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首次观测 · 记录 #1CVF · CVPR 2026:cvf:05fe50357e48a99fa6cce5317c6fd8f8CVF · CVPR 2026

StaR-KVQA: Structured Reasoning Traces for Implicit-Knowledge Visual Question Answering

Wen, Zhihao, Wei, Wenkang, Fang, Yuan, Yu, Xingtong, Zhang, Hui, Zhu, Weicheng, Zhang, Xin

原文摘要

Knowledge-based Visual Question Answering (KVQA) requires models to ground entities in images and reason over factual knowledge. Recent work has introduced its implicit-knowledge variant, IK-KVQA, where a multimodal large language model (MLLM) is the sole knowledge source and answers are produced without external retrieval. Existing IK-KVQA approaches, however, are typically trained with answer-only supervision: reasoning remains implicit, justifications are often weak or inconsistent, and generalization after standard supervised fine-tuning (SFT) can be brittle. We propose StaR-KVQA, a framework that equips IK-KVQA with dual-path structured reasoning traces--symbolic relation paths over text and vision together with path-grounded natural-language explanations--to provide a stronger inductive bias than generic answer-only supervision. These traces act as modality-aware scaffolds that guide the model toward relevant entities and attributes, offering more structure than generic chain-of-thought supervision while not constraining reasoning to any single fixed path. With a single open-source MLLM, StaR-KVQA constructs and selects traces to build an offline trace-enriched dataset and then performs structure-aware self-distillation; no external retrievers, verifiers, or curated knowledge bases are used, and inference is a single autoregressive pass. Across benchmarks, StaR-KVQA consistently improves both answer accuracy and the transparency of intermediate reasoning, achieving up to +11.3% higher answer accuracy on OK-VQA over the strongest baseline.

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:3d94cb93343d24a0ff794792ad0353c3CVF · CVPR 2026

Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulation

Xue, Han, Min, Nan, Liu, Xiaotong, Chen, Wendi, Fang, Yuan, Lv, Jun, Lu, Cewu, Wen, Chuan

原文摘要

The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream effects on policy learning. This paper presents the first comprehensive empirical study to bridge this gap, rigorously analyzing the properties of wrist-mounted fisheye cameras for imitation learning. Through extensive experiments in both simulation and the real world, we investigate three critical research questions: spatial localization, scene generalization, and hardware generalization. Our investigation reveals that: (1) The wide FoV significantly enhances spatial localization, but this benefit is critically contingent on the visual complexity of the environment. (2) Fisheye-trained policies, while prone to overfitting in simple scenes, unlock superior scene generalization when trained with sufficient environmental diversity. (3) While naive cross-camera transfer leads to failures, we identify the root cause as scale overfitting and demonstrate that hardware generalization performance can be improved with a simple Random Scale Augmentation (RSA) strategy. Collectively, our findings provide concrete, actionable guidance for the large-scale collection and effective use of fisheye datasets in robotic 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:e3f54b50f4c18793852bc8c08b29a426CVF · CVPR 2026

Omni-Supervised Motion Editing: Balancing Change and Invariance through Positive-Negative Learning

Shi, Zhenwu, Gong, Jingyu, Wang, Peiwei, Wang, Xingzan, Qian, Tianwen, Li, Wenxi, Fang, Yuan, Xie, Jiao 等 10 位作者

原文摘要

Text-based human motion editing aims to modify existing motion sequences according to natural language instructions while maintaining the consistency of the original motion. Existing diffusion-based approaches often rely on heuristic similarity cues or coarse global conditioning, leading to motion distortion and suboptimal semantic alignment. The key challenge lies in balancing change (i.e. precisely editing target regions) and invariance (i.e. preserving unedited parts). To handle such challenge, we propose an Omni-Supervised Positive-Negative Learning framework, named OmniME. Our method integrates three complementary components: (1) retrospective feature supervision that enforces coarse-to-fine consistency across transformer layers, (2) motion preservation mechanism that focuses on subtle variations accoding to the source-target similarity, and (3) triplet-based semantic alignment that strengthens text-motion correspondence. Together, these components form a unified supervision paradigm that balances change and invariance. Extensive experiments on the MotionFix and STANCE Adjustment datasets demonstrate that OmniME achieves state-of-the-art performance in editing alignment, validating the effectiveness of our unified learning framework. Our source codes and models have been released at: https://github.com/ rocket-ycyer/OmniME.git

cs.CV

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