for Lifelong Knowledge Editing in Multimodal Large Language Models

Lingyun Song, Ziyao Chen, Kang Pan, Xiaolin Han, Yifei Zhang, Xiaoqi Wang, Yudai Pan, Xuequn Shang

AI 速读 基于摘要

提出ROSE框架,通过将参数更新限制在已编辑子空间的正交补中,并引入风险掩码与多粒度知识融合,以缓解多模态大模型终身知识编辑中的局部性侵蚀与灾难性遗忘。

cs.CL · cs.AI · cs.CV

查看原文摘要

Multimodal Large Language Models (MLLMs) require continuous factual updates to stay current, yet lifelong knowledge editing remains a daunting challenge. The primary obstacle is the severe Locality Erosion and Catastrophic Forgetting, where sequential edits inevitably interfere with pre-trained capabilities and prior updates. In this paper, we propose \textbf{ROSE}, a \textbf{R}isk-aware \textbf{O}rthogonal \textbf{S}ubspace navigation framework for lifelong knowledge \textbf{E}diting. ROSE addresses forgetting by aiming to restrict parameter updates to the orthogonal complement of previously edited subspaces. Crucially, it introduces a risk-guided mechanism that utilizes a dynamically computed risk mask to safeguard specific factual parameter subspaces essential for model stability. During inference, ROSE employs a multi-granularity knowledge integration strategy, featuring prototype-anchored semantic gating and perturbation-driven subspace fusion to precisely activate edited knowledge for relevant queries while limiting interference on unrelated inputs. Comprehensive experiments on two prominent multimodal benchmarks show that ROSE is competitive with state-of-the-art approaches across five key metrics, while maintaining outstanding stability over $1,000$ sequential updates. Our code is available at https://github.com/sunlitsong/ROSE.

新论文 · v1arXiv:2611.09664

Dual Architecture Fusion Vehicle Lidar 3D Target Detection

Muyun Li, Weizheng Jin, Yuan Sun

原文摘要

In this paper, a 3D backbone network (SpconvTransformer) based on the fusion of convolutional architecture branch and Transformer architecture branch is proposed. The convolution branch uses 3D sparse convolution and submanifold convolution to learn local voxel features and semantic information, and the Transformer branch uses the self-attention mechanism to model the remote relationship between voxels, uses the broad receptive field to capture rich context information, and complementing the advantages of the two architectures by fusing the local features extracted from the two branches and the global features solves the problem of limited receptive fields of 3D convolutional neural networks. The experimental results show that the average accuracy of SpconvTransformer in 3D object detection and bird's-eye view detection tasks reaches 81.45% and 88.09%, respectively, and the average directional similarity reaches 91.10%, which is significantly better than other existing algorithms.

cs.CV

新论文 · v1arXiv:2611.09017

Frontier3DBench: Benchmarking Coding Agents for 3D Creation across Objects, Scenes, and Interactive Open Worlds

Xinjie Lin, Qingle Liu, Wenyi Li, John Lam, Xiaoqiu Wang, Deyao Hong, Mingju Gao, Zheng Jiang 等 13 位作者

原文摘要

Coding agents combine visual understanding with program execution, offering a new route to automated 3D creation. By translating images and instructions into editable programs, they bring reconstruction, generation, and editing into a shared workflow. Yet existing benchmarks fragment evaluation across task scopes and protocols, leaving their capabilities across construction levels unclear. We propose Frontier3DBench, a unified benchmark of 145 tasks across 9 categories spanning object, scene, and interactive open-world creation, with joint evaluation of appearance, structure, and behavior. Experiments with 11 model-harness configurations reveal strengths that vary by level: GPT-6.1-sol leads the object and scene levels and achieves the highest overall score of 66.02/100, whereas GPT-6-astra leads interactive world construction. However, all configurations score lower on reference reconstruction than on text-driven generation in object and scene tasks. Producing plausible content thus remains easier than reproducing specified geometry, layouts, and visual details. Moreover, generated worlds average 83.08/100 on local mechanisms but only 20.82 on motion clearance and 30.26 on stateful workflows: individual mechanisms often function, whereas complete activities that require coordinated actions and persistent state remain difficult. These results identify reference fidelity and coordinated activity completion as central bottlenecks for coding agents in 3D creation.

