CVPR 2025 Papers

This paper pays attention to Weakly Supervised Affordance Grounding (WSAG) task that aims to train model to identify affordance regions using human-object interaction images and egocentric images without the need for costly pixel-level annotations. Most existing methods usually consider the affordance regions to be isolated and directly employ class activation maps to conduct localization, ignoring the relationships with other object components and weakening the performance. For example, a cup's handle is combined with its body to achieve the pouring ability. Obviously, capturing the region relationships is beneficial for improving the localization accuracy of affordance regions. To this end, we first explore exploiting hypergraph to discover these relations and propose a Reasoning Mamba (R-Mamba) framework. We first extract feature embeddings from exo-centric and egocentric images to construct the hypergraphs consisting of multiple vertices and hyperedges, which capture the in-context local region relationships between different visual components. Subsequently, we design a Hypergraph-guided State Space (HSS) block to reorganize these local relationships from the global perspective. By this mechanism, the model could leverage the captured relationships to improve the localization accuracy of affordance regions. Extensive experiments and visualization analyses demonstrate the superiority of our method.

Composed Image Retrieval (CIR) aims to retrieve target images that closely resemble a reference image while integrating user-specified textual modifications, thereby capturing user intent more accurately. Existing training-free zero-shot CIR (ZS-CIR) methods often employ a two-stage process: they first generate a caption for the reference image and then use Large Language Models for reasoning a target description. However, these methods suffer from missing critical visual details and limited reasoning capabilities, leading to suboptimal retrieval performance. To address these challenges, we propose a novel, training-free one-stage method, One-Stage Reflective Chain-of-Thought Reasoning (OSrCIR) for ZS-CIR, which employs Multimodal Large Language Models to retain essential visual information in a single-stage reasoning process, eliminating the information loss in two-stage methods. Our Reflective Chain-of-Thought framework further improves interpretative accuracy by aligning manipulation intent with contextual cues from reference images. OSrCIR achieves performance gains of 1.80% to 6.44% over existing training-free methods across multiple tasks, setting new state-of-the-art results in ZS-CIR and enhancing its utility in vision-language applications. Our code is available at https://github.com/microsoft/ACV/tree/main/OSrCIR.

Multimodal large language models (MLLMs) have demonstrated strong language understanding and generation capabilities, excelling in visual tasks like referring and grounding. However, due to task type limitations and dataset scarcity, existing MLLMs only ground objects present in images and cannot reject non-existent objects effectively, resulting in unreliable predictions. In this paper, we introduce ROD-MLLM, a novel MLLM for Reliable Object Detection using free-form language. We propose a query-based localization mechanism to extract low-level object features. By aligning global and object-level visual information with text space, we leverage the large language model (LLM) for high-level comprehension and final localization decisions, overcoming the language understanding limitations of normal detectors. To enhance language-based object detection, we design an automated data annotation pipeline and construct the dataset ROD. This pipeline uses the referring capabilities of existing MLLMs and chain-of-thought techniques to generate diverse expressions corresponding to zero or multiple objects, addressing the shortage of training data. Experiments across various tasks, including referring, grounding, and language-based object detection, show that ROD-MLLM achieves state-of the-art performance among MLLMs. Notably, in language-based object detection, our model achieves +13.7 AP improvement on D3 benchmark over existing MLLMs and surpasses most specialized detection models, especially in scenarios requiring complex language understanding.

