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首次观测 · 记录 #1CVF · CVPR 2026:cvf:a940f1c8c7e23be3a1e8e807d154f60bCVF · CVPR 2026

RenderFlow: Single-Step Neural Rendering via Flow Matching

Zhang, Shenghao, Liu, Runtao, Schroers, Christopher, Zhang, Yang

原文摘要

Conventional physically-based rendering (PBR) pipelines generate photorealistic images through computationally expensive light transport simulations. Although recent deep learning approaches leverage diffusion model priors with geometry buffers (G-buffers) to produce visually compelling results without explicit scene geometry or light simulation, they remain constrained by two major limitations. First, the iterative nature of the diffusion process introduces substantial latency. Second, the inherent stochasticity of these generative models compromises physical accuracy and temporal consistency. In response to these challenges, we propose a novel, end-to-end, deterministic single-step neural rendering framework RenderFlow built upon a flow matching paradigm. To further strengthen both rendering quality and generalization, we propose an efficient and effective module for sparse keyframe guidance. Our method significantly accelerates the rendering process and, by optionally incorporating sparsely rendered keyframes as guidance, enhances both the physical plausibility and overall visual quality of the output. The resulting pipeline achieves near real-time performance with photorealistic rendering quality, effectively bridging the gap between the efficiency of modern generative models and the precision of traditional physically based rendering. Furthermore, we demonstrate the versatility of our framework by introducing a lightweight, adapter-based module that efficiently repurposes the pretrained forward model for the inverse rendering task of intrinsic decomposition.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a94b8407e5ea21c33d0cbdb6627aa918CVF · CVPR 2026

M4Human: A Large-Scale Multimodal mmWave Radar Benchmark for Human Mesh Reconstruction

Fan, Junqiao, Zhou, Yunjiao, Yang, Yizhuo, Cui, Xinyuan, Zhang, Jiarui, Xie, Lihua, Yang, Jianfei, Lu, Chris Xiaoxuan 等 9 位作者

原文摘要

Human mesh reconstruction (HMR) provides direct insights into body-environment interaction, enabling various immersive applications. However, existing large-scale HMR benchmarks largely rely on line-of-sight RGB sensing, causing HMR systems to inherit the limitations of vision-based systems, including sensitivity to occlusion, lighting variation, and privacy concerns. These limitations have motivated growing interest in radio-frequency (RF) mmWave radar as a privacy-preserving and robust modality for human sensing. Despite this promise, current radar datasets remain limited by sparse skeleton annotations, small scale, and simple in-place actions. To address this gap, we introduce M4Human, the largest-scale multimodal benchmark to date for radar-based HMR, featuring 661K frames---9 times larger than the previous largest---with high-resolution mmWave radar, RGB, and depth data. M4Human provides both raw radar tensors (RT) and processed radar point clouds (RPC), enabling research across different levels of RF signal granularity. It also includes high-quality motion capture (MoCap) annotations with 3D meshes and global trajectories, covering 20 subjects and 50 diverse actions, including in-place, seated, and free-space sports or rehabilitation movements. We establish benchmarks on RT and RPC modalities, as well as multimodal fusion with RGB-D inputs. Extensive results demonstrate the value of M4Human for radar-based human modeling while revealing persistent challenges under fast and unconstrained motion. Our benchmark is publicly available at \href https://fanjunqiao.github.io/M4Human-site/ https://fanjunqiao.github.io/M4Human-site/ .

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a94f077b810edcd9431f3fa37d209726CVF · CVPR 2026

AstraNav-Memory: Contexts Compression for Long Memory

Hu, Junjun, Xue, Xinda, Ren, Botao, Luo, Minghua, Chen, Jintao, Bai, Haochen, You, Liangliang, Xu, Mu

原文摘要

Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric memory is interpretable, it depends on detection and reconstruction pipelines that limit robustness and scalability. We propose an image-centric memory framework that achieves long-term implicit memory via an efficient visual context compression module end-to-end coupled with a Qwen2.5-VL-based navigation policy. Built atop a ViT backbone with frozen DINOv3 features and lightweight PixelUnshuffle+Conv blocks, our visual tokenizer reduces native vision tokens by roughly 10-20x, representing each image with about 30 tokens and allowing the agent to maintain hundreds of historical frames within a single context. Experimental results on GOAT-Bench and HM3D-OVON show that our method achieves state-of-the-art navigation performance, improving exploration in unfamiliar environments and shortening paths in familiar ones. Ablation studies further reveal that moderate compression provides the best balance between efficiency and accuracy. These findings position compressed image-centric memory as a practical and scalable interface for lifelong embodied agents, enabling them to reason over long visual histories and navigate with human-inspired efficiency.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a968251c0d705ed081ae1f992029edd5CVF · CVPR 2026

BrickNet: Graph-Backed Generative Brick Assembly

Kulits, Peter, Schmid, Cordelia

原文摘要

We train a language model to generate LEGO(r)-brick build sequences. While prior work has been restricted to discrete, voxel-like towers, we consider a much broader set of pieces, encompassing thousands of part types with diverse connection semantics. To enable this, we first collect a large-scale dataset of over 100,000 human-designed LDraw brick objects and scenes. The complexity of our setting makes it challenging to autoregressively assemble structures that satisfy physical constraints. When predicting block pose directly, build sequences quickly become invalid after a small number of steps. Although pieces are placed in 3D space, it is the spatial relationships of the parts which define the whole. With this in mind, we design a graph-based program representation that parametrizes structure through connectivity, improving the physical grounding of generated sequences. To enable future applications, we make our dataset and models available for research purposes. https://kulits.github.io/BrickNet