cs.CV

新论文 · v1arXiv:2611.08923

FANO: Anchored Forward-Noise Optimization for Diffusion Inverse Problems

Shilong Han, Hongxia Wang

原文摘要

Pre-trained diffusion models have become a widely adopted zero-shot prior for image inverse problems, among which annealed decoupling methods achieve leading reconstruction performance on nonlinear tasks. We find, however, that annealed methods that directly optimize the denoiser input $x_t$ exhibit radial drift in later layers: within-layer optimization drives the noise-component norm of $x_t$ away from its typical value, pushing the denoiser out of its high-performance regime and degrading reconstruction quality. To address this, we propose FANO (Anchored Forward-Noise Optimization). At each annealing layer, FANO fixes the previous denoiser estimate as an anchor and optimizes only the forward noise $e$, whose distribution is known, instead of $x_t$, thereby preserving the forward-diffusion structure of the denoiser input. The standard Gaussian prior on $e$ concentrates its norm near the typical value, and deviations degrade denoiser performance. We accordingly decompose $e$ in polar coordinates into a direction and a radial magnitude, and apply a soft potential to regulate the radius, keeping $x_t$ in the high-density region of the forward distribution. On multiple linear and nonlinear inverse problems, FANO matches the strongest current baselines on linear tasks and achieves consistent improvements on nonlinear tasks.

cs.CV

新论文 · v1arXiv:2611.07683

ReferClaw: Disambiguating User Intent for Egocentric Assistance

Hangyu Qin, Junbin Xiao, Angela Yao

原文摘要

Users of egocentric AI assistants often ask short, ambiguous questions whose intended referents cannot be uniquely resolved from video and dialogue history. For example, "Where did I leave it?" may refer to several previously handled objects. Existing VideoQA systems typically commit to a single interpretation, risking plausible but intention-misaligned answers. We introduce ReferClaw, an agentic framework that formulates egocentric streaming QA as an interactive process: the assistant asks clarifying questions to resolve user intent before answering. Three cooperating agents identify candidate interpretations, request clarification, and generate answers grounded in the resolved intent and visual evidence. A bounded, cost-aware policy balances expected information gain against user effort while limiting clarification turns and question complexity. Referclaw learns from interaction through intent-specific skill updates and process-reward-guided policy optimization with agent-level credit assignment. Evaluations on augmented egocentric QA benchmarks demonstrate improved answer accuracy and joint answer-and-grounding performance over existing baselines, alongside zero-shot transfer across datasets. These findings support interactive clarification as a practical approach to resolving online user intent in egocentric streaming assistance.

cs.CV · cs.AI · cs.MA

新论文 · v1arXiv:2611.07463

FREE-LIVO: Physically Decoupled Yet Tightly Coupled LiDAR-Inertial-Visual Odometry

Reon Tabata, Kenji Koide, Shuji Oishi, Taku Okawara, Mizuho Aoki, Aoki Takanose, Masashi Yokozuka, Jun Miura

原文摘要

LiDAR-Inertial-Visual Odometry (LIVO) integrates complementary LiDAR, camera, and IMU measurements to achieve robust state estimation. However, most existing methods assume a fixed relative pose and accurate time synchronization between sensors. Toward modular and heterogeneous robotic systems, this paper presents FREE-LIVO, a tightly coupled odometry method that requires neither a rigid LiDAR-camera rig nor LiDAR-camera time synchronization. The proposed method uses a pretrained image feature matcher to establish correspondences between a camera image and a dense LiDAR intensity image generated from a single LiDAR scan using a generative model. From the resulting 3D point-to-pixel correspondences, we construct reprojection factors that directly constrain LiDAR and camera poses at different acquisition times. These factors are jointly optimized in a single factor graph together with constraints from point cloud registration, visual feature tracking, and the IMU measurements associated with each sensor. On six sequences from the public M3DGR dataset, FREE-LIVO achieves an average absolute trajectory error (ATE) RMSE of 0.45 m without provided LiDAR-camera extrinsic parameters and exhibits minimal accuracy degradation under time synchronization errors of up to 0.5 s. Furthermore, experiments with the LiDAR and camera mounted on separate robots demonstrate that the method can jointly estimate the trajectories of independently moving sensors.

cs.RO · cs.CV

版本更新 · v3arXiv:2502.21012

FedDyMem: Efficient Federated Learning with Dynamic Memory and Memory-Reduce for Unsupervised Image Anomaly Detection