This paper explores using large language models (LLMs) as low-level action planners for embodied tasks. While LLMs excel as the robot's "brain" for high-level planning, they face challenges in directly controlling the "body" by generating precise low-level actions. This limitation arises from LLMs' strength in high-level conceptual understanding but their inability to handle spatial perception effectively, restricting their potential in embodied tasks. To address this, we bridge the gap by enabling LLMs to not only comprehend complex instructions but also produce actionable, low-level plans. We introduce Room to Chessboard (R2C), a novel semantic representation that maps environmental states onto a grid-based chessboard, empowering LLMs to generate specific low-level coordinates and guide the robot in a manner akin to playing a game of chess. To further enhance decision-making, we propose the Chain-of-Thought Decision (CoT-D) paradigm, which improves LLMs' interpretability and context-awareness in spatial reasoning. By jointly training LLMs for high-level task decomposition and low-level action generation, we create a unified "brain-body" system capable of handling complex, free-form instructions while producing precise low-level actions, allowing the robot to flexibly control its movements and adapt to varying tasks. We validate R2C using both fine-tuned open-source LLMs and GPT-4, demonstrating effectiveness on the challenging ALFRED benchmark. Results show that with our R2C framework, LLMs can effectively act as low-level planners, generalizing across diverse settings and open-vocabulary robotic tasks. The code and demonstrations are available at: https://vipl-vsu.github.io/Room2Chessboard.

In this work, we address the challenge of adaptive pediatric Left Ventricular Ejection Fraction (LVEF) assessment. While Test-time Training (TTT) approaches show promise for this task, they suffer from two significant limitations. Existing TTT works are primarily designed for classification tasks rather than continuous value regression, and they lack mechanisms to handle the quasi-periodic nature of cardiac signals. To tackle these issues, we propose a novel Quasi-Periodic Adaptive Regression with Test-time Training (Q-PART) framework. In the training stage, the proposed Quasi-Period Network decomposes the echocardiogram into periodic and aperiodic components within latent space by combining parameterized helix trajectories with Neural Controlled Differential Equations. During inference, our framework further employs a variance minimization strategy across image augmentations that simulate common quality issues in echocardiogram acquisition, along with differential adaptation rates for periodic and aperiodic components. Theoretical analysis is provided to demonstrate that our variance minimization objective effectively bounds the regression error under mild conditions. Furthermore, extensive experiments across three pediatric age groups demonstrate that Q-PART not only significantly outperforms existing approaches in pediatric LVEF prediction, but also exhibits strong clinical screening capability with high mAUROC scores (up to 0.9747) and maintains gender-fair performance across all metrics, validating its robustness and practical utility in pediatric echocardiography analysis.

Text-to-video (T2V) generation has been recently enabled by transformer-based diffusion models, but current T2V models lack capabilities in adhering to the real-world common knowledge and physical rules, due to their limited understanding of physical realism and deficiency in temporal modeling. Existing solutions are either data-driven or require extra model inputs, but cannot be generalizable to out-of-distribution domains. In this paper, we present PhyT2V, a new data-independent T2V technique that expands the current T2V model's capability of video generation to out-of-distribution domains, by enabling chain-of-thought and step-back reasoning in T2V prompting. Our experiments show that PhyT2V improves existing T2V models' adherence to real-world physical rules by 2.3x, and achieves 35% improvement compared to T2V prompt enhancers.

Multimodal language models (MLMs) still face challenges in fundamental visual perception tasks where specialized models excel. Tasks requiring reasoning about 3D structures benefit from depth estimation, and reasoning about 2D object instances benefits from object detection. Yet, MLMs can not produce intermediate depth or boxes to reason over. Finetuning MLMs on relevant data doesn't generalize well and outsourcing computation to specialized vision tools is too compute-intensive and memory-inefficient. To address this, we introduce Perception Tokens, intrinsic image representations designed to assist reasoning tasks where language is insufficient. Perception tokens act as auxiliary reasoning tokens, akin to chain-of-thought prompts in language models. For example, in a depth-related task, an MLM augmented with perception tokens can reason by generating a depth map as tokens, enabling it to solve the problem effectively. We propose AURORA, a training method that augments MLMs with perception tokens for improved reasoning over visual inputs. AUROA leverages a VQVAE to transform intermediate image representations, such as depth maps into a tokenized format and bounding box tokens, which is then used in a multi-task training framework. AURORA achieves notable improvements across counting benchmarks: +10.8% on BLINK, +11.3% on CVBench, and +8.3% on SEED-Bench, outperforming finetuning approaches in generalization across datasets. It also improves on relative depth: over +6% on BLINK. With perception tokens, AURORA expands the scope of MLMs beyond language-based reasoning, paving the way for more effective visual reasoning capabilities. Code and data will be released at the https://aurora-perception.github.io.

