98 accepted papers
Recent advances in Vision-Language Models (VLMs) have propelled embodied agents by enabling direct perception, reasoning, and planning task-oriented actions from visual inputs. However, such vision-driven embodied agents open a new attack surface: visual backdoor attacks, where the agent behaves no…
The choice of visual representation is key to scaling generalist robot policies. However, direct evaluation via policy rollouts is expensive, even in simulation. Existing proxy metrics focus on the representation's capacity to capture narrow aspects of the visual world, like object shape, limiting g…
Synthesizing human motion has advanced rapidly, yet realistic hand motion and bimanual interaction remain underexplored. Whole-body models often miss the fine-grained cues that drive dexterous behavior, finger articulation, contact timing, and inter-hand coordination, and existing resources lack hig
Humans rarely plan whole-body interactions with objects at the level of explicit whole-body movements. High-level intentions, such as affordance, define the goal, while coordinated balance, contact, and manipulation can emerge naturally from underlying physical and motor priors. Scaling such priors
Imitation Learning (IL) enables agents to mimic expert behavior by learning from demonstrations. However, traditional IL methods require large amounts of medium-to-high-quality demonstrations as well as actions of expert demonstrations, both of which are often unavailable. To reduce this need, we pr…
To act in the world, a model must name what it sees and know where it is in 3D. Today's vision-language models excel at open-ended 2D description and grounding, yet multi-object 3D detection remains largely missing from the VLM toolbox. We present LocateAnything3D, a VLM-native recipe that casts 3D
Latent reasoning has emerged as a powerful alternative to text-based Chain-of-Thought (CoT), offering significant gains in computational efficiency by compressing verbose reasoning into compact embeddings. However, compressing reasoning into the latent space renders the thinking opaque, hindering it…
Generating realistic human-object interaction (HOI) animations remains challenging because it requires jointly modeling dynamic human actions and diverse object geometries. Prior diffusion-based approaches often rely on handcrafted contact priors or human-imposed kinematic constraints to improve con…
The transformative potential of 3D content creation has been progressively unlocked through advancements in generative models. Recently, intuitive drag editing with geometric changes has attracted significant attention in 2D editing yet remains challenging for 3D scenes. In this paper, we introduce…
We present **AgMMU**, a challenging real‑world benchmark for evaluating and advancing vision-language models (VLMs) in the knowledge‑intensive domain of agriculture. Unlike prior datasets that rely on crowdsourced prompts, AgMMU is distilled from 116,231 authentic dialogues between everyday growers…
With success in image generation, generative diffusion models are increasingly adopted for discriminative scenarios because generating pixels is a unified and natural perception interface. Although directly re-purposing their generative denoising process has established promising progress in special…
Recent advances in multimodal large language models (MLLMs) have demonstrated remarkable capabilities in vision-language tasks, yet they often struggle with vision-centric scenarios where precise visual focus is needed for accurate reasoning. In this paper, we introduce Argus to address these limita…
Hand–object motion-capture (MoCap) repositories provide abundant, contact-rich human demonstrations for scaling dexterous manipulation on robots. Yet demonstration inaccuracy and embodiment gaps between human and robot hands challenge direct policy learning. Existing pipelines adapt a three-stage wo…
Beyond high-fidelity image synthesis, diffusion models have recently exhibited promising results in dense visual perception tasks. However, most existing work treats diffusion models as a standalone component for perception tasks, employing them either solely for off-the-shelf data augmentation or a…
Recent advancements in 3D object reconstruction from single images have primarily focused on improving the accuracy of object shapes. Yet, these techniques often fail to accurately capture the inter-relation between the object, ground, and camera. As a result, the reconstructed objects often appear…
While large-scale human motion capture datasets have advanced human motion generation, modeling and generating dynamic 3D human-object interactions (HOIs) remain challenging due to dataset limitations. Existing datasets often lack extensive, high-quality motion and annotation and exhibit artifacts s…
Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate human-object coupling, variability in object geometries, and artif…
The fundamental challenge of long video understanding, e.g., question answering, lies in the extensive number of frames, making it infeasible to densely understand the local details while comprehensively digest the global contexts, especially within a limited context length. To address this problem,…
Long video understanding is inherently challenging for vision-language models (VLMs) because of the extensive number of frames. With each video frame typically expanding into tens or hundreds of tokens, the limited context length of large language models (LLMs) forces the VLMs to perceive the frames…
A generalist foundation model agent needs to have a large and diverse skill repertoire, such as finding directions between two travel locations and buying specific items from the Internet. If each skill needs to be specified manually through a fixed set of human-annotated instructions, the agent’s s…