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a97b7997ffa85ba8f6d5b82aa285b9cdCVF · CVPR 2026

OmniDocLayout: Towards Diverse Document Layout Generation via Coarse-to-Fine LLM Learning

Kang, Hengrui, Gu, Zhuangcheng, Zhao, Zhiyuan, Wen, Zichen, Wang, Bin, Li, Weijia, He, Conghui

原文摘要

Document AI has advanced rapidly and is attracting increasing attention. Yet, while most efforts have focused on document layout analysis (DLA), its generative counterpart, layout generation, remains underexplored. Distinct from traditional graphic layout design and room layout planning, document layout generation typically involves a larger number of elements per page and exhibits greater structural diversity and complexity. Currently, a major obstacle lies in the scarcity of diverse document layouts: academic papers with Manhattan-style structures dominate existing studies, while open-world genres such as newspapers and magazines remain severely underrepresented. To address this gap, we curate OmniDocLayout-1M, the first million-scale dataset of diverse document layouts, covering six common document types and comprising contemporary layouts collected from multiple sources. Moreover, since existing methods struggle in complex domains and often fail to arrange long sequences coherently, we introduce OmniDocLayout-LLM, a 0.5B model with designed two-stage Coarse-to-Fine learning paradigm: 1) learning universal layout principles from our dataset with coarse category definitions, and 2) transferring the knowledge to a specific domain with few fine-grained annotated samples. Extensive experiments demonstrate that our approach achieves strong performance on multiple domains in M^6Doc dataset, substantially surpassing both existing layout generation experts and several latest general-purpose LLMs. More information can be found at https://github.com/opendatalab/OmniDocLayout.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a985be573d6ff396f04b1ab932103adaCVF · CVPR 2026

Rethinking Prompt Design for Inference-time Scaling in Text-to-Visual Generation

Kim, Subin, Mo, Sangwoo, Rizve, Mamshad Nayeem, Xu, Yiran, Liu, Difan, Shin, Jinwoo, Hinz, Tobias

原文摘要

Achieving precise alignment between user intent and generated visuals remains a central challenge in text-to-visual generation, as a single attempt often fails to produce the desired output. To handle this, prior approaches mainly scale the visual generation process (e.g., increasing sampling steps or seeds), but this quickly leads to a quality plateau. This limitation arises because prompt adaptation does not scale along with the increasing population of generated samples. To address this, we propose Prompt Redesign for Inference-time Scaling, coined PRIS, a framework that adaptively revises the prompt during inference in response to the scaled visual generations. The core idea of PRIS is to review the generated visuals, identify recurring failure patterns across visuals, and redesign the prompt accordingly before regenerating the visuals with the revised prompt. To provide precise alignment feedback for prompt revision, we introduce a new verifier, element-level factual correction, which evaluates the alignment between prompt attributes and generated visuals at a fine-grained level, achieving more accurate and interpretable assessments than holistic measures. Extensive experiments on both text-to-image and text-to-video benchmarks demonstrate the effectiveness of our approach, including a 15% gain on VBench 2.0. These results highlight that jointly scaling prompts and visuals is key to fully leveraging scaling laws at inference-time.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a98797dae1b5671e50c09262e2203917CVF · CVPR 2026

MotionEnhancer: Leveraging Video Diffusion for Motion-Enhanced Vision-Language Models

Xu, Yifan, Zhang, Chao, Ma, Ruifei, Gao, Fei, Yang, Zhifei, Qi, Jiaxing, Chen, Zhipeng

原文摘要

The new era has witnessed a remarkable capability to extend Vision-Language Models (VLMs) for tackling tasks of video understanding. While current VLMs excel at event- or story-level understanding, their ability to capture fine-grained motion details remains limited, primarily due to their focus on high-level static semantic structures and macro-event logic. In contrast, Video Diffusion Models (VDMs) are adept at modeling dynamic motion patterns, benefiting from large-scale video data and the intrinsic requirement of temporal generation. In this paper, we introduce MotionEnhancer, a novel approach that leverages motion priors distilled from a powerful video diffusion model as auxiliary supervision to enhance the motion understanding capability of a VLM via attention alignment. MotionEnhancer comprises two simple parameter-free modules, Motion-sensitive Head Selection (MHS) and Motion-salient Text Token Identification (MTTI), to directly extract and optimize motion-related attentions from the VDM in a computation-only manner. MotionEnhancer provides a scalable solution for motion understanding without additional training parameters, modifications to existing architectures, or tool calling. Extensive experiments demonstrate that MotionEnhancer can achieve consistent improvements over state-of-the-art VLMs on two motion-level video understanding benchmarks, especially on motion-related metrics.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a99ca95a7234a09243c05072ec5b5d0bCVF · CVPR 2026