Existing LVLM-based reasoning segmentation methods often suffer from imprecise segmentation results and hallucinations in their text responses. This paper introduces POPEN, a novel framework designed to address these issues and achieve improved results. POPEN includes a preference-based optimization method to finetune the LVLM, aligning it more closely with human preferences and thereby generating better text responses and segmentation results. Additionally, POPEN introduces a preference-based ensemble method for inference, which integrates multiple outputs from the LVLM using a preference-score-based attention mechanism for refinement. To better adapt to the segmentation task, we incorporate several task-specific designs in our POPEN framework, including a new approach for collecting segmentation preference data with a curriculum learning mechanism, and a novel preference optimization loss to refine the segmentation capability of the LVLM. Experiments demonstrate that our method achieves state-of-the-art performance in reasoning segmentation, exhibiting minimal hallucination in text responses and the highest segmentation accuracy compared to previous advanced methods like LISA and PixelLM.

Scattered light from pulsed lasers is increasingly part of our ambient illumination, as many devices rely on them for active 3D sensing. In this work, we ask: can these "ambient" light signals be detected and leveraged for passive 3D vision? We show that pulsed lasers, despite being weak and fluctuating at MHz to GHz frequencies, leave a distinctive sinc comb pattern in the temporal frequency domain of incident flux that is specific to each laser and invariant to the scene. This enables their passive detection and analysis with a free-running SPAD camera, even when they are unknown, asynchronous, out of sight, and emitting concurrently. We show how to synchronize with such lasers computationally, characterize their pulse emissions, separate their contributions, and--if many are present--localize them in 3D and recover a depth map of the camera's field of view. We use our camera prototype to demonstrate (1) a first-of-its-kind visualization of asynchronously propagating light pulses from multiple lasers through the same scene, (2) passive estimation of a laser's MHz-scale pulse repetition frequency with mHz precision, and (3) mm-scale 3D imaging over room-scale distances by passively harvesting photons from two or more out-of-view lasers.

Open set label shift (OSLS) occurs when label distributions change from a source to a target distribution, and the target distribution has an additional out-of-distribution (OOD) class.In this work, we build estimators for both source and target open set label distributions using a source domain in-distribution (ID) classifier and an ID/OOD classifier. With reasonable assumptions on the ID/OOD classifier, the estimators are assembled into a sequence of three stages: 1) an estimate of the source label distribution of the OOD class, 2) an EM algorithm for Maximum Likelihood estimates (MLE) of the target label distribution, and 3) an estimate of the target label distribution of OOD class under relaxed assumptions on the OOD classifier.The sampling errors of estimates in 1) and 3) are quantified with a concentration inequality.The estimation result allows us to correct the ID classifier trained on the source distribution to the target distribution without retraining.Experiments on a variety of open set label shift settings demonstrate the effectiveness of our model.Our code is available at https://github.com/ChangkunYe/OpenSetLabelShift.