In offline reinforcement learning (RL), managing the distribution shift between the learned policy and the static offline dataset is a persistent challenge that can result in overestimated values and suboptimal policies. Traditional offline RL methods address this by introducing conservative biases…
We introduce RandAR, a decoder-only visual autoregressive (AR) model capable of generatng images in arbitrary token orders. Unlike previous decoder-only AR models that rely on a predefined generation order, RandAR removes this inductive bias, unlocking new capabilities in decoder-only generation. Ou…
Recent image segmentation models have advanced to segment images into high-quality masks for visual entities, and yet they cannot provide comprehensive semantic understanding for complex queries based on both language and vision. This limitation reduces their effectiveness in applications that requi…
We present REM, a framework for segmenting a wide range of concepts in video that can be described through natural language. Our method leverages the universal visual-language mapping learned by video diffusion models on Internet-scale data by fine-tuning them on small-scale Referring Object Segment…
Foundation models have recently shown strong potential as web agents, capable of interpreting high-level instructions and interacting with complex web interfaces. However, existing training paradigms for these agents often rely on predefined task datasets and curated demonstrations, limiting their s…
Vision Foundation Models (VFMs) have demonstrated outstanding performance on numerous downstream tasks. However, due to their inherent representation biases originating from different training paradigms, VFMs exhibit advantages and disadvantages across distinct vision tasks. Although amalgamating th…
This paper proposes Virtual Fitting Room (VFR), a novel video generative model that produces arbitrarily long virtual try-on videos. Our VFR models long video generation tasks as an auto-regressive, segment-by-segment generation process, eliminating the need for resource-intensive generation and len…
Adapting visual programming or prompting large language models (LLMs) to generate executable code for visual tasks like visual question answering (VQA) for specialized tasks or domains remains challenging due to high annotation and inference costs. We propose a low-cost visual program distillation m
Training autonomous agents with sparse rewards is a long-standing problem in online reinforcement learning (RL), due to low data efficiency. Prior work overcomes this challenge by extracting useful knowledge from offline data, often accomplished through the learning of action distribution from offli…
"Text-to-image diffusion models have shown remarkable success in synthesizing photo-realistic images. Apart from creative applications, can we use such models to synthesize samples that aid the few-shot training of discriminative models? In this work, we propose AlignDiff, a general framework for sy…
Large Multimodal Models (LMM) are built across modalities and the misalignment between two modalities can result in “hallucination”, generating textual outputs that are not grounded by the multimodal information in context. To address the multimodal misalignment issue, we adapt the Reinforcement Lea…
This paper proposes ConsistDreamer - a novel framework that lifts 2D diffusion models with 3D awareness and 3D consistency thus enabling high-fidelity instruction-guided scene editing. To overcome the fundamental limitation of missing 3D consistency in 2D diffusion models our key insight is to intro…
This paper reveals that large language models (LLMs), despite being trained solely on text data, are surprisingly}strong encoders for purely visual tasks in the absence of language. Even more intriguingly, this can be achieved by a simple yet previously overlooked strategy -- employing a frozen tran…
This paper proposes Instruct 4D-to-4D that achieves 4D awareness and spatial-temporal consistency for 2D diffusion models to generate high-quality instruction-guided dynamic scene editing results. Traditional applications of 2D diffusion models in dynamic scene editing often result in inconsistency…
In this paper, we approach an overlooked yet critical task Graph2Image: generating images from multimodal attributed graphs (MMAGs). This task poses significant challenges due to the explosion in graph size, dependencies among graph entities, and the need for controllability in graph conditions. To…
Text-conditioned human motion generation has experienced significant advancements with diffusion models trained on extensive motion capture data and corresponding textual annotations. However, extending such success to 3D dynamic human-object interaction (HOI) generation faces notable challenges, pr…
While language models (LMs) have shown potential across a range of decision-making tasks, their reliance on simple acting processes limits their broad deployment as autonomous agents. In this paper, we introduce Language Agent Tree Search (LATS) -- the first general framework that synergizes the cap…
Complex 3D scene understanding has gained increasing attention, with scene encoding strategies built on top of visual foundation models playing a crucial role in this success. However, the optimal scene encoding strategies for various scenarios remain unclear, particularly compared to their image-ba…
In real-world scenarios, arbitrary interactions with the environment can often be costly, and actions of expert demonstrations are not always available. To reduce the need for both, offline Learning from Observations (LfO) is extensively studied: the agent learns to solve a task given only expert st…
