Yansong Bai, Yunzhi Zhuge, Xinzhuo Yu, Lu Zhang, Jin Zhan, Pingping Zhang, Huchuan Lu
Domain generalized semantic segmentation is challenging because it requires accurate dense prediction on unseen domains without any access to target-domain data during training. Existing methods improve transferability through data diversification, invariant learning, or direct use of foundation models, but they often struggle to simultaneously suppress domain-sensitive interference and preserve fine-grained spatial cues. In this work, we propose SIFR, a frequency-aware dual-stream framework that tackles domain shift at both the fusion and decoding stages. SIFR uses spectral modeling as a unified principle to regulate both heterogeneous prior interaction and dense decoder refinement. Instead of directly fusing frozen CLIP and DINOv2 features, SIFR performs spectral-guided invariant fusion to filter out domain-sensitive responses while preserving complementary semantic and structural information. In addition, SIFR incorporates a spectral decoder refinement module that stabilizes multi-scale decoder features through low-frequency statistics-based normalization and adaptive frequency selection, thereby reducing the propagation of residual domain bias in dense prediction. This design enables SIFR to jointly improve domain robustness and segmentation precision under severe distribution shifts. Extensive experiments on multiple DGSS benchmarks, including synthetic-to-real, real-to-real, and adverse-weather settings, demonstrate consistent improvements over previous state-of-the-art methods.
Semi-supervised semantic segmentation, which aims to utilize large volumes of unlabeled images to achieve accurate segmentation results with fewer human annotations, has attracted increasing attention. Prior methods were primarily based on the assumption that the pseudo-labels generated by each branch were sufficiently reliable to supervise the remaining branches. However, there is a concern that the errors in pseudo-labels could accumulate during co-training, potentially resulting in suboptimal performance. To this end, we present a novel framework called heterogeneous dual-branch voting supervision (HDVS), which is designed to enhance the reliability of pseudo-labels and mitigate the issues arising from pseudo-labeling. Specifically, based on the cross-supervision framework, we introduce a voting mechanism that correlates pseudo-labels from heterogeneous branches to produce pseudo-labels with enhanced reliability. Concurrently, we employ a feature communication module to introduce perturbations at the feature level in each branch to maximize prediction diversity across the dual branches while maintaining convergence. Comprehensive evaluations of the proposed HDVS on two benchmark datasets (PASCAL VOC 2012 and Cityscapes) demonstrate its superiority to the state-of-the-art approaches.
Yongqi Shan, Lu Zhang, Jiazuo Yu, Yunzhi Zhuge, Huchuan Lu
Current 3D scene understanding pipelines typically concatenate vast numbers of 3D object tokens with text tokens and feed the resulting sequence to a Large Language Model (LLM). However, existing 3D-LLMs for scene understanding encounter two major limitations: (i) excessive inclusion of task-irrelevant object data, introducing noise that reduces reasoning accuracy and increases hallucinations; and (ii) reliance solely on point cloud data, which inherently lacks the rich semantic information available in complementary 2D modalities, such as color, material properties, texture, and high-level contextual relationships. To address these challenges, we introduce 3D-SceneQ, a 3D LLM that unifies adaptive token pruning with multimodal semantic enrichment, markedly advancing scene understanding, reasoning, and grounding. Specifically, we propose a Query-Guided Adaptive Pruning (QGAP) module that adaptively selects task-relevant objects based on the intended meaning of user instructions, leveraging a learnable latent query to retain critical information while effectively suppressing irrelevant noise. In addition, we introduce a Multi-modal Object-level Feature Enhancement (MOFE) module, which integrates 2D feature embeddings from pre-trained models into 3D representation to enrich object-level semantic information. Evaluations show that 3D-SceneQ outperforms current state-of-the-art methods across multiple benchmarks (e.g., +5.7 CIDEr on Scan2Cap and +17.0 EM@1 on SQA3D), demonstrating its remarkable capabilities in various 3D language reasoning tasks.