Select, Hypothesize and Verify: Towards Verified Neuron Concept Interpretation

Ji, ZeBin, Hu, Yang, Bi, Xiuli, Liu, Bo, Xiao, Bin

原文摘要

It is essential for understanding neural network decisions to interpret the functionality (also known as concepts) of neurons. Existing approaches describe neuron concepts by generating natural language descriptions, thereby advancing the understanding of the neural network's decision-making mechanism. However, these approaches assume that each neuron has well-defined functions and provides discriminative features for neural network decision-making. In fact, some neurons may be redundant or may offer misleading concepts. Thus, the descriptions for such neurons may cause misinterpretations of the factors driving the neural network's decisions. To address the issue, we introduce a verification of neuron functions, which checks whether the generated concept highly activates the corresponding neuron. Furthermore, we propose a Select-Hypothesize-Verify framework for interpreting neuron functionality. This framework consists of: 1) selecting activation samples that best capture a neuron's well-defined functional behavior through activation-distribution analysis; 2) forming hypotheses about concepts for the selected neurons; and 3) verifying whether the generated concepts accurately reflect the functionality of the neuron. Extensive experiments show that our method produces more accurate neuron concepts. Our generated concepts activate the corresponding neurons with a probability approximately 1.5 times that of the current state-of-the-art method.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9a9dca5b50c1fb310042c44a46d8276CVF · CVPR 2026

Thinking with Drafts: Speculative Temporal Reasoning for Efficient Long Video Understanding

Hu, Pengfei, Cao, Meng, Wang, Yingyao, Wang, Yi, Dong, Jiahua, Song, Jun, Cheng, Yu, Zheng, Bo 等 9 位作者

原文摘要

Long video understanding is essential for human-like intelligence, enabling coherent perception and reasoning over extended temporal contexts. While the emerging thinking-with-frames paradigm--which alternates between global temporal reasoning and local frame examination--has advanced the reasoning capabilities of video multi-modal large language models (MLLMs), it suffers from a significant efficiency bottleneck due to the progressively growing and redundant multi-modal context. To address this, we propose SpecTemp, a reinforcement learning-based Speculative Temporal reasoning framework that decouples temporal perception from reasoning via a cooperative dual-model design. In SpecTemp, a lightweight draft MLLM rapidly explores and proposes salient frames from densely sampled temporal regions, while a powerful target MLLM focuses on temporal reasoning and verifies the draft's proposals, iteratively refining its attention until convergence. This design mirrors the collaborative pathways of the human brain, balancing efficiency with accuracy. To support training, we construct the SpecTemp-80K dataset, featuring synchronized dual-level annotations for coarse evidence spans and fine-grained frame-level evidence. Experiments across multiple video understanding benchmarks demonstrate that SpecTemp not only maintains competitive accuracy but also significantly accelerates inference compared with existing thinking-with-frames methods.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9b5333fbe7a17f33312eebb76d735c6CVF · CVPR 2026

Select Less, Reason More: Prioritizing Evidence Purity for Video Reasoning

Li, Xuchen, Li, Xuzhao, Hu, Shiyu, Huang, Kaiqi

原文摘要

Long-form video reasoning remains a major challenge for Video Large Language Models (Video LLMs), as static uniform frame sampling leads to information dilution and obscures critical evidence. Furthermore, existing pixel-space video reasoning agents, which are designed to actively interact with the video to acquire new visual information, remain suboptimal due to their lack of rigorous reward mechanisms to enforce evidence purity and their inability to perform temporal information supplementation beyond pre-sampled frames. To address this critical gap, we propose a novel evidence-prioritized adaptive framework built upon our core philosophy: "Select Less, Reason More." Our core contribution is the evidence-aware reinforcement learning (EARL) framework, which transforms the model into an active interrogator of evidence. EARL is precisely engineered to dynamically select the most relevant frames and, crucially, to perform localized re-sampling around the selected key frames to access fine-grained temporal detail. Extensive experiments on five demanding video reasoning benchmarks demonstrate that our EARL-trained model achieves new state-of-the-art among open-source Video LLMs, simultaneously learning an effective and high-purity visual evidence selection policy. Impressively, our 7B model achieves 59.8% on LongVideoBench, 69.0% on MVBench and 64.9% on VideoMME. These results highlight the importance of prioritizing evidence purity and the effectiveness of our framework.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9bf2f320addbe10ef635b10c92a82d9CVF · CVPR 2026

DVAR: Dynamic Visual Autoregressive Modeling for Image Super-Resolution

Zheng, Yu, Zhang, Kai, Zhu, Wei, Liu, Qingguo, Hu, Xiantao, Li, Jun, Yang, Jian

原文摘要

Next-scale prediction paradigm visual autoregressive (VAR) models have demonstrated significant potential for image super-resolution. However, their practical application is constrained by a rigid, size-specific design. This limitation stems from their reliance on memorizing fixed, absolute scaling schedules, which necessitates a distinct model for each target resolution. We introduce DVAR, a Dynamic Visual AutoRegressive framework that overcomes this fundamental bottleneck. Instead of memorizing these rigid schedules, DVAR learns a canonical scaling dynamic. This dynamic effectively decouples the logic of relative scaling from the absolute target size, thereby preserving a single set of proportions between generative steps that can be applied uniformly to any size. Furthermore, we introduce a dynamic sampling scheduler to mitigate the teacher-forcing problem with negligible computational overhead. By leveraging the geometric proximity of visual tokens in the codebook, it efficiently simulates the model's predictive error distribution to bridge the training-inference gap. To our knowledge, DVAR is the first framework to grant VAR models size-flexibility, breaking their one-to-one dependency on a fixed resolution. Extensive evaluations demonstrate that DVAR achieves superior visual quality over existing Real-ISR methods, proving that a flexible, purely autoregressive approach is a viable path to state-of-the-art image super-resolution. Code is available at https://github.com/YuZheng9/DVAR.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9c1fc093afefa3d73c6c476ea59d6f0CVF · CVPR 2026