This paper proposes ProEdit - a simple yet effective framework for high-quality 3D scene editing guided by diffusion distillation in a novel progressive manner. Inspired by the crucial observation that multi-view inconsistency in scene editing is rooted in the diffusion model’s large feasible output…
With recent video object segmentation (VOS) benchmarks evolving to challenging scenarios we revisit a simple but overlooked strategy: restricting the size of memory banks. This diverges from the prevalent practice of expanding memory banks to accommodate extensive historical information. Our special…
We investigate whether region-based representations are effective for recognition. Regions were once a mainstay in recognition approaches but pixel and patch-based features are now used almost exclusively. We show that recent class-agnostic segmenters like SAM can be effectively combined with strong…
Decision Transformers have recently emerged as a new and compelling paradigm for offline Reinforcement Learning (RL), completing a trajectory in an autoregressive way. While improvements have been made to overcome initial shortcomings, online finetuning of decision transformers has been surprisingl…
Protein design, a grand challenge of the day, involves optimization on a fitness landscape, and leading methods adopt a model-based approach where a model is trained on a training set (protein sequences and fitness) and proposes candidates to explore next. These methods are challenged by sparsity of…
Open-world entity segmentation, as an emerging computer vision task, aims at segmenting entities in images without being restricted by pre-defined classes, offering impressive generalization capabilities on unseen images and concepts. Despite its promise, existing entity segmentation methods like Se…
The creation of complex 3D scenes tailored to user specifications has been a tedious and challenging task with traditional 3D modeling tools. Although some pioneering methods have achieved automatic text-to-3D generation, they are generally limited to small-scale scenes with restricted control over…
Being able to carry out complicated vision language reasoning tasks in 3D space represents a significant milestone in developing household robots and human-centered embodied AI. In this work we demonstrate that a critical and distinct challenge in 3D vision language reasoning is the situational awar…
The limited scale of current 3D shape datasets hinders the advancements in 3D shape understanding and motivates multi-modal learning approaches which transfer learned knowledge from data-abundant 2D image and language modalities to 3D shapes. However even though the image and language representation…
Offline imitation from observations aims to solve MDPs where only task-specific expert states and task-agnostic non-expert state-action pairs are available. Offline imitation is useful in real-world scenarios where arbitrary interactions are costly and expert actions are unavailable. The state-of-th…
Integrating multiple sensors and addressing diverse tasks in an end-to-end algorithm are challenging yet critical topics for autonomous driving. To this end, we introduce BEVGuide, a novel Bird's Eye-View (BEV) representation learning framework, representing the first attempt to unify a wide range o…
Though self-supervised contrastive learning (CL) has shown its potential to achieve state-of-the-art accuracy without any supervision, its behavior still remains under investigated by academia. Different from most previous work that understands CL from learning objectives, we focus on an unexplored…
Object detectors often suffer from the domain gap between training (source domain) and real-world applications (target domain). Mean-teacher self-training is a powerful paradigm in unsupervised domain adaptation for object detection, but it struggles with low-quality pseudo-labels. In this work, we…
We propose a conceptually simple and lightweight framework for improving the robustness of vision models through the combination of knowledge distillation and data augmentation. We address the conjecture that larger models do not make for better teachers by showing strong gains in out-of-distributio…
Closing the domain gap between training and deployment and incorporating multiple sensor modalities are two challenging yet critical topics for self-driving. Existing work only focuses on single one of the above topics, overlooking the simultaneous domain and modality shift which pervasively exists…
The human visual perception system demonstrates exceptional capabilities in learning without explicit supervision and understanding the part-to-whole composition of objects. Drawing inspiration from these two abilities, we propose Hierarchical Adaptive Self-Supervised Object Detection (HASSOD), a no…
Dense depth and surface normal predictors should possess the equivariant property to cropping-and-resizing -- cropping the input image should result in cropping the same output image. However, we find that state-of-the-art depth and normal predictors, despite having strong performances, surprisingly…
This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or static objects. Our task is significantly more challenging, as…
Resource-constrained perception systems such as edge computing and vision-for-robotics require vision models to be both accurate and lightweight in computation and memory usage. While knowledge distillation is a proven strategy to enhance the performance of lightweight classification models, its app…
While bird's-eye-view (BEV) perception models can be useful for building high-definition maps (HD-Maps) with less human labor, their results are often unreliable and demonstrate noticeable inconsistencies in the predicted HD-Maps from different viewpoints. This is because BEV perception is typically…
