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首次观测 · 记录 #1CVF · CVPR 2026:cvf:1002377e51dddeabc8daf565d4e25b3dCVF · CVPR 2026

RoboWheel: A Data Engine from Real-World Human Demonstrations for Cross-Embodiment Robotic Learning

Zhang, Yuhong, Gao, Zihan, Li, Shengpeng, Chen, Ling-Hao, Liu, Kaisheng, Cheng, Runqing, Lin, Xiao, Liu, Junjia 等 15 位作者

原文摘要

We introduce Robowheel, a data engine that converts human hand-object interaction (HOI) videos into training-ready supervision for cross-morphology robotic learning. From monocular RGB/RGB-D inputs, we perform high-precision HOI reconstruction and enforce physical plausibility via a reinforcement learning (RL) optimizer that refines hand-object relative poses under contact and penetration constraints. The reconstructed, contact-rich trajectories are then retargeted to cross-embodiments, robot arms with simple end-effectors, dexterous hands, and humanoids, yielding executable actions and rollouts. To scale coverage, we build a simulation-augmented framework on Isaac Sim with diverse domain randomization (embodiments, trajectories, object retrieval, background textures, hand motion mirroring), which enriches the distributions of trajectories and observations while preserving spatial relationships and physical plausibility. The entire data pipeline forms an end-to-end pipeline from video - reconstruction - retargeting - augmentation - data acquisition.We validate the data on mainstream vision-language-action (VLA) and imitation learning architectures, demonstrating that trajectories produced by our pipeline are as stable as those from teleoperation and yield comparable continual performance gains. To our knowledge, this provides the first quantitative evidence that HOI modalities can serve as effective supervision for robotic learning. Compared with teleoperation, Robowheel is lightweight: a single monocular RGB(D) camera is sufficient to extract a universal, embodiment-agnostic motion representation that could be flexibly retargeted across embodiments. We further assemble a large-scale multimodal dataset combining multi-camera captures, monocular videos, and public HOI corpora for training and evaluating embodied models.

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:29988a32956dc40abcd2900dfdac4050CVF · CVPR 2026

CASR: A Robust Cyclic Framework for Arbitrary Large-Scale Super-Resolution with Distribution Alignment and Self-Similarity Awareness

Guo, Wenhao, Zhao, Zhaoran, Lu, Peng, Li, Sheng, Qiao, Qian, Li, RuiDe

原文摘要

Arbitrary-Scale SR (ASISR) remains fundamentally limited by cross-scale distribution shift: once the inference scale leaves the training range, noise, blur, and artifacts accumulate sharply. We revisit this challenge from a cross-scale distribution transition perspective and propose CASR, a simple yet highly efficient cyclic SR framework that reformulates ultra-magnification as a sequence of in-distribution scale transitions. This design ensures stable inference at arbitrary scales while requiring only a single model. CASR tackles two major bottlenecks: distribution drift across iterations and patch-wise diffusion inconsistencies. The proposed SSAM module aligns structural distributions via superpixel aggregation, preventing error accumulation, while SARM module restores high-frequency textures by enforcing correlation-guided consistency and preserving self-similarity structure through correlation alignment. Despite using only a single model, our approach significantly reduces distribution drift, preserves long-range texture consistency, and achieves superior generalization even at extreme magnification.

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:513376cd28071e9b291c66373e2827ceCVF · CVPR 2026

Bridging Privacy and Provenance: Traceable Virtual Identity Generation

Zeng, Xianhan, Hu, Xiaoxiao, Li, Sheng, Qian, Zhenxing, Zhang, Xinpeng

原文摘要

Recent advances in generative models have enabled the creation of high-fidelity human faces, yet constructing reliable virtual identities that preserve user privacy while supporting consistent and verifiable identity assignment remains challenging. In this paper, we propose a diffusion-based framework for generating traceable virtual identities that maintains stable identity semantics while preserving pose and expression. Our framework couples a virtual identity sampler that generates diverse yet consistent identity embeddings with a 3D geometric and expression conditioning module that preserves the pose and non-identity characteristics of the input face. In addition, we incorporate a lightweight latent watermarking mechanism that embeds an imperceptible identity signature during generation, enabling a user to verify ownership of the resulting virtual identity through a secure token without revealing their real facial appearance. Quantitative evaluations demonstrate that our method achieves high virtual identity consistency, strong pose and expression fidelity, and improved anonymity compared with prior works. These results validate the effectiveness of integrating virtual identity sampling, geometric conditioning, and latent watermarking into a single generative framework, and highlight the practical potential of our solution for constructing privacy-aware virtual identities.

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:7e3cde56560b107b54a9250094fc98d6CVF · CVPR 2026

DriveCombo: Benchmarking Compositional Traffic Rule Reasoning in Autonomous Driving

Ma, Enhui, Zhang, Jiahuan, Zheng, Guantian, Tang, Tao, Li, Shengbo Eben, Lu, Yuhang, Zhou, Xia, Zhang, Xueyang 等 13 位作者

原文摘要

Multimodal Large Language Models (MLLMs) are rapidly becoming the intelligence brain of end-to-end autonomous driving systems. A key challenge is to assess whether MLLMs can truly understand and follow complex real-world traffic rules. However, existing benchmarks mainly focus on single-rule scenarios like traffic sign recognition, neglecting the complexity of multi-rule concurrency and conflicts in real driving. Consequently, models perform well on simple tasks but often fail or violate rules in real world complex situations. To bridge this gap, we propose DriveCombo, a text and vision-based benchmark for compositional traffic rule reasoning. Inspired by human drivers' cognitive development, we propose a systematic Five-Level Cognitive Ladder that evaluates reasoning from single-rule understanding to multi-rule integration and conflict resolution, enabling quantitative assessment across cognitive stages. We further propose a Rule2Scene Agent that maps language-based traffic rules to dynamic driving scenes through rule crafting and scene generation, enabling scene-level traffic rule visual reasoning. Evaluations of 14 mainstream MLLMs reveal a pronounced decline in performance as task difficulty increases, especially in the rule conflict resolution task. After splitting the dataset and fine-tuning on the training set, we further observe substantial improvements in both traffic rule reasoning and downstream planning capabilities. These results highlight the effectiveness of DriveCombo in advancing compliant and intelligent autonomous driving systems.