Silin Chen, Andy Liu, Kangjian Di, Yichu Xu, Han-Jia Ye, Wenhan Luo, Ningmu Zou

原文摘要

Unsupervised image anomaly detection (UAD) has become a critical process in industrial and medical applications, where models are trained on normal samples without requiring labeled anomalies. However, even normal images may contain sensitive product designs, manufacturing information, or institution-specific population characteristics, making centralized data collection difficult in practical deployments. Federated UAD provides a promising decentralized solution, but it remains challenging because clients use only normal training samples, their feature distributions remain highly heterogeneous within the same task, and communication should be efficient while limiting the exposure of sensitive client information. To address these challenges, we propose FedDyMem, an efficient federated learning method with dynamic memory and memory-reduce for unsupervised image anomaly detection. Instead of exchanging full model parameters, FedDyMem facilitates knowledge sharing between the clients and server through reduced dynamic memory banks. In the local clients, a memory generator and a metric loss are employed to improve the consistency of the feature distribution for normal samples, leveraging the local model to update the memory bank dynamically. For efficient communication and data privacy, a memory-reduce method based on weighted averages is proposed to significantly decrease the scale of memory banks. This representation reduces communication overhead and empirically lowers reconstruction fidelity under inversion attacks. On the server, global memory is constructed and distributed to individual clients through k-means aggregation. Experiments on six federated UAD tasks constructed from eleven public industrial and medical datasets show that FedDyMem consistently improves anomaly detection and localization while reducing communication cost.

cs.DC · cs.CV

版本更新 · v4arXiv:2502.10259

MITO: A Millimeter-Wave Dataset and Simulator for Non-Line-of-Sight Perception

Tara Boroushaki, Laura Dodds, Cusuh Ham, Fadel Adib

原文摘要

The ability to observe the world is fundamental to reasoning and making informed decisions on how to interact with the environment. However, optical perception can often be disrupted due to common occurrences like occlusions, which can pose challenges to existing vision systems. We present MITO, the first millimeter-wave (mmWave) dataset of diverse, everyday objects, collected using a UR5 robotic arm with two mmWave radars operating at different frequencies and an RGB-D camera. Unlike visible light, mmWave signals can penetrate common occlusions (e.g., cardboard boxes, fabric, plastic). MITO captures over 24 million mmWave frames and uses them to generate 550 high-resolution mmWave images in line-of-sight and non-light-of-sight (NLOS), as well as RGB-D images, segmentation masks, and raw mmWave signals, taken from 76 different objects. We develop an open-source simulation tool that can be used to generate synthetic mmWave images for any 3D triangle mesh. Finally, we establish benchmarks for NLOS segmentation and classification to demonstrate the utility of our dataset and simulator for enabling broader NLOS perception.

cs.CV

版本更新 · v2arXiv:2610.06598

SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models

Xiaodong Wang, Tianle Li, Chuanxin Song, Junliang Xie, Zhanmi Zhong, Suiying Wu, Peixi Peng

原文摘要

Action-conditioned robot world models must respond precisely to robot trajectories while preserving realistic visual dynamics, yet learning both from heterogeneous robot videos remains challenging. Simulation offers structured motion supervision, but appearance differences hinder direct transfer, and inaccurate simulation predictions can misguide real-video generation. We present SimForcing, a simulation-guided framework that uses simulation both as a source of transferable motion knowledge and as a controllable reference for prediction. First, we transfer motion knowledge from a simulation teacher through latent-motion distillation, aligning temporal changes in latent space to internalize motion priors while mitigating the influence of appearance differences. Second, we introduce multi-block simulation conditioning with condition dropout to exploit predicted simulation trajectories without relying excessively on their accuracy. Our simulation-conditioning classifier-free guidance scheme unifies these two ideas by balancing predictions based on internalized motion knowledge with those additionally guided by simulation latents. The jointly trained student generates both simulation conditions and real-domain videos, requiring no additional world model at inference. On Bridge, SimForcing achieves the best PSNR, SSIM, LPIPS, and FVD among the compared methods without external embodied pretraining. Evaluation on InternData-A1 further supports its applicability across robot datasets. Moreover, using our trained world model to initialize a vision-language-action model improves LIBERO success, suggesting its utility for downstream policy learning. https://github.com/Wang-Xiaodong1899/SimForcing

cs.RO · cs.AI · cs.CV

新论文 · v1arXiv:2611.06355

FlashRelight: Portrait Video Relighting with Dynamic Lighting

Jiahui Sheng, Le Li, Limin Lin, Jiahao Li, Wansen Feng, Hong Gu, Shuhan Chen, Xiaorun Li 等 9 位作者