Multi-task visual learning is a critical aspect of computer vision. Current research, however, predominantly concentrates on the multi-task dense prediction setting, which overlooks the intrinsic 3D world and its multi-view consistent structures, and lacks the capacity for versatile imagination. In…
This paper proposes NeuralEditor that enables neural radiance fields (NeRFs) natively editable for general shape editing tasks. Despite their impressive results on novel-view synthesis, it remains a fundamental challenge for NeRFs to edit the shape of the scene. Our key insight is to exploit the exp…
Object discovery -- separating objects from the background without manual labels -- is a fundamental open challenge in computer vision. Previous methods struggle to go beyond clustering of low-level cues, whether handcrafted (e.g., color, texture) or learned (e.g., from auto-encoders). In this work,…
Depth completion, which aims to generate high-quality dense depth maps from sparse depth maps, has attracted increasing attention in recent years. Previous work usually employs RGB images as guidance, and introduces iterative spatial propagation to refine estimated coarse depth maps. However, most o…
This work proposes an end-to-end multi-camera 3D multi-object tracking (MOT) framework. It emphasizes spatio-temporal continuity and integrates both past and future reasoning for tracked objects. Thus, we name it "Past-and-Future reasoning for Tracking" (PF-Track). Specifically, our method adapts th…
This paper aims to deal with the ignored real-world complexities in prior work on human motion forecasting, emphasizing the social properties of multi-person motion, the diversity of motion and social interactions, and the complexity of articulated motion. To this end, we introduce a novel task of s…
Trajectory forecasting is a widely-studied problem for autonomous navigation. However, existing benchmarks evaluate forecasting based on independent snapshots of trajectories, which are not representative of real-world applications that operate on a continuous stream of data. To bridge this gap, we…
We introduce ViCA-NeRF, the *first* view-consistency-aware method for 3D editing with text instructions. In addition to the implicit neural radiance field (NeRF) modeling, our key insight is to exploit two sources of regularization that *explicitly* propagate the editing information across different…
Daily objects commonly experience state changes. For example, slicing a cucumber changes its state from whole to sliced. Learning about object state changes in Video Object Segmentation (VOS) is crucial for understanding and interacting with the visual world. Conventional VOS benchmarks do not consi…
The healthcare and AI communities have witnessed a growing interest in the development of AI-assisted systems for automated diagnosis of Parkinson's Disease (PD), one of the most prevalent neurodegenerative disorders. However, the progress in this area has been significantly impeded by the absence o…
Although reinforcement learning has found widespread use in dense reward settings, training autonomous agents with sparse rewards remains challenging. To address this difficulty, prior work has shown promising results when using not only task-specific demonstrations but also task-agnostic albeit som…
Lifelong learners must recognize concept vocabularies that evolve over time. A common yet underexplored scenario is learning with class labels that continually refine/expand old classes. For example, humans learn to recognize ${\tt dog}$ before dog breeds. In practical settings, dataset ${\it versio…
DIVeR builds on the key ideas of NeRF and its variants -- density models and volume rendering -- to learn 3D object models that can be rendered realistically from small numbers of images. In contrast to all previous NeRF methods, DIVeR uses deterministic rather than stochastic estimates of the volum…
This paper studies the problem of object discovery -- separating objects from the background without manual labels. Existing approaches utilize appearance cues, such as color, texture, and location, to group pixels into object-like regions. However, by relying on appearance alone, these methods fail…
"Predicting diverse human motions given a sequence of historical poses has received increasing attention. Despite rapid progress, existing work captures the multi-modal nature of human motions primarily through likelihood-based sampling, where the mode collapse has been widely observed. In this pape…
In LiDAR-based 3D object detection for autonomous driving, the ratio of the object size to input scene size is significantly smaller compared to 2D detection cases. Overlooking this difference, many 3D detectors directly follow the common practice of 2D detectors, which downsample the feature maps e…
Generative modeling has recently shown great promise in computer vision, but it has mostly focused on synthesizing visually realistic images. In this paper, motivated by multi-task learning of shareable feature representations, we consider a novel problem of learning a shared generative model that i…
In the real open world, data tends to follow long-tailed class distributions, motivating the well-studied long-tailed recognition (LTR) problem. Naive training produces models that are biased toward common classes in terms of higher accuracy. The key to addressing LTR is to balance various aspects i…
Learning accurate classifiers for novel categories from very few examples, known as few-shot image classification, is a challenging task in statistical machine learning and computer vision. The performance in few-shot classification suffers from the bias in the estimation of classifier parameters; h…
"Being able to learn an effective semantic representation directly on raw point clouds has become a central topic in 3D understanding. Despite rapid progress, state-of-the-art encoders are restrictive to canonicalized point clouds, and have weaker than necessary performance when encountering geometr…
