46 accepted papers
Panoramic semantic segmentation is pivotal for comprehensive 360deg scene understanding in critical applications like autonomous driving and virtual reality. However, progress in this domain is constrained by two key challenges: the severe geometric distortions inherent in panoramic projections and
3D open-vocabulary scene understanding, which accurately perceives complex semantic properties of objects in space, has gained significant attention in recent years. In this paper, we propose GAGS, a framework that distills 2D CLIP features into 3D Gaussian splatting, enabling open-vocabulary querie
The rapid development of visual generative models raises the need for more scalable and human-aligned evaluation methods. While the crowdsourced Arena platforms offer human preference assessments by collecting human votes, they are costly and time-consuming, inherently limiting their scalability. Le…
Large Language Models (LLMs) have demonstrated remarkable capabilities in understanding and generation tasks. However, their massive parameter scale leads to significant resource consumption and latency during inference. Post-training weight-only quantization offers a promising solution by reducing …
Recent advances in 3D Large Language Models (3D-LLMs) show strong potential in understanding and interacting with 3D environments, yet their training data typically lack explicit reasoning processes, limiting complex spatial reasoning and task planning. To address this, we annotate SCoT, a million-s…
Generating high-quality videos from complex temporal descriptions, which refer to prompts containing multiple sequential actions, remains a significant challenge. Existing methods are constrained by an inherent trade-off: using multiple short prompts fed sequentially into the model improves action f…
Reliable evaluation of large language model (LLM) agents depends critically on benchmark validity. However, agent benchmarks are increasingly complex and often contain hidden flaws arising from interactions among user instructions, environments, tools, ground-truth trajectories, and evaluation proto…
Recent developments in monocular depth estimation methods enable high-quality depth estimation of single-view images but fail to estimate consistent video depth across different frames. Recent works address this problem by applying a video diffusion model to generate video depth conditioned on the i…
Building on the success of text-to-image diffusion models (DPMs), image editing is an important application to enable human interaction with AI-generated content. Among various editing methods, editing within the prompt space gains more attention due to its capacity and simplicity of controlling sem…
In this paper, we present a 3D visual grounding method called CityAnchor for localizing an urban object in a city-scale point cloud. Recent developments in multiview reconstruction enable us to reconstruct city-scale point clouds but how to conduct visual grounding on such a large-scale urban point…
Due to the irregular and disordered data structure in 3D point clouds, prior works have focused on designing more sophisticated local representation methods to capture these complex local patterns. However, the recognition performance has saturated over the past few years, indicating that increasing…
Dashboard cameras (dashcams) record millions of driving videos daily, offering a valuable potential data source for various applications, including driving map production and updates. A necessary step for utilizing these dashcam data involves the estimation of camera poses. However, the low-quality
The rapid advancement of visual generative models necessitates efficient and reliable evaluation methods. Arena platform, which gathers user votes on model comparisons, can rank models with human preferences. However, traditional Arena methods, while established, require an excessive number of compa…
Unsupervised 3D object detection serves as an important solution for offline 3D object annotation. However, due to the data sparsity and limited views, the clustering-based label fitting in unsupervised object detection often generates low-quality pseudo-labels. Multi-agent collaborative dataset, wh…
We present Meissonic, which elevates non-autoregressive text-to-image Masked Image Modeling (MIM) to a level comparable with state-of-the-art diffusion models like SDXL. By incorporating a comprehensive suite of architectural innovations, advanced positional encoding strategies, and optimized sampli…
Reasoning models have demonstrated impressive performance in self-reflection and chain-of-thought reasoning. However, they often produce excessively long outputs, leading to prohibitively large key-value (KV) caches during inference. While chain-of-thought inference significantly improves performanc…
In this paper, we propose VistaDream, a novel framework to reconstruct a 3D scene from a single-view image. Recent diffusion models enable generating high-quality novel-view images from a single-view input image. Most existing methods only concentrate on building the consistency between the input im…
Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the point or pixel level, often neglecting global alignment. As a
The Mixture-of-Experts (MoE) approach has demonstrated outstanding scalability in multi-task learning including low-level upstream tasks such as concurrent removal of multiple adverse weather effects. However, the conventional MoE architecture with parallel Feed Forward Network (FFN) experts leads t…
"∗ Equal contribution Corresponding authorIn this paper, we explore a novel framework, EGIInet (Explicitly Guided Information Interaction Network), a model for View-guided Point cloud Completion (ViPC) task, which aims to restore a complete point cloud from a partial one with a single view image. In…
Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and discriminative cross-modality features by existing metric learning m…
In the field of image processing, applying intricate semantic modifications within existing images remains an enduring challenge. This paper introduces a pioneering framework that integrates viewpoint information to enhance the control of image editing tasks, especially for interior design scenes. B…
Large Language Models (LLMs) have significantly advanced natural language processing, demonstrating exceptional reasoning, tool usage, and memory capabilities. As their applications expand into multi-agent environments, there arises a need for a comprehensive evaluation framework that captures LLMs’…
