Test-Time Adaptation (TTA) is essential for enabling deep learning models to handle real-world data distribution shifts. However, current approaches face significant limitations: backpropagation-based methods are not suitable for low-end deployment devices, due to their high computation and memory requirements, as well as their tendency to modify model weights during adaptation; while traditional backpropagation-free techniques exhibit constrained adaptation capabilities. In this work, we propose Forward-Only Zeroth-Order Optimization (FOZO), a novel and practical backpropagation-free paradigm for TTA. FOZO leverages a memory-efficient zeroth-order prompt optimization, which is led by objectives optimizing both intermediate feature statistics and prediction entropy. To ensure efficient and stable adaptation over the out-of-distribution data stream, we introduce a dynamically decaying perturbation scale during zeroth-order gradient estimation and theoretically prove its convergence under the TTA data stream assumption. Extensive continual adaptation experiments on ImageNet-C, ImageNet-R, and ImageNet-Sketch demonstrate FOZO's superior performance, achieving 59.52% Top-1 accuracy on ImageNet-C (5K, level 5) and outperforming main gradient-based methods and SOTA forward-only FOA (58.13%). Furthermore, FOZO exhibits strong generalization on quantized (INT8) models. These findings demonstrate that FOZO is a highly competitive solution for TTA deployment in resource-limited scenarios. Code: https://github.com/eVI-group-SCU/FOZO
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Recent advances in visuomotor policy learning have enabled robots to perform control directly from visual inputs. Yet, extending such end-to-end learning from single-arm to bimanual manipulation remains challenging due to the need for both independent perception and coordinated interaction between arms. Existing methods typically favor one side--either decoupling the two arms to avoid interference or enforcing strong cross-arm coupling for coordination--thus lacking a unified treatment. We propose CUBic, a Coordinated and Unified framework for Bimanual perception and control that reformulates bimanual coordination as a unified perceptual modeling problem. CUBic learns a shared tokenized representation bridging perception and control, where independence and coordination emerge intrinsically from structure rather than from hand-crafted coupling. Our approach integrates three components: unidirectional perception aggregation, bidirectional perception coordination through two codebooks with shared mapping, and a unified perception-to-control diffusion policy. Extensive experiments on the RoboTwin benchmark show that CUBic consistently surpasses standard baselines, achieving marked improvements in coordination accuracy and task success rates over state-of-the-art visuomotor baselines.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Restoring degraded document image is essential for both improving visual quality and optimizing performance in downstream document analysis tasks. Although existing methods have demonstrated substantial improvements in restoration outcomes, they primarily address single-type degradation scenarios. Current approaches typically necessitate training multiple specialized models for specific degradation types or rely on explicit prior knowledge of degradation patterns to guide the training process. To overcome these limitations, we propose MMDIR, a multimodal instruction-driven framework designed for document image restoration under mixed and uncertain degradation conditions. By leveraging semantically structured instructions, MMDIR dynamically identifies present degradation types (blur, shadow, text watermark, and seal), while enhancing degradation-aware representation learning. Furthermore, we introduce a novel benchmark named MixedDoc comprising complex mixed degradations, where each image contains randomized combinations of the aforementioned types. This benchmark addresses a critical gap in existing datasets, which lack realistic multi-degradation samples and often overlook common obstructions such as seals and text watermarks. The effectiveness of our approach is thoroughly validated across both released public benchmarks and our newly proposed dataset. The dataset is available at https://github.com/xiaomore/MMDIR.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表