We propose a novel task of joint few-shot recognition and novel-view synthesis: given only one or few images of a novel object from arbitrary views with only category annotation, we aim to simultaneously learn an object classifier and generate images of that type of object from new viewpoints. While…
This paper presents a detection-aware pre-training (DAP) approach, which leverages only weakly-labeled classification-style datasets (e.g., ImageNet) for pre-training, but is specifically tailored to benefit object detection tasks. In contrast to the widely used image classification-based pre-traini…
Learning to detect novel objects with a few instances is challenging. A particularly challenging but practical regime is the extremely-low-shot regime (less than three training examples). One critical factor in improving few-shot detection is to handle the lack of variation in training data. The cla…
Training on datasets with long-tailed distributions has been challenging for major recognition tasks such as classification and detection. To deal with this challenge, image resampling is typically introduced as a simple but effective approach. However, we observe that long-tailed detection differs…
Learning to hallucinate additional examples has recently been shown as a promising direction to address few-shot learning tasks. This work investigates two important yet overlooked natural supervision signals for guiding the hallucination process -- (i) extrinsic: classifiers trained on hallucinated…
Few-shot classification aims at classifying categories of a novel task by learning from just a few (typically, 1 to 5) labeled examples. An effective approach to few-shot classification involves a prior model trained on a large-sample base domain, which is then finetuned over the novel few-shot task…
We present a novel semi-supervised semantic segmentation method which jointly achieves two desiderata of segmentation model regularities: the label-space consistency property between image augmentations and the feature-space contrastive property among different pixels. We leverage the pixel-level L2…
Embodied perception refers to the ability of an autonomous agent to perceive its environment so that it can (re)act. The responsiveness of the agent is largely governed by latency of its processing pipeline. While past work has studied the algorithmic trade-off between latency and accuracy, there ha…
Humans can robustly learn novel visual concepts even when images undergo various deformations and loose certain information. Mimicking the same behavior and synthesizing deformed instances of new concepts may help visual recognition systems perform better one-shot learning, i.e., learning concepts f…
One of the key limitations of modern deep learning approaches lies in the amount of data required to train them. Humans, by contrast, can learn to recognize novel categories from just a few examples. Instrumental to this rapid learning ability is the compositional structure of concept representation…
Few-shot learning, i.e., learning novel concepts from few examples, is fundamental to practical visual recognition systems. While most of existing work has focused on few-shot classification, we make a step towards few-shot object detection, a more challenging yet under-explored task. We develop a c…
We explore an approach to forecasting human motion in a few milliseconds given an input 3D skeleton sequence based on a recurrent encoder-decoder framework. Current approaches suffer from the problem of prediction discontinuities and may fail to predict human-like motion in longer time horizons due…
Human motion prediction, forecasting human motion in a few milliseconds conditioning on a historical 3D skeleton sequence, is a long-standing problem in computer vision and robotic vision. Existing forecasting algorithms rely on extensive annotated motion capture data and are brittle to novel action…
Humans can quickly learn new visual concepts, perhaps because they can easily visualize or imagine what novel objects look like from different views. Incorporating this ability to hallucinate novel instances of new concepts might help machine vision systems perform better low-shot learning, i.e., le…
Teaching a robot to predict and mimic how a human moves or acts in the near future by observing a series of historical human movements is a crucial first step in human-robot interaction and collaboration. In this paper, we instrument a robot with such a prediction ability by leveraging recent deep l…
CNNs have made an undeniable impact on computer vision through the ability to learn high-capacity models with large annotated training sets. One of their remarkable properties is the ability to transfer knowledge from a large source dataset to a (typically smaller) target dataset. This is usually ac…
We describe an approach to learning from long-tailed, imbalanced datasets that are prevalent in real-world settings. Here, the challenge is to learn accurate "few-shot'' models for classes in the tail of the class distribution, for which little data is available. We cast this problem as transfer le…
This work explores CNNs for the recognition of novel categories from few examples. Inspired by the transferability properties of CNNs, we introduce an additional unsupervised meta-training stage that exposes multiple top layer units to a large amount of unlabeled real-world images. By encouraging th…
In this paper, we explore an approach to generating detectors that is radically different from the conventional way of learning a detector from a large corpus of annotated positive and negative data samples. Instead, we assume that we have evaluated ''off-line'' a large library of detectors against…