原文摘要

Portrait video relighting aims to modify the illumination of a portrait video while preserving photorealism and temporal stability. The task becomes particularly challenging under dynamic lighting, where illumination direction, intensity, and color vary over time. To tackle this problem, we introduce FlashRelight, a novel two-stage framework for dynamic portrait video relighting. FlashRelight first suppresses the source illumination through delighting, and then synthesizes the target dynamic lighting on an illumination-neutral portrait video. FlashRelight supports three complementary control modalities: envmap sequences for explicit frame-level lighting control, dynamic lighting text for semantic illumination editing, and lighting reference videos for visual lighting transfer. Training follows a low-cost hybrid strategy that combines static one-light-at-a-time (OLAT) data with generated dynamic-lighting portrait videos, covering both controlled illumination variation and realistic portrait motion. Extensive experiments show that FlashRelight achieves temporally coherent and photorealistic dynamic relighting while enabling flexible cross-video lighting transfer. Code is available at https://github.com/vivoCameraResearch/FlashRelight

cs.CV

新论文 · v1arXiv:2611.05569

Role-based Effectiveness of an Epistemic Uncertainty Estimate in Training Models for Semantic Segmentation of 3D LiDAR Point Clouds

Krishnakumar N, Jaya Sreevalsan-Nair

原文摘要

Point cloud segmentation is a fundamental task in 3D data analysis, with applications across robotics, augmented and virtual reality, and remote sensing. However, the inherent sparsity, noise, and unordered nature of point clouds introduce significant challenges, particularly in achieving reliable classification. While the state-of-the-art rely on training models for explicit modeling of uncertainty, there is a gap in exploring different roles that estimated uncertainty using generative approaches can play. This work investigates the impact of deterministic uncertainty in point cloud segmentation by explicitly modeling epistemic uncertainty and using it in different roles, namely, as a feature and in loss function. We evaluate a baseline artificial neural network (ANN) and two uncertainty-aware variants (uncertainty as an additional input feature and as a per-sample confidence weight in the training loss) on four large-scale LiDAR benchmarks spanning airborne and mobile acquisition, namely ISPRS Vaihingen, AHN3, Paris-Lille-3D, and Toronto-3D, together with PointNet++ and RandLA-Net references and their uncertainty-augmented counterparts under canonical spatially disjoint train and test splits. Under this protocol, uncertainty-aware modeling improves mean Intersection over Union, recovers minority classes that the baseline ANN never predicts at all, and in half of the configurations improves the alignment between prediction error and estimated uncertainty as measured by Patch Accuracy versus Patch Uncertainty. Our findings indicate that uncertainty can play multiple roles in the segmentation pipeline rather than as a device for improving accuracy alone.

cs.CV · cs.LG

版本更新 · v3arXiv:2509.23626

Fieldable Low-Light Multi-Task Perception via Foundation-Model-Assisted Domain Adaptation

Beomseok Kang, Niluthpol Chowdhury Mithun, Mikhail Sizintsev, Han-Pang Chiu, Supun Samarasekera

原文摘要

Fieldable low-light perception systems require both semantic and geometric scene understanding under severe domain shift and embedded compute constraints. We present FAMDA, a foundation-model-assisted self-training framework for unsupervised domain adaptation (UDA) in multi-task dense prediction. The framework integrates segmentation and depth foundation models into a self-training paradigm to generate high-quality pseudo-labels for the target domain, distilling their generalization capabilities into a single lightweight student network. To connect the method to deployment, we instantiate the adapted student on a compact handheld low-light prototype with DomiNite imaging and Jetson Orin Nano embedded compute. We evaluate on standard synthetic-to-real multi-task UDA benchmarks for comparison with prior work and on our field-collected low-light dataset to validate daytime-to-low-light adaptation in the target application setting. Across these evaluations, the proposed approach achieves strong segmentation and depth accuracy with substantially lower memory use and inference latency than direct foundation-model inference, demonstrating a practical path toward embedded multi-task perception for low-light field systems.

cs.CV

版本更新 · v2arXiv:2604.08741

LPLCv2: An Expanded Dataset for Fine-Grained License Plate Legibility Classification

Lucas Wojcik, Eduardo A. F. Machoski, Eduil Nascimento, Rayson Laroca, David Menotti