Precise and rapid delineation of sharp boundaries and robust semantics is essential for numerous downstream robotic tasks, such as robot grasping and manipulation, real-time semantic mapping, and online sensor calibration performed on edge computing units. Although boundary detection and semantic se
This paper explores network binarization, a radical form of quantization, compressing model weights to a single bit, specifically for Large Language Models (LLMs) compression. Due to previous binarization methods collapsing LLMs, we propose a novel approach, Partially-Binarized LLM (PB-LLM), which…
Diffusion-based generative models have exhibited remarkable capability in the production of high-fidelity visual content such as images and videos. However their performance is significantly contingent upon the quality of textual inputs commonly referred to as "prompts". The process of traditional p…
Uncertainty estimation is crucial for deep learning models to detect out-of-distribution (OOD) inputs. However, the naive deep learning classifiers produce uncalibrated uncertainty for OOD data. Improving the uncertainty estimation typically requires external data for OOD-aware training or considera…
Generative Large Language Models (LLMs) have demonstrated remarkable results for a wide range of tasks. However, deploying these models for inference has been a significant challenge due to their unprecedented resource requirements. This has forced existing deployment frameworks to use multi-GPU inf…
Deep reinforcement learning struggles to generalize across tasks that remain unseen during training. Consider a neural process observed in humans and animals, where they not only learn new solutions but also deduce shared subroutines. These subroutines can be applied to tasks involving similar state…
Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly proficient in capturing program semantics. For robot programming…
Unpaired 3D object completion aims to predict a complete 3D shape from an incomplete input without knowing the correspondence between the complete and incomplete shapes. In this paper, we propose the novel KTNet to solve this task from the new perspective of knowledge transfer. KTNet elaborates a te…
The complicated architecture and high training cost of vision transformers urge the exploration of post-training quantization. However, the heavy-tailed distribution of vision transformer activations hinders the effectiveness of previous post-training quantization methods, even with advanced quantiz…
Diffusion models have achieved great success in image synthesis through iterative noise estimation using deep neural networks. However, the slow inference, high memory consumption, and computation intensity of the noise estimation model hinder the efficient adoption of diffusion models. Although pos…
Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will affect the real-time perception of streaming applications. D…
In this paper, we present a new method for the multiview registration of point cloud. Previous multiview registration methods rely on exhaustive pairwise registration to construct a densely-connected pose graph and apply Iteratively Reweighted Least Square (IRLS) on the pose graph to compute the sca…
Reconstructing 3D shape from a single 2D image is a challenging task, which needs to estimate the detailed 3D structures based on the semantic attributes from 2D image. So far, most of the previous methods still struggle to extract semantic attributes for 3D reconstruction task. Since the semantic a…
Domain adaptive text classification is a challenging problem for the large-scale pretrained language models because they often require expensive additional labeled data to adapt to new domains. Existing works usually fails to leverage the implicit relationships among words across domains. In this pa…
This paper presents a neural network for robust normal estimation on point clouds, named AdaFit, that can deal with point clouds with noise and density variations. Existing works use a network to learn point-wise weights for weighted least squares surface fitting to estimate the normals, which has d…
Existing language models usually require large amount of labeled data and are severely challenged by domain shift. In this work we propose a novel model for cross-domain sentiment classification - CLIM - Contrastive Learning with mutual Information Maximization, to explore the potential of contrasti…
Current low-precision quantization algorithms often have the hidden cost of conversion back and forth from floating point to quantized integer values. This hidden cost limits the latency improvement realized by quantizing Neural Networks. To address this, we present HAWQ-V3, a novel mixed-precision…
Motion coherence is an important clue for distinguishing true correspondences from false ones. Modeling motion coherence on sparse putative correspondences is challenging due to their sparsity and uneven distributions. Existing works on motion coherence are sensitive to parameter settings and have d…
Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed, the derivation of a shared descriptor and joint keypoint dete…
Quantization is an effective method for reducing memory footprint and inference time of Neural Networks. However, ultra low precision quantization could lead to significant degradation in model accuracy. A promising method to address this is to perform mixed-precision quantization, where more sensit…
Quantization is a promising approach for reducing the inference time and memory footprint of neural networks. However, most existing quantization methods require access to the original training dataset for retraining during quantization. This is often not possible for applications with sensitive or…
Model size and inference speed/power have become a major challenge in the deployment of neural networks for many applications. A promising approach to address these problems is quantization. However, uniformly quantizing a model to ultra-low precision leads to significant accuracy degradation. A nov…
This paper introduces a method of structure inspection using mixed-reality headsets to reduce the human effort in reporting accurate inspection information such as fault locations in 3D coordinates. Prior to every inspection, the headset needs to be localized. While external pose estimation and fidu…