IPR-1: Interactive Physical Reasoner

Zhang, Mingyu, Zhuo, Lifeng, Tan, Tianxi, Xie, Guocan, Nie, Xian, Li, Yan, Zhao, Renjie, He, Zizhu 等 11 位作者

原文摘要

Humans learn by observing, interacting with environments, and internalizing physics and causality. We explore whether agents can similarly acquire human-like reasoning through interaction and experience. To study this, we introduce a Game-to-Unseen (G2U) benchmark of 1,000+ heterogeneous games that exhibit significant visual domain gaps. Existing approaches, including VLMs and world models, struggle with underlying physics and causality due to overfitting on visual details. VLM/VLA agents reason but lack look-ahead in interactive settings, while world models imagine but imitate visual patterns rather than analyze physics and causality. We therefore propose IPR (Interactive Physical Reasoner), using world-model rollouts to score and reinforce a VLM's policy, and introduce PhysCode, a physics-centric action code aligning semantic intent with dynamics to provide a shared action space for prediction and reasoning. Pretrained on 1,000+ games, IPR performs robustly on levels from primitive intuition to goal-driven reasoning, and even surpasses GPT-5 overall. We find that performance improves with more training games and interaction steps, and that the model also zero-shot transfers to unseen games. These results support physics-centric interaction as a path to steadily improving physical reasoning. Further demos and details can be found at https://mybearyzhang.github.io/ipr-1.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9c42237ad90e7f0e192b3dda1233872CVF · CVPR 2026

SemLT3D: Semantic-Guided Expert Distillation for Camera-only Long-Tailed 3D Object Detection

Vo, Hao, Vo, Khoa, Phan, Thinh, Cuong, Ngo Xuan, Doretto, Gianfranco, Nguyen, Hien, Nguyen, Anh, Le, Ngan

原文摘要

Camera-only 3D object detection has emerged as a cost-effective and scalable alternative to LiDAR for autonomous driving, yet existing methods primarily prioritize overall performance while overlooking the severe long-tail imbalance inherent in real-world datasets. In practice, many rare but safety-critical categories such as children, strollers, or emergency vehicles are heavily underrepresented, leading to biased learning and degraded performance. This challenge is further exacerbated by pronounced inter-class ambiguity (e.g., visually similar subclasses) and substantial intra-class diversity (e.g., objects varying widely in appearance, scale, pose, or context), which together hinder reliable long-tail recognition. In this work, we introduce SemLT3D, a Semantic-Guided Expert Distillation framework designed to enrich the representation space for underrepresented classes through semantic priors. SemLT3D consists of: (1) a language-guided mixture-of-experts module that routes 3D queries to specialized experts according to their semantic affinity, enabling the model to better disentangle confusing classes and specialize on tail distributions; and (2) a semantic projection distillation pipeline that aligns 3D queries with CLIP-informed 2D semantics, producing more coherent and discriminative features across diverse visual manifestations. Although motivated by long-tail imbalance, the semantically structured learning in SemLT3D also improves robustness under broader appearance variations and challenging corner cases, offering a principled step toward more reliable camera-only 3D perception.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9cdc9f3f4641d588f57642446204a09CVF · CVPR 2026

MVP: Multiple View Prediction Improves GUI Grounding

Zhang, Yunzhu, Pan, Zeyu, Zeng, Zhengwen, Shen, Shuheng, Meng, Changhua, Zhu, Linchao

原文摘要

GUI grounding, which translates natural language instructions into precise pixel coordinates, is essential for developing practical GUI agents. However, we observe that existing grounding models exhibit significant coordinate prediction instability--minor visual perturbations (e.g., cropping a few pixels) can drastically alter predictions, flipping results between correct and incorrect. This instability severely undermines model performance, especially for samples with high-resolution and small UI elements. To address this issue, we propose Multi-View Prediction (MVP), a training-free framework that enhances grounding performance through multi-view inference. Our key insight is that while single-view predictions may be unstable, aggregating predictions from multiple carefully cropped views can effectively distinguish correct coordinates from outliers. MVP comprises two components: (1) Attention-Guided View Proposal, which derives diverse views guided by instruction-to-image attention scores, and (2) Multi-Coordinates Clustering, which ensembles predictions by selecting the centroid of the densest spatial cluster. Extensive experiments demonstrate MVP's effectiveness across various models and benchmarks. Notably, on ScreenSpot-Pro, MVP boosts UI-TARS-1.5-7B to 56.1%, GTA1-7B to 61.7%, Qwen3VL-8B-Instruct to 65.3%, and Qwen3VL-32B-Instruct to 74.0%.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:a9d4b745ae1557733f1e398c06b29878CVF · CVPR 2026

Graph Attention Prototypical Network for Robust Few-Shot Classification

Liu, Tingyun, Liu, Licheng, Zhang, Qibin, Feng, Qiying, Chen, C. L. Philip

原文摘要

Few-shot learning has attracted extensive attention, with metric-based approaches such as Prototypical Networks establishing strong baselines. These methods construct class prototypes from support samples and classify query samples via distance metrics, but their performance is highly sensitive to label noise. To tackle this challenge, we propose a novel Graph Attention Prototypical Network (GAPNet) for robust few-shot classification. GAPNet first extracts local and global features via a classic CNN backbone and a group attention broad learning module, respectively. To mitigate the impact of label noise, the intra-class and inter-class relationships between support and query samples are explicitly modeled via a pseudo-label guided graph constructor, and then processed by an edge-aware graph attention module to capture topological correlations. Furthermore, an adaptive noise-robust prototype generator is introduced to dynamically suppress the contributions of noisy samples, substantially improving the reliability of class prototypes. Extensive experiments demonstrate the effectiveness and robustness of GAPNet to label noise. Compared to state-of-the-art approaches, GAPNet improves accuracy in the 5-way 5-shot setting by 3% ~ 8% on three general image benchmarks and one fine-grained classification dataset.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa08df1c58cdf8c3dafad6d79abdb7a4CVF · CVPR 2026

