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首次观测 · 记录 #1CVF · CVPR 2026:cvf:32982b8e54dbc3b1487bc5b64d4d78e4CVF · CVPR 2026

Learning to Select Visual Tools from Experience

Huang, Zeyi, Ji, Yuyang, Rajan, Anirudh Sundara, Cai, Zefan, Xiao, Wen, Wang, Haohan, Hu, Junjie, Lee, Yong Jae

原文摘要

We introduce VisualToolAgent (VisTA), a new reinforcement learning framework that empowers visual agents to dynamically explore, select, and compose tools from a diverse library based on empirical performance. Existing methods for tool-augmented visual reasoning either rely on training-free prompting or large-scale supervised fine-tuning; both lack active tool exploration and typically assume limited tool diversity, and fine-tuning methods additionally demand extensive human supervision. In contrast, VisTA leverages end-to-end reinforcement learning to iteratively refine sophisticated, query-specific tool selection strategies, guided solely by task outcomes. Leveraging reinforcement learning with verifiable rewards (RLVR), our framework enables an agent to autonomously discover effective tool-selection pathways without requiring explicit reasoning supervision. Experiments on the ChartQA, Geometry3K, MathVerse, and BlindTest benchmarks demonstrate that VisTA achieves significant performance gains over training-free and fine-tuning baselines, especially on out-of-distribution examples. These results highlight VisTA's ability to enhance generalization, adaptively utilize diverse tools, and pave the way for flexible, experience-driven visual reasoning systems.

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:5cd98792408b4a2916afd93456bd9330CVF · CVPR 2026

Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer

Xue, Haoru, He, Tairan, Wang, Zi, Ben, Qingwei, Xiao, Wenli, Luo, Zhengyi, Da, Xingye, Castañeda, Fernando 等 12 位作者

原文摘要

Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow policies to generalize beyond curated environments. Building on these advances, we develop a teacher-student-bootstrap learning framework for vision-based humanoid loco-manipulation, using articulated-object interaction as a representative high-difficulty benchmark. Our approach introduces a staged-reset exploration strategy that stabilizes long-horizon privileged-policy training, and a GRPO-based fine-tuning procedure designed to mitigate partial observability and improve closed-loop consistency in sim-to-real RL. Trained entirely on synthetic simulation data, the resulting policy achieves robust zero-shot performance across diverse articulated objects--including multiple door types--and outperforms human teleoperators by up to 31.7% in task completion time under the same whole-body control stack. This represents the first humanoid sim-to-real policy capable of diverse articulated loco-manipulation from pure RGB perception.

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:63ac78f299c0ce2dee5b9c1745786280CVF · CVPR 2026

CI-VID: A Coherent Interleaved Text-Video Dataset

Ju, Yiming, Hu, Jijin, Luo, Zhengxiong, Deng, Haoge, Zhao, hanyu, Du, Li, Xiao, Wenbo, Wu, Chengwei 等 11 位作者

原文摘要

Text-to-video (T2V) generation has recently attracted considerable attention, resulting in the development of numerous high-quality datasets that have propelled progress in this area. However, existing public datasets are primarily composed of isolated text-video (T-V) pairs and thus fail to model inter-clip relationships. To address this limitation, we introduce CI-VID, a dataset that moves beyond isolated T2V generation toward text-and-video-to-video (T&V2V) generation. CI-VID contains over 340,000 samples, each comprising a semantically coherent video sequence with interleaved text captions that capture both clip-level content and inter-clip relationships. To validate its effectiveness, we design a comprehensive, multi-dimensional benchmark incorporating human evaluation, VLM-based assessment, and similarity-based metrics. Experimental results demonstrate that models trained on CI-VID significantly improve both accuracy and content consistency in multi-clip video generation. This enables the creation of story-driven content with smooth transitions and strong semantic coherence.

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:66f0de25e496a2fbbc46576356e7605eCVF · CVPR 2026

MASQuant: Modality-Aware Smoothing Quantization for Multimodal Large Language Models

Hu, Lulu, Xiao, Wenhu, Chen, Xin, Xu, Xinhua, Xu, Bowen, Li, Kun, Tao, Yongliang

原文摘要

Post-training quantization (PTQ) with computational equivalence for Large Language Models (LLMs) have demonstrated remarkable advances, however, their application to Multimodal Large Language Models (MLLMs) presents substantial challenges. In this paper, we analyze SmoothQuant as a case study and identify two critical issues: Smoothing Misalignment and Cross-Modal Computational Invariance. To address these issues, we propose Modality-Aware Smoothing Quantization (MASQuant), a novel framework that introduces (1) Modality-Aware Smoothing (MAS), which learns separate, modality-specific smoothing factors to prevent Smoothing Misalignment, and (2) Cross-Modal Compensation (CMC), which addresses Cross-modal Computational Invariance by using SVD whitening to transform multi-modal activation differences into low-rank forms, enabling unified quantization across modalities. MASQuant demonstrates stable quantization performance across both dual-modal and tri-modal MLLMs. Experimental results show that MASQuant is competitive among the state-of-the-art PTQ algorithms.

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:ee4dd6419fe2edd3149348dd8217334cCVF · CVPR 2026

VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation

He, Tairan, Wang, Zi, Xue, Haoru, Ben, Qingwei, Luo, Zhengyi, Xiao, Wenli, Yuan, Ye, Da, Xingye 等 14 位作者

原文摘要

A key barrier to the real-world deployment of humanoid robots is the lack of autonomous loco-manipulation skills. We introduce VIRAL, a visual sim-to-real framework that learns humanoid loco-manipulation entirely in simulation and deploys it zero-shot to real hardware. VIRAL follows a teacher-student design: a privileged RL teacher, operating on full state, learns long-horizon loco-manipulation using a delta action space and reference state initialization. A vision-based student policy is then distilled from the teacher via large-scale simulation with tiled rendering, trained with a mixture of online DAgger and behavior cloning. We find that compute scale is critical: scaling simulation to tens of GPUs (up to 64) makes both teacher and student training reliable, while low-compute regimes often fail. To bridge the sim-to-real gap, VIRAL combines large-scale visual domain randomization--over lighting, materials, camera parameters, image quality, and sensor delays--with real-to-sim alignment of the dexterous hand and cameras. Deployed on a Unitree G1 humanoid, the resulting RGB-based policy performs continuous loco-manipulation for up to 54 cycles, generalizing to diverse spatial and appearance variations without any real-world fine-tuning, and approaching expert-level teleoperation performance. Extensive ablations dissect the key design choices required to make RGB-based humanoid loco-manipulation work in practice.

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 ↗