Fast and reliable omnidirectional 3D sensing is essential to many applications such as autonomous driving, robotics and drone navigation. While many well-recognized methods have been developed to produce high-quality omnidirectional 3D information, they are too slow for real-time computation, limiting their feasibility in practical applications. Motivated by these shortcomings, we propose an efficient omnidirectional depth sensing framework, called OmniStereo, which generates high-quality 3D information in real-time. Unlike prior works, OmniStereo employs Cassini projection to simplify the photometric matching and introduces a lightweight stereo matching network to minimize computational overhead. Additionally, OmniStereo proposes a novel fusion method to handle depth discontinuities and invalid pixels complemented by a refinement module to reduce mapping-introduced errors and recover fine details. As a result, OmniStereo achieves state-of-the-art (SOTA) accuracy, surpassing the second-best method over 32% in MAE, while maintaining real-time efficiency. It operates more than 16.5xfaster than the second-best method in accuracy on TITAN RTX, achieving 12.3 FPS on embedded device Jetson AGX Orin, underscoring its suitability for real-world deployment. The code is available at https://github.com/DengJiaxi1/OmniStereo.

The emergence of Large Language Models (LLMs) has unified language generation tasks and revolutionized human-machine interaction. However, in the realm of image generation, a unified model capable of handling various tasks within a single framework remains largely unexplored. In this work, we introduce OmniGen, a new diffusion model for unified image generation. OmniGen is characterized by the following features: 1) Unification: OmniGen not only demonstrates text-to-image generation capabilities but also inherently supports various downstream tasks, such as image editing, subject-driven generation, and visual-conditional generation. 2) Simplicity: The architecture of OmniGen is highly simplified, eliminating the need for additional plugins. Moreover, compared to existing diffusion models, it is more user-friendly and can complete complex tasks end-to-end through instructions without the need for extra intermediate steps, greatly simplifying the image generation workflow. 3) Knowledge Transfer: Benefit from learning in a unified format, OmniGen effectively transfers knowledge across different tasks, manages unseen tasks and domains, and exhibits novel capabilities. We also explore the model's reasoning capabilities and potential applications of the chain-of-thought mechanism. This work represents the first attempt at a general-purpose image generation model, and we will release our resources at https://github.com/VectorSpaceLab/OmniGen to foster future advancements.

Neural surface reconstruction has been dominated by implicit representations with marching cubes for explicit surface extraction. However, those methods typically require high-quality normals for accurate reconstruction. We propose OffsetOPT, a method that reconstructs explicit surfaces directly from 3D point clouds and eliminates the need for point normals. The approach comprises two stages: first, we train a neural network to predict surface triangles based on local point geometry, given uniformly distributed training point clouds. Next, we apply the frozen network to reconstruct surfaces from unseen point clouds by optimizing a per-point offset to maximize the accuracy of triangle predictions. Compared to state-of-the-art methods, OffsetOPT not only excels at reconstructing overall surfaces but also significantly preserves sharp surface features. We demonstrate its accuracy on popular benchmarks, including small-scale shapes and large-scale open surfaces.

Out-of-distribution (OOD) detection remains challenging for deep learning models, particularly when test-time OOD samples differ significantly from training outliers. We propose OODD, a novel test-time OOD detection method that dynamically maintains and updates an OOD dictionary without fine-tuning. Our approach leverages a priority queue-based dictionary that accumulates representative OOD features during testing, combined with an informative inlier sampling strategy for in-distribution (ID) samples. To ensure stable performance during early testing, we propose a dual OOD stabilization mechanism that leverages strategically generated outliers derived from ID data. To our best knowledge, extensive experiments on the OpenOOD benchmark demonstrate that OODD significantly outperforms existing methods, achieving a 26.0% improvement in FPR95 on CIFAR-100 Far OOD detection compared to the state-of-the-art approach. Furthermore, we present an optimized variant of the KNN-based OOD detection framework that achieves a 3x speedup while maintaining detection performance.