DrivePI: Spatial-aware 4D MLLM for Unified Autonomous Driving Understanding, Perception, Prediction and Planning

Liu, Zhe, Huang, Runhui, Yang, Rui, Yan, Siming, Wang, Zining, Hou, Lu, Lin, Di, Bai, Xiang 等 9 位作者

原文摘要

Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this paper, we propose DrivePI, a novel spatial-aware 4D MLLM that serves as a unified Vision-Language-Action (VLA) framework that is also compatible with vision-action (VA) models. Our method jointly performs spatial understanding, 3D perception (i.e., 3D occupancy), prediction (i.e., occupancy flow), and planning (i.e., action outputs) in parallel through end-to-end optimization. To obtain both precise geometric information and rich visual appearance, our approach integrates point clouds, multi-view images, and language instructions within a unified MLLM architecture. We further develop a data engine to generate text-occupancy and text-flow QA pairs for 4D spatial understanding. Remarkably, with only a 0.5B Qwen2.5 model as MLLM backbone, DrivePI as a single unified model matches or exceeds both existing VLA models and specialized VA models. Specifically, compared to VLA models, DrivePI outperforms OpenDriveVLA-7B by 2.5% mean accuracy on nuScenes-QA and reduces collision rate by 70% over ORION (from 0.37% to 0.11%) on nuScenes. Against specialized VA models, DrivePI surpasses FB-OCC by 10.3 RayIoU for 3D occupancy on OpenOcc, reduces the mAVE from 0.591 to 0.509 for occupancy flow on OpenOcc, and achieves 32% lower L2 error than VAD (from 0.72m to 0.49m) for planning on nuScenes. Code will be available at https://github.com/happinesslz/DrivePI.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa0b56489ddf4c3599deec1f6139375aCVF · CVPR 2026

Ghost-FWL: A Large-Scale Full-Waveform LiDAR Dataset for Ghost Detection and Removal

Ikeda, Kazuma, Hara, Ryosei, Nagata, Rokuto, Sako, Ozora, Ding, Zihao, Kado, Takahiro, Fujioka, Ibuki, Beppu, Taro 等 10 位作者

原文摘要

LiDAR has become an essential sensing modality in autonomous driving, robotics, and smart-city applications. However, ghost points (or ghost), which are false reflections caused by multi-path laser returns from glass and reflective surfaces, severely degrade 3D mapping and localization accuracy. Prior ghost removal rely on geometric consistency in dense point clouds, failing on mobile LiDAR's sparse, dynamic data. We address this by exploiting full-waveform LiDAR (FWL), which captures complete temporal intensity profiles rather than just peak distances, providing crucial cues for distinguishing ghosts from genuine reflections in mobile scenarios. As this is a new task, we present Ghost-FWL, the first and largest annotated mobile FWL dataset for ghost detection and removal. Ghost-FWL comprises 24K frames across 10 diverse scenes with 7.5 billion peak-level annotations, which is 100x larger than existing annotated FWL datasets. Experiments show that our baseline outperforms existing methods in ghost removal accuracy, and our ghost removal further enhance downstream tasks such as LiDAR-based SLAM (66% trajectory error reduction) and 3D object detection (50x false positive reduction).

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa10f4f45177e932fff9af59ce890c14CVF · CVPR 2026

Few-Shot Hybrid Incremental Learning:Continually Learning under Data Scarcity and Task Uncertainty

Li, Yan, Shi, Yuzhu, Zhou, Kan, Zhang, Shu, He, Diqi, Zhang, Dingwen, Han, Junwei

原文摘要

The increasing complexity of real-world deployment requires intelligent agents to effectively adapt to non-stationary data streams with stochastic increments under data scarcity. We formally define this challenge as the Few-Shot Hybrid Incremental Learning (FSHIL) paradigm, which reveals a critical stability-plasticity dilemma. Existing strategies struggle to address this dilemma: representation freezing in few-shot incremental learning can mitigate overfitting under data scarcity but leads to insufficient representation plasticity, while architecture expansion in hybrid incremental learning provides plasticity for adaptation but results in overfitting under few-shot conditions. To address this, we propose the Conditional Meta-Expanding Mixture-of-Experts (CME-MoE), which balances feature-level stability-plasticity trade-off through conditional expert reuse and meta-expansion mechanism. Furthermore, recognizing the multi-domain manifestation in the latent space, we introduce the Self-Expanding Prototype Classifier (SEPC), which on-demand expands classification to model complex domain-shifted decision boundaries. The proposed method outperforms existing state-of-the-art methods in three few-shot incremental learning settings across five mainstream datasets, effectively addressing data scarcity and task uncertainty, and providing a robust solution for real-world continual learning.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa2e3445b6e0e94316b59832cf5e9633CVF · CVPR 2026

Understanding and Mitigating Hallucinations in Multimodal Chain-of-Thought Models

