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首次观测 · 记录 #1CVF · CVPR 2026:cvf:1faa32476267e9b8b350bb5874d6cbb7CVF · CVPR 2026

Boosting Vision-Language-Action Finetuning with Feasible Action Neighborhood Prior

Niu, Haochen, Zhang, Kanyu, Yin, Shuyu, Guo, Qinghai, Liu, Peilin, Wen, Fei

原文摘要

In real-world robotic manipulation, states typically admit a neighborhood of near-equivalent actions. That is, for each state, there exist a feasible action neighborhood (FAN) rather than a single correct action, within which motions yield indistinguishable progress. However, prevalent VLA training methodologies are directly inherited from linguistic settings and do not exploit the FAN property, thus leading to poor generalization and low sample efficiency. To address this limitation, we introduce a FAN-guided regularizer that shapes the model's output distribution to align with the geometry of FAN. Concretely, we introduce a Gaussian prior that promotes locally smooth and unimodal predictions around the preferred direction and magnitude. In extensive experiments across both reinforced finetuning (RFT) and supervised finetuning (SFT), our method achieves significant improvement in sample efficiency, and success rate in both in-distribution and out-of-distribution (OOD) scenarios. By aligning with the intrinsic action tolerance of physical manipulation, FAN-guided regularization provides a principled and practical method for sample-efficient, and generalizable VLA adaptation. The source code is publicly available at: https://github.com/Haochen-Niu/FAN-VLA.

cs.CV

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

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:6df0fc8902fbdbe83ba1684f6e823866CVF · CVPR 2026

Multi-modal Frequency Decomposition Network for Semantic Scene Completion

Zuo, Die, Wang, Lubo, Liu, Ruonan, Guo, Qing, Wang, Chong, Wu, Dongdong, Feng, Wei, Yang, Kairui 等 9 位作者

原文摘要

Based on an RGB-D image pair, semantic scene completion (SSC) provides a description for 3D scene understanding by predicting 3D semantic occupancy map. Recent methods extract RGB-D multi-modal features and fuse them in spatial domain, which disregards the misalignment caused by the imperfect raw multi-modal data and the multi-modal feature learning. Moreover, the operations of extracting high-level features they utilized tend to introduce feature smoothing and detail loss, exacerbating the above misalignment. To tackle these problems, this paper introduces MFDNet, a lightweight semantic scene completion network based on a multi-modal frequency decomposition strategy. By integrating frequency processing with limited layers of convolution and downsampling, MFDNet achieves a balance between modalities alignment and detail retainment. The network is equipped with Multi-modal Adaptive Frequency Fusion (MAFF) and Frequency Detail Compensation (FDC). MAFF models the intra-modal multi-bands dependencies and inter-modal relationships from a global perspective, enabling modality-specific calibration while facilitating the aligned fusion of multi-modal features. FDC excavates the high-frequency cues in shallow features to compensate for the missing local details of the fused feature and achieve fine-grained alignment for completion. MAFF and FDC formulate a global-to-local alignment and completion paradigm for multi-modal SSC. Extensive experiments demonstrate that MFDNet reduces parameters by 54.4% while achieving state-of-the-art performance on the NYUv2 and NYUCAD datasets.

cs.CV

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

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:bef859c3f76f43fc85e8d03ec28b8074CVF · CVPR 2026

Open-Ended Instruction Realization with LLM-Enabled Multi-Planner Scheduling in Autonomous Vehicles

Liu, Jiawei, Gong, Xun, Fang, Fen, Yang, Muli, Qu, Bohao, Hu, Yunfeng, Chen, Hong, Yang, Xulei 等 9 位作者

原文摘要

Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translating passenger open-ended instructions into control signals--without sacrificing interpretability and traceability--remains a challenge. This study proposes an instruction-realization framework that leverages a large language model (LLM) to interpret instructions, generates executable scripts that schedule multiple model predictive control (MPC)-based motion planners based on real-time feedback, and converts planned trajectories into control signals. This scheduling-centric design decouples semantic reasoning from vehicle control at different timescales, establishing a transparent, traceable decision-making chain from high-level instructions to low-level actions. Due to the absence of high-fidelity evaluation tools, this study introduces a benchmark for open-ended instruction realization in a closed-loop setting. Comprehensive experiments reveal that the framework significantly improves task-completion rates over instruction-realization baselines, reduces LLM query costs, achieves safety and compliance on par with specialized AD approaches, and exhibits considerable tolerance to LLM inference latency. For more qualitative illustrations and a clearer understanding, please refer to Supplementary Material.

cs.CV · cs.CL

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

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:d0f0d1ebbcf67d17da3e62ff8ac5652aCVF · CVPR 2026

HOPS: Hierarchical Open-vocabulary Part Segmentation with Attention-Aware Filtering and Affinity-Guided Enhancement

Li, Xinlong, Lin, Di, Gao, Shaoyiyi, Liu, Yaxuan, He, Jixian, Li, Jiaxin, Liu, Ruonan, Guo, Qing 等 10 位作者

原文摘要

Open-vocabulary part segmentation (OVPS) aims to segment objects into fine-grained parts while generalizing to unseen categories. Existing VLM-based methods face two challenges: (1) object over-segmentation, caused by overly broad semantic activations, and (2) part under-segmentation, resulting from weak fine-grained perception. To address these issues, we propose HOPS, a two-stage framework for hierarchical open-vocabulary part segmentation. HOPS introduces a bidirectional semantic-structural attention fusion mechanism that integrates CLIP's semantic alignment with DINO's structural perception. In the object segmentation stage, the Attention-Aware Filtering Module (AFM) refines cross-modal similarity maps via semantic-structural attention to suppress object over-segmentation. In the part segmentation stage, the Affinity-Guided Enhancement Module (AEM) iteratively propagates part responses to progressively expand activation regions, effectively mitigating part under-segmentation. Experiments on Pascal-Part-116, ADE20K-Part-234, and PartImageNet demonstrate that HOPS achieves state-of-the-art performance with superior generalization. Our code is available at https://github.com/TJU-IDVLab/HOPS.

cs.CV

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

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CVF · CVPR 2026 ↗PDF ↗