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:8f165cd8d386189b6eeab1ff0226849aCVF · CVPR 2026

CoRoGS: Contextual Gaussian Splatting for Robust Large-Deviation View Synthesis

Ma, Xin, Lu, Peng, Chen, Yisong, Pan, Chengwei, Li, Sheng

原文摘要

Novel view synthesis (NVS) under large view deviations remains an underexplored challenge for 3D Gaussian Splatting (3DGS). In urban scenes with limited training coverage, models often fail to maintain geometric consistency when extrapolating to unseen viewpoints, resulting in severe distortions and degraded rendering quality. We introduce Context-Aware Gaussian Splatting (CoRoGS), a Context-aware framework for Robust large-deviation novel view synthesis (LD-NVS) that embeds contextual reasoning into 3DGS. Instead of treating Gaussians as independent primitives, CoRoGS adopts a contextual formulation that explicitly models inter-Gaussian dependencies. This representation is implemented by constructing a 3D Gaussian graph, which propagates relational geometry and semantics via message passing, resulting in context-aware Gaussian updates. To further maintain structural consistency under substantial view deviation, we incorporate a progressive graph expansion strategy that adaptively grows and prunes Gaussians, leading to more coherent and complete scene reconstructions. Extensive experiments demonstrate that CoRoGS outperforms state-of-the-art 3DGS-based methods, producing higher-quality results. We highlight that CoRoGS robustly handles a wide range of view shifts, including lateral deviations (e.g., lane-level offsets) and cross-level transitions such as from ground-level driving views to elevated perspectives.

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:b4c73c8e8ff7b6a4fe3d5ba1408cad62CVF · CVPR 2026

Content-Aware Dynamic Patchification for Efficient Video Diffusion

Li, Sheng, Barnes, Connelly, Rizve, Mamshad Nayeem, Peng, Hongwu, Li, Zhengang, Dibua, Ohi, Ganjdanesh, Alireza, Tang, Xulong 等 10 位作者

原文摘要

Diffusion Transformers (DiTs) achieve strong video generation performance but suffer from prohibitive computation cost due to dense spatiotemporal tokenization. Most existing works rely on uniform patchification, tokenizing non-overlapping spatiotemporal with a fixed patch size regardless of the underlying content. This content-agnostic tokenization results in substantial redundant computation, especially in visually simple or static areas. To address this inefficiency while preserving the video generation quality, we propose DynaPatch, a fine-grained dynamic patchification framework that adaptively selects patch sizes for each spatiotemporal region based on content complexity. A lightweight router predicts patch sizes directly from the latents encoded by 3D Variational Autoencoder (VAE), and is jointly optimized with the diffusion model through diffusion loss, an attention-guided saliency alignment loss, and a token-budget regularizer. Learnable patchify/unpatchify layers integrate seamlessly with standard DiT backbones, allowing flexible tokenization without architectural changes. Experiments demonstrate that DynaPatch can effectively reduce redundant computations while preserving fine details, achieving 1.3-1.8x acceleration with minimal quality degradation. On VBench, DynaPatch attains a Total Score of 83.42 at 30% token reduction, significantly outperforming prior patchification and token pruning approaches. These results indicate that content-aware patchification offers an effective direction for efficient and scalable video diffusion. Project page: https://shengli99.github.io/DynaPatch/.

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:cc0a87d8e64aca532a9d8df18ab152e4CVF · CVPR 2026

F$^2$-Assist: Multi-Phase Fetal Growth Forecast and Report Generation from Ultrasound Examination

Pu, Bin, Liang, Xusheng, Ding, Xinpeng, Wu, Jinlin, Lei, Zhen, Li, Shengli, Li, Kenli, Ma, Jiawei

原文摘要

Forecasting fetal growth from sequential ultrasound examinations is essential for personalized prenatal care. Existing medical vision-language models (MLLMs) are limited to single-phase/organ evaluations and qualitative reasoning, neglecting longitudinal history and precise continuous biometric values. To address this gap, we introduce the novel task of multi-phase fetal growth forecasting and report generation. To support this task, we first present GrowthFetus, the interesting multi-phase, multi-organ fetal ultrasound dataset to date, containing 9,280 examinations from 2,000 fetuses. Based on this dataset, we propose F^2-Assist, a unified MLLM framework with three key components: (i) a Cross-Phase Organ Alignment module for for heterogeneous multi-organ feature fusion across phases, (ii) a History-Aware Temporal Encoding module for modeling irregular temporal dynamics, and (iii) a Growth Parameter Adapter that encodes continuous biometric values as differentiable tokens for numerically precise reasoning. Extensive experiments show that F^2-Assist achieves temporally coherent predictions and clinically consistent reports, significantly outperforming state-of-the-art MLLMs. Our study establishes a practical framework for longitudinal ultrasound analysis, bridging growth forecasting and report generation in a unified model.

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 ↗