Ma, Ji, Suo, Wei, Wang, Peng, Zhang, Yanning

原文摘要

Multimodal Chain-of-Thought (MCoT) models have demonstrated impressive capability in complex visual reasoning tasks. Unfortunately, recent studies reveal that they suffer from severe hallucination problems due to diminished visual attention during the generation process.However, visual attention decay is a well-studied problem in Large Vision-Language Models (LVLMs). Considering the fundamental differences in reasoning processes between MCoT models and traditional LVLMs, we raise a basic question: Whether MCoT models have unique causes of hallucinations? To answer this question, we systematically investigate the hallucination patterns of MCoT models and find that fabricated texts are primarily generated in associative reasoning steps, which we term divergent thinking. Leveraging these insights, we introduce a simple yet effective strategy that can effectively localize divergent thinking steps and intervene in the decoding process to mitigate hallucinations. Extensive experiments show that our method outperforms existing methods by a large margin. More importantly, our proposed method can be conveniently integrated with other hallucination mitigation methods and further boost their performance. The code is publicly available at https://github.com/ASGO-MM/MCoT-hallucination.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa384901884df059170087e6fbb604d6CVF · CVPR 2026

Designing to Forget: Deep Semi-parametric Models for Unlearning

Zheng, Amber Yijia, Tai, Yu-Shan, Yeh, Raymond A.

原文摘要

Recent advances in machine unlearning have focused on developing algorithms to remove specific training samples from a trained model. In contrast, we observe that not all models are equally easy to unlearn. Hence, we introduce a family of deep semi-parametric models (SPMs) that exhibit non-parametric behavior during unlearning. SPMs use a fusion module that aggregates information from each training sample, enabling explicit test-time deletion of selected samples without altering model parameters. Empirically, we demonstrate that SPMs achieve competitive task performance to parametric models in image classification and generation, while being significantly more efficient for unlearning. Notably, on ImageNet classification, SPMs reduce the prediction gap relative to a retrained (oracle) baseline by 11% and achieve over 10xfaster unlearning compared to existing approaches on parametric models.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa44f0706e2ddf3cc1fcf3373e2784dfCVF · CVPR 2026

Exemplar-Free Class Incremental Learning via Preserving Class-Discriminative Structure

Zhang, Xin, Bai, Liang, Wang, Guanchao, Yang, Xian

原文摘要

Exemplar-Free Class Incremental Learning (EFCIL) aims to enable models to learn new classes sequentially without retaining samples from previous tasks. While recent approaches leverage pre-trained models with parameter-efficient tuning to mitigate forgetting, they often overlook a crucial cause of forgetting: the collapse of the class-discriminative structure. This structure comprises two interdependent components: intra-class structure, which characterizes the shape of individual classes, and inter-class structure, which characterizes the global geometric relationships among class prototypes. We reveal that catastrophic forgetting stems from the simultaneous deterioration of both intra-class and inter-class structures. To address this, we propose a unified framework that preserves the class-discriminative structure. It preserves the intra-class structure by reshaping class means and covariances to preserve each class's shape during migration, and maintains inter-class structure by stabilizing angular relationships between samples and old prototypes. Extensive experiments demonstrate that our framework outperforms existing leading methods on multiple EFCIL benchmarks, validating that preserving the class-discriminative structure is crucial for mitigating catastrophic forgetting.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa87e485ca0cb4714c66cc9ac6b66d3cCVF · CVPR 2026

MeshMosaic: Scaling Artist Mesh Generation via Local-to-Global Assembly

Xu, Rui, Xue, Tianyang, Dong, Qiujie, Wan, Le, Zhu, Zhe, Li, Peng, Dou, Zhiyang, Lin, Cheng 等 12 位作者

原文摘要

Scaling artist-designed meshes to high triangle numbers remains challenging for autoregressive generative models. Existing transformer-based methods suffer from long-sequence bottlenecks and limited quantization resolution, primarily due to the large number of tokens required and constrained quantization granularity. These issues prevent faithful reproduction of fine geometric details and structured density patterns. We introduce MeshMosaic, a novel local-to-global framework for artist mesh generation that scales to over 100K triangles--substantially surpassing prior methods, which typically handle only around 8K faces. MeshMosaic first segments shapes into patches, generating each patch autoregressively and leveraging shared boundary conditions to promote coherence, symmetry, and seamless connectivity between neighboring regions. This strategy enhances scalability to high-resolution meshes by quantizing patches individually, resulting in more symmetrical and organized mesh density and structure. Extensive experiments across multiple public datasets demonstrate that MeshMosaic significantly outperforms state-of-the-art methods in both geometric fidelity and user preference, supporting superior detail representation and practical mesh generation for real-world applications.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa8f4256aab76d4e70cc68f12e1c82e2CVF · CVPR 2026

VecAttention: Vector-wise Sparse Attention for Accelerating Long Context Inference

Liu, Anmin, Yang, Ruixuan, Jiang, Huiqiang, Lin, Bin, Sun, Minmin, Li, Yong, Zhang, Chen, Xie, Tao