原文摘要

Modern Automatic License Plate Recognition (ALPR) systems achieve outstanding performance in controlled, well-defined scenarios. However, large-scale real-world usage remains challenging due to low-quality imaging devices, compression artifacts, and suboptimal camera installation. Identifying illegible license plates (LPs) has recently become feasible through a dedicated benchmark; however, its impact has been limited by its small size and annotation errors. In this work, we expand the original benchmark to over three times the size with two extra capture days, revise its annotations and introduce novel labels. LP-level annotations include bounding boxes, text, and legibility level, while vehicle-level annotations comprise make, model, type, and color. Image-level annotations feature camera identity, capture conditions (e.g., rain and faulty cameras), acquisition time, and day ID. We present a novel training procedure featuring an Exponential Moving Average-based loss function and a refined learning rate scheduler, addressing common mistakes in testing. These improvements enable a baseline model to achieve an 89.5% F1-score on the test set, considerably surpassing the previous state of the art. We further introduce a novel protocol to explicitly addresses camera contamination between training and evaluation splits, where results show a small impact. Dataset and code are publicly available at https://github.com/lmlwojcik/LPLCv2-Dataset.

cs.CV

新论文 · v1arXiv:2610.39835

Aligning Medical Vision Language Models at the Capability Boundary with Entropy Adaptive Rubric Grounding

Hongyu Bai, Jiaqi Zeng, Chunzheng Zhu

原文摘要

Medical diagnostic reasoning requires verifiable links between visual evidence and clinical knowledge, yet current medical vision language models are aligned with objectives that reward the wrong behavior. Uniform supervised fine tuning lets easy cases dominate updates while clinically critical boundary cases saturate prematurely. Sparse rewards based only on final-answer correctness cannot assess anatomical grounding or clinical logic, inviting reward hacking through answer shortcuts. We propose MedCBR, a two-stage alignment framework coupling boundary-aware preference optimization with rubric-grounded reinforcement learning. First, we construct counterfactual boundary preferences at the model's capability frontier using empirical pass rates and preference pairs that share reasoning prefixes but diverge at decisive diagnostic branches. Difficulty Weighted Boundary Preference Optimization (DBPO) concentrates learning on this calibrated boundary region. Second, we distill reusable clinical rubrics from boundary trajectories and activate them according to prediction entropy. Entropy Gated Grounded Policy Optimization (EGPO) rewards answer correctness, anatomical grounding, and reasoning fidelity while suppressing rubric noise on reliable samples. A reference policy anchored to the boundary-aligned model couples population-level boundary priors with instance-level uncertainty, making diagnostic reasoning more accurate and clinically grounded. Experiments on six medical benchmarks show consistent improvements over strong general, specialized, and reinforcement learning baselines, reaching 61.2% average accuracy with the largest gains on challenging differential diagnosis tasks. Ablations show super-additive gains: combining the two stages exceeds the sum of their individual improvements.

cs.CV · cs.AI

新论文 · v1arXiv:2610.38223

Silhouette-Based Gaitomics for Frailty Assessment in Older Adults

Laura McDaniel, Ryan Roemmich, Crystal Szczesny, Peter Abadir, Rama Chellappa, Basudha Pal

原文摘要

Walking offers a window into physical function that may support interpretable video-based frailty assessment. We developed silhouette-based "gaitomics" to connect frailty predictions with measurable patterns of body configuration and movement. In 66 older adults assessed using the Fried Frailty Phenotype, standardized silhouettes and gait energy images yielded 90 descriptors of shape, temporal variation, motion, and texture. Minimum redundancy maximum relevance selection using the mutual information difference criterion prioritized informative features while limiting redundancy. Each classifier was evaluated using nested stratified cross-validation with five outer and three inner folds at the participant level, with feature ranking and feature-count selection confined to training partitions. Shapley additive explanations examined contributions to held-out predictions. Bilateral silhouette difference led the aggregate feature-selection rankings for three-class classification and both comparisons involving frail participants. Attribution profiles differed across tasks, with texture and consecutive-frame silhouette differences prominent in three-class classification. Among classifier-specific evaluations, CatBoost achieved the highest mean three-class micro-AUC of 0.647 \pm 0.085. Leading pairwise mean micro-AUCs were 0.833 \pm 0.249 for frail versus nonfrail, 0.765 \pm 0.168 for frail versus prefrail, and 0.554 \pm 0.129 for prefrail versus nonfrail classification. These findings connect model predictions to explicit gait characteristics while revealing task-dependent feature priorities and limited separation of prefrail and nonfrail participants. The framework provides an interpretable basis for further investigation, with larger independent studies needed to establish reliability and clinical relevance.