The knowledge-based visual question answering (KB-VQA) task involves using external knowledge about the image to assist reasoning. Building on the impressive performance of multimodal large language model (MLLM), recent methods have commenced leveraging MLLM as an implicit knowledge base for reasoning. However, the direct employment of MLLM with raw external knowledge might result in reasoning errors due to misdirected knowledge information. Additionally, MLLM may lack fine-grained perception of visual features, which can result in hallucinations during reasoning. To address these challenges, we propose Notes-guided MLLM Reasoning (NoteMR), a novel framework that guides MLLM in better reasoning by utilizing knowledge notes and visual notes. Specifically, we initially obtain explicit knowledge from an external knowledge base. Then, this explicit knowledge, combined with images, is used to assist the MLLM in generating knowledge notes. These notes are designed to filter explicit knowledge and identify relevant internal implicit knowledge within the MLLM. We then identify highly correlated regions between the images and knowledge notes, retaining them as image notes to enhance the model's fine-grained perception, thereby mitigating MLLM induced hallucinations. Finally, both notes are fed into the MLLM, enabling a more comprehensive understanding of the image-question pair and enhancing the model's reasoning capabilities. Our method achieves state-of-the-art performance on the OK-VQA and A-OKVQA datasets, demonstrating its robustness and effectiveness across diverse VQA scenarios.

In this paper, we introduce Motion-Grounded Video Reasoning, a new motionunderstanding task that requires generating visual answers (video segmentationmasks) according to the input question, and hence needs implicit spatiotemporalreasoning and grounding. This task extends existing spatiotemporal groundingwork focusing on explicit action/motion grounding, to a more general format byenabling implicit reasoning via questions. To facilitate the development of the newtask, we collect a large-scale dataset called GROUNDMORE, which comprises1,715 video clips, 249K object masks that are deliberately designed with 4 questiontypes (Causal, Sequential, Counterfactual, and Descriptive) for benchmarkingdeep and comprehensive motion reasoning abilities. GROUNDMORE uniquelyrequires models to generate visual answers, providing a more concrete and visuallyinterpretable response than plain texts. It evaluates models on both spatiotemporalgrounding and reasoning, fostering to address complex challenges in motion-relatedvideo reasoning, temporal perception, and pixel-level understanding. Furthermore,we introduce a novel baseline model named Motion-Grounded Video ReasoningAssistant (MORA). MORA incorporates the multimodal reasoning ability from theMultimodal LLM, the pixel-level perception capability from the grounding model(SAM), and the temporal perception ability from a lightweight localization head.MORA achieves respectable performance on GROUNDMORE outperforming thebest existing visual grounding baseline model by an average of 21.5% relatively.We hope this novel and challenging task will pave the way for future advancementsin robust and general motion understanding via video reasoning segmentation.

Scientific research demands sophisticated reasoning over multimodal data, a challenge especially prevalent in biology. Despite recent advances in multimodal large language models (MLLMs) for AI-assisted research, existing multimodal reasoning benchmarks only target up to college-level difficulty, while research-level benchmarks emphasize lower-level perception, falling short of the complex multimodal reasoning needed for scientific discovery. To bridge this gap, we introduce MicroVQA, a visual-question answering (VQA) benchmark designed to assess three reasoning capabilities vital in research workflows: expert image understanding, hypothesis generation, and experiment proposal. MicroVQA consists of 1,042 multiple-choice questions (MCQs) curated by biology experts across diverse microscopy modalities, ensuring VQA samples represent real scientific practice. In constructing the benchmark, we find that standard MCQ generation methods induce language shortcuts, motivating a new two-stage pipeline: an optimized LLM prompt structures question-answer pairs into MCQs; then, an agent-based 'RefineBot' updates them to remove shortcuts. Benchmarking on state-of-the-art MLLMs reveal a peak performance of 53%; models with smaller LLMs only slightly underperform top models, suggesting that language-based reasoning is less challenging than multimodal reasoning; and tuning with scientific articles enhances performance. Expert analysis of chain-of-thought responses shows that perception errors are the most frequent, followed by knowledge errors and then overgeneralization errors. These insights highlight the challenges in multimodal scientific reasoning, showing MicroVQA is a valuable resource advancing AI-driven biomedical research. MicroVQA is available at https://huggingface.co/datasets/jmhb/microvqa and project at https://jmhb0.github.io/microvqa.