原文摘要

Long-context video understanding and generation pose a significant computational challenge for Transformer-based video models due to the quadratic complexity of self-attention. While existing sparse attention methods employ coarse-grained patterns to improve efficiency, they typically incur redundant computation and suboptimal performance. To address this issue, in this paper, we propose VecAttention, a novel vector-wise sparse attention framework that achieves superior accuracy-efficiency trade-offs for video models. We observe that video attention maps exhibit a strong vertical-vector sparse pattern, and further demonstrate that this vertical-vector pattern offers consistently better accuracy-sparsity trade-offs compared with existing coarse-grained sparse patterns. Based on this observation, VecAttention dynamically selects and processes only informative vertical vectors through a lightweight important-vector selection that minimizes memory access overhead and an optimized vector sparse attention kernel. Comprehensive evaluations on video understanding (VideoMME, LongVideoBench, and VCRBench) and generation (VBench) tasks show that VecAttention delivers a 2.65xspeedup over full attention and a 1.83xspeedup over state-of-the-art sparse attention methods, with comparable accuracy to full attention.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa98e5fdb63780af6f48a3f9f2db6ef8CVF · CVPR 2026

Reasoning-Driven Anomaly Detection and Localization with Image-Level Supervision

Jin, Yizhou, Feng, Yuezhu, Zhang, Jinjin, Wang, Peng, Liu, Qingjie, Wang, Yunhong

原文摘要

Multimodal large language models (MLLMs) have recently demonstrated remarkable reasoning and perceptual abilities for anomaly detection. However, most approaches remain confined to image-level anomaly detection and textual reasoning, while pixel-level localization still relies on external vision modules and dense annotations. In this work, we activate the intrinsic reasoning potential of MLLMs to perform anomaly detection, pixel-level localization, and interpretable reasoning solely from image-level supervision, without any auxiliary components or pixel-wise labels. Specifically, we propose Reasoning-Driven Anomaly Localization (ReAL), which extracts anomaly-related tokens from the autoregressive reasoning process and aggregates their attention responses to produce pixel-level anomaly maps. We further introduce a Consistency-Guided Reasoning Optimization (CGRO) module that leverages reinforcement learning to align reasoning tokens with visual attentions, resulting in more coherent reasoning and accurate anomaly localization. Extensive experiments on four public benchmarks demonstrate that our method significantly improves anomaly detection, localization, and interpretability. Remarkably, despite relying solely on image-level supervision, our approach achieves performance competitive with MLLM-based methods trained under dense pixel-level supervision. Code is available at https://github.com/YizhouJin313/ReADL.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aacbd8925b524ac4199a1371a490bef2CVF · CVPR 2026

Electromagnetic Inverse Scattering from a Single Transmitter

Cheng, Yizhe, Tian, Chunxun, Wang, Haoru, Zhu, Wentao, Ma, Xiaoxuan, Wang, Yizhou

原文摘要

Electromagnetic Inverse Scattering Problems (EISP) seek to reconstruct relative permittivity from scattered fields and are fundamental to applications like medical imaging. This inverse process is inherently ill-posed and highly nonlinear, making it particularly challenging, especially under sparse transmitter setups, e.g., with only one transmitter. While recent machine learning-based approaches have shown promising results, they often rely on time-consuming, case-specific optimization and perform poorly under sparse transmitter setups. To address these limitations, we revisit EISP from a data-driven perspective. The scarcity of transmitters leads to an insufficient amount of measured data, which fails to capture adequate physical information for stable inversion. Accordingly, we propose a fully end-to-end and data-driven framework that predicts the relative permittivity of scatterers from measured fields, leveraging data distribution priors to compensate for the incomplete information from sparse measurements. This design enables data-driven training and feed-forward prediction of relative permittivity while maintaining strong robustness to transmitter sparsity. Extensive experiments show that our method outperforms state-of-the-art approaches in reconstruction accuracy and robustness. Notably, we demonstrate, for the first time, high-quality reconstruction from a single transmitter. This work advances practical electromagnetic imaging by providing a new, cost-effective paradigm to inverse scattering. Code and models are released at https://gomenei.github.io/SingleTX-EISP/.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aada2b754ffbea09915dd0617616351eCVF · CVPR 2026

Intrinsic Concept Extraction Based on Compositional Interpretability

Shi, Hanyu, Tao, Hong, Huang, Guoheng, Jiang, Jianbin, Chen, Xuhang, Pun, Chi-Man, Wang, Shanhu, Pan, Pan

原文摘要

Unsupervised Concept Extraction aims to extract concepts from a single image, yet existing methods suffer from the inability to extract composable intrinsic concepts. To address this, this paper introduces a new task called Compositional and Interpretable Intrinsic Concept Extraction (CI-ICE). The CI-ICE task aims to leverage diffusion-based text-to-image models to extract composable object-level and attribute-level concepts from a single image, such that the original concept can be reconstructed through the combination of these concepts. To achieve this goal, we propose a method called HyperExpress, which addresses the CI-ICE task through two core aspects. Specifically, first, we propose a concept learning approach that leverages the inherent hierarchical modeling capability of hyperbolic space to achieve accurate concept disentanglement while preserving the hierarchical structure and relational dependencies among concepts; second, we introduce a concept-wise optimization method that maps the concept embedding space to maintain complex inter-concept relationships while ensuring concept composability. Our method demonstrates outstanding performance in extracting compositionally interpretable intrinsic concepts from a single image.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aaeb40e4790c0031c01eb211f4d55f3dCVF · CVPR 2026

From Intuition to Investigation: A Tool-Augmented Reasoning MLLM Framework for Generalizable Face Anti-Spoofing

Zhang, Haoyuan, Wang, Keyao, Zhang, Guosheng, Yue, Haixiao, Tan, Zhiwen, Peng, Siran, Zhang, Tianshuo, Tan, Xiao 等 14 位作者