cs.CV

版本更新 · v2arXiv:2610.30799

WovenAnchor Matcher: Specialized Intra- and Inter-Image Context Modeling for Feature Matching

Zhiyang Li, Ruijiang Jin, Thibaut Klenke, Yusuke Sekikawa, Nakamasa Inoue

原文摘要

Semi-dense local feature matching commonly aggregates contextual information before coarse-to-fine correspondence estimation. However, intra-image and inter-image aggregation serve different roles: the former should propagate spatial evidence within each image while retaining structured two-dimensional dependencies, whereas the latter should gather information from plausible corresponding regions while limiting noise from unrelated locations. We propose WovenAnchor Matcher (WAM), a semi-dense matching framework based on role-specialized context aggregation. WAM introduces two complementary operators. WovenMamba performs intra-image aggregation through horizontal-then-vertical state-space propagation, allowing vertical updates to operate on horizontally contextualized features and thereby encouraging a structured two-dimensional receptive-field bias. AnchorCrossAttention performs inter-image aggregation by using cross-attention to gather context from plausible corresponding regions across the image pair. It performs this exchange over local representative anchors that aggregate feature evidence within each window. On MegaDepth, WAM achieves 66.1 pose AUC@5$^\circ$, improving on the JamMa baseline by 2.0 AUC points under the same evaluation setup. Ablations show that removing or replacing either specialized component reduces accuracy, providing evidence that intra-image propagation and inter-image retrieval benefit from role-specific aggregation designs. Code and pretrained weights are available at https://github.com/mmaiLab/WovenAnchorMatcher.

cs.CV

版本更新 · v2arXiv:2610.34662

StreamVibe: Proactive Video Agents for Evolving User Intent

Chengzhi Liu, Yuxiang Lai, Yuzhe Yang, Yanqing Liu, Jiheng Hou, Yue Cao, Haonan Wang, Ruixi Fan 等 16 位作者

原文摘要

Vision-language models are shifting from offline passive understanding toward online proactive interaction. However, prevailing methods largely rely on explicit requests while overlooking implicit user intents (e.g., "where should I click next?" when a user is navigating a website) and fail to continuously update their understanding as user intents evolve. These limitations make them less suitable for intent-aware interaction in real-world scenarios. To address these challenges, we introduce StreamVibe-Bench, a new benchmark that serves as a testbed for user intent understanding and interaction, comprising 4.1K evaluation samples and 85K training samples spanning explicit, implicit, and dynamic intents. Building on this benchmark, we develop StreamVibe-VL, a streaming proactive model that infers implicit user intents from continuous observations and dynamically adapts its interactions as these intents evolve. We further introduce StreamVibe-Harness, which maintains user intents as persistent states with flexible lifecycles through hierarchical memory, enabling it to track the latest user intents and environmental states. Our experiments reveal three key findings: (i) StreamVibe-VL preserves strong general video understanding capabilities while improving response timing and answer quality by 10.7% over existing baselines; (ii) existing proactive models remain limited in understanding user intents and determining when to respond, especially under implicit and dynamic intents; and (iii) StreamVibe-Harness further improves response consistency and adaptation during sustained interactions, resulting in a 12.3% gain in proactive interaction performance.

cs.CV

版本更新 · v3arXiv:2510.04883

CLEAR-IR: Clarity-Enhanced Active Reconstruction of Infrared Imagery

Nathan Shankar, Marton Gonczy, Hujun Yin, Pawel Ladosz

原文摘要

This paper presents CLEAR-IR (Clarity Enhanced Active Reconstruction of Infrared Imagery), a novel framework for enabling robust robotic perception in dark environments using active infrared (IR) sensing. IR streams are less susceptible to noise than RGB in low light conditions but are dominated by structured light emitter patterns that hinder high level tasks such as object detection, tracking, and localisation. CLEAR-IR addresses this by reconstructing clean, RGB styled images from emitter populated IR inputs using a dual stream architecture inspired by DeepMAO, enabling standard RGB trained vision pipelines to operate without visible light. Evaluation across object detection, ArUco marker detection, and visual SLAM demonstrates that CLEAR-IR produces reliable perception in conditions ranging from well lit to completely dark, where passive RGB based enhancement methods fail entirely due to the physical absence of sensor signal.

cs.RO · cs.CV · cs.LG