Bing Sun, Yue Lin, Canhui Wen, Xin Chen, Yang Liu, Dong Wang, Huchuan Lu
Dynamic target tracking requires a mobile robot to maintain target visibility while navigating obstacles with smooth, feasible controls. Online trajectory optimization explicitly encodes these objectives but requires repeated numerical solving, whereas waypoint-based neural policies separate geometric prediction from control execution. We introduce LECO, a framework that transfers tracking optimization into offline learning of a direct-control policy. LECO predicts control sequences and maps them to trajectories through a differentiable kinematic model, allowing trajectory-level objectives to directly guide control learning. A decaying expert-guidance curriculum initializes effective tracking behavior and progressively shifts learning toward these task objectives. At deployment, a predictive safety lock checks short-horizon obstacle clearance and invokes a classical planning and control fallback when the predicted motion is unsafe or the target prediction is invalid. Across three simulated obstacle densities, LECO reduces root-mean-square linear jerk by 14.1--31.2\% relative to the best competing method for this metric and achieves the highest tracking success rate, with per-cycle computation times of 4.25--5.63\,ms. Experiments on two robot platforms further demonstrate tracking through indoor narrow passages and outdoor forest environments. These results demonstrate that learning direct control from optimization enables smooth and robust dynamic target tracking.
In recent years, advanced image editing and generation methods have rapidly evolved, making detecting and locating forged image content increasingly challenging. Most existing image forgery detection methods rely on identifying the edited traces left in the image. However, because the traces of different forgeries are distinct, these methods can identify familiar forgeries included in the training data but struggle to handle unseen ones. In response, we present an approach for Generalizable Image Forgery Localization (GIFL). Once trained, our model can detect both seen and unseen forgeries, providing a more practical and efficient solution to counter false information in the era of generative AI. Our method focuses on learning general features from the pristine content rather than traces of specific forgeries, which are relatively consistent across different types of forgeries and therefore can be used as universal features to locate unseen forgeries. Additionally, as existing image forgery datasets are still dominated by traditional hand-crafted forgeries, we construct a new dataset consisting of images edited by various popular deep generative image editing methods to further encourage research in detecting images manipulated by deep generative models. Extensive experimental results show that the proposed approach outperforms state-of-the-art methods in the detection of unseen forgeries and also demonstrates competitive results for seen forgeries. The code and dataset are available at https://github.com/ZhaoHengrun/GIFL.
Jingjing Li University of Alberta, Yue Feng Nanjing University of Aeronautics and Astronautics, Yuchen Guo, Jincai Huang, Wei Ji Yale University, Qi Bi Utrecht University, Yongri Piao Dalian University of Technology, Miao Zhang Dalian University of Technology 等 13 位作者
Segment Anything Model 3 (SAM3) advances open-vocabulary segmentation through promptable concept segmentation, enabling users to segment all instances associated with a given concept using short noun-phrase (NP) prompts. While effective for concept-level grounding, real-world interactions often involve far richer natural-language instructions that combine attributes, relations, actions, states, or implicit reasoning. Currently, SAM3 relies on external multi-modal agents to convert complex instructions into NPs and conducts iterative mask filtering, leading to coarse representations and limited instance specificity. In this work, we present SAM3-I, an instruction-following extension of the SAM family that unifies concept-level grounding and instruction-level reasoning within a single segmentation framework. Built upon SAM3, SAM3-I introduces an instruction-aware cascaded adaptation mechanism with dedicated alignment losses that progressively aligns expressive instruction semantics with SAM3’s vision-language representations, enabling direct interpretation of natural-language instructions while preserving its strong concept recall ability. To enable instruction-following learning, we introduce HMPL-Instruct, a large-scale instruction-centric dataset that systematically covers hierarchical instruction semantics and diverse target granularities. Experiments demonstrate that SAM3-I achieves appealing performance across referring and reasoning-based segmentation, showing that SAM3 can be effectively extended to follow complex natural-language instructions without sacrificing its original concept-driven strengths. Code and dataset are available at https://github.com/debby-0527/SAM3-I.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表