原文摘要

Face recognition remains vulnerable to presentation attacks, calling for robust Face Anti-Spoofing (FAS) solutions. Recent MLLM-based FAS methods reformulate the binary classification task as the generation of brief textual descriptions to improve cross-domain generalization. However, their generalizability is still limited, as such descriptions mainly capture intuitive semantic cues (e.g., mask contours) while struggling to perceive fine-grained visual patterns. To address this limitation, we incorporate external visual tools into MLLMs to encourage deeper investigation of subtle spoof clues. Specifically, we propose the Tool-Augmented Reasoning FAS (TAR-FAS) framework, which reformulates the FAS task as a Chain-of-Thought with Visual Tools (CoT-VT) paradigm, allowing MLLMs to begin with intuitive observations and adaptively invoke external visual tools for fine-grained investigation. To this end, we design a tool-augmented data annotation pipeline and construct the ToolFAS-16K dataset, which contains multi-turn tool-use reasoning trajectories. Furthermore, we introduce a tool-aware FAS training pipeline, where Diverse-Tool Group Relative Policy Optimization (DT-GRPO) enables the model to autonomously learn efficient tool use. Extensive experiments under a challenging one-to-eleven cross-domain protocol demonstrate that TAR-FAS achieves SOTA performance while providing fine-grained visual investigation for trustworthy spoof detection.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aaf4bd429fc076f6105e52006fe637bcCVF · CVPR 2026

DualSplat: Robust 3D Gaussian Splatting via Pseudo-Mask Bootstrapping from Reconstruction Failures

Wang, Xu, Wang, Zhiru, Xie, Shiyun, Pan, Chengwei, Chen, Yisong

原文摘要

While 3D Gaussian Splatting (3DGS) achieves real-time photorealistic rendering, its performance degrades significantly when training images contain transient objects that violate multi-view consistency. Existing methods face a circular dependency: accurate transient detection requires a well-reconstructed static scene, while clean reconstruction itself depends on reliable transient masks. We address this challenge with DualSplat, a Failure-to-Prior framework that converts first-pass reconstruction failures into explicit priors for a second reconstruction stage. We observe that transients, which appear in only a subset of views, often manifest as incomplete fragments during conservative initial training.We exploit these failures to construct object-level pseudo-masks by combining photometric residuals, feature mismatches, and SAM2 instance boundaries. These pseudo-masks then guide a clean second-pass 3DGS optimization, while a lightweight MLP refines them online by gradually shifting from prior supervision to self-consistency. Experiments on RobustNeRF and NeRF On-the-go show that DualSplat outperforms existing baselines, demonstrating particularly clear advantages in transient-heavy scenes and transient regions.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:ab28918737ccc03ea4fec54a9c3b0cf1CVF · CVPR 2026

TimeViper: A Hybrid Mamba-Transformer Vision-Language Model for Efficient Long Video Understanding

Xu, Boshen, Xiao, Zihan, Li, Jiaze, Ju, Jianzhong, Luo, Zhenbo, Luan, Jian, Jin, Qin

原文摘要

We introduce TimeViper, a hybrid vision-language model designed to tackle challenges of long video understanding. Processing long videos demands both an efficient model architecture and an effective mechanism for handling extended temporal contexts. To this end, TimeViper adopts a hybrid Mamba-Transformer backbone that combines the efficiency of state-space models with the expressivity of attention mechanisms. Through this hybrid design, we reveal the vision-to-text information aggregation phenomenon, where information progressively flows from vision tokens to text tokens across increasing LLM depth, resulting in severe vision token redundancy. Motivated by this observation, we propose TransV, a token information transfer module that transfers and compresses vision tokens into instruction tokens while maintaining multimodal understanding capabilities. This design enables TimeViper to process hour-long videos exceeding thousands of frames. Extensive experiments across multiple benchmarks demonstrate that TimeViper competes with state-of-the-art models while reducing inference cost. We further analyze attention behaviors of both Mamba and Transformer layers, offering new insights into hybrid model interpretability. This work represents an initial step towards developing, interpreting, and compressing hybrid Mamba-Transformer architectures.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:ab2d78967e988b2893183639b42bb6cbCVF · CVPR 2026

WalkGPT: Grounded Vision-Language Conversation with Depth-Aware Segmentation for Pedestrian Navigation

Ibn Sultan, Rafi, Zhu, Hui, Zhou, Xiangyu, Li, Chengyin, Khanduri, Prashant, Brocanelli, Marco, Zhu, Dongxiao

原文摘要

Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can describe visual content, their lack of explicit grounding leads to object hallucinations and unreliable depth reasoning, limiting their usefulness for accessibility guidance. We introduce WalkGPT, a pixel-grounded LVLM for the new task of Grounded Navigation Guide, unifying language reasoning and segmentation within a single architecture for depth-aware accessibility guidance. Given a pedestrian-view image and a navigation query, WalkGPT generates a conversational response with segmentation masks that delineate accessible and harmful features along with relative depth estimation. The model incorporates a Multi-Scale Query Projector (MSQP) that shapes the final image tokens by aggregating them along text tokens across spatial hierarchies, and a Calibrated Text Projector (CTP), guided by a Region Alignment Loss, that maps language embeddings into segmentation-aware representations. These components enable fine-grained grounding and depth inference without user-provided cues or anchor points, allowing the model to generate complete and realistic navigation guidance. We also introduce PAVE, a large-scale benchmark of 41k pedestrian-view images paired with accessibility-aware questions and depth-grounded answers. Experiments show that WalkGPT achieves strong grounded reasoning and segmentation performance. The source code and dataset are available on the project website.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表