CVPR 2025 Papers

Cloud-based AI systems offer significant benefits but also introduce vulnerabilities, making deep neural network (DNN) models susceptible to malicious tampering. This tampering may involve harmful behavior injection or resource reduction, compromising model integrity and performance. To detect model tampering, hard-label fingerprinting techniques generate sensitive samples to probe and reveal tampering. Existing fingerprinting methods are mainly based on gradient-defined sensitivity decision boundary, with the latter showing a manifest superior detection performance. However, all existing fingerprinting methods either suffer from insufficient sensitivity or incur high computational costs. In this paper, we theoretically analyze the black-box co-optimal tampering detection sensitivity of fingerprint samples in the context of decision boundary and gradient-defined sensitivity. Based on this, we further propose Steep-Decision-Boundary Fingerprinting (SDBF), a novel lightweight approach for hard-label tampering detection that inherently and efficiently combines the strengths of existing fingerprinting techniques. SDBF places fingerprint samples near the steep decision boundary, where the outputs of samples are inherently highly sensitive to tampering. We also design a Max Boundary Coverage Strategy (MBCS), which enhances samples' diversity over the decision boundary. Theoretical analysis and extensive experimental results show that SDBF outperforms existing SOTA hard-label fingerprinting methods in both sensitivity and efficiency.

Pixel-level segmentation of structural cracks across various scenarios remains a considerable challenge. Current methods encounter challenges in effectively modeling crack morphology and texture, facing challenges in balancing segmentation quality with low computational resource usage. To overcome these limitations, we propose a lightweight Structure-Aware Vision Mamba Network (SCSegamba), capable of generating high-quality pixel-level segmentation maps by leveraging both the morphological information and texture cues of crack pixels with minimal computational cost. Specifically, we developed a Structure-Aware Visual State Space module (SAVSS), which incorporates a lightweight Gated Bottleneck Convolution (GBC) and a Structure-Aware Scanning Strategy (SASS). The key insight of GBC lies in its effectiveness in modeling the morphological information of cracks, while the SASS enhances the perception of crack topology and texture by strengthening the continuity of semantic information between crack pixels. Experiments on crack benchmark datasets demonstrate that our method outperforms other state-of-the-art (SOTA) methods, achieving the highest performance with only 2.8M parameters. On the multi-scenario dataset, our method reached 0.8390 in F1 score and 0.8479 in mIoU.

We introduce SCFlow2, a plug-and-play refinement framework for 6D object pose estimation. Most recent 6D object pose methods rely on refinement to get accurate results. However, most existing refinements either suffer from noises in establishing correspondences, or rely on retraining for novel objects. SCFlow2 is based on the SCFlow model designed for iterative RGB refinement with shape constraint, but formulates the additional depth as a regularization in the iteration via 3D scene flow for RGBD frames. The key design of SCFlow2 is an introduction of geometry constraints into the training of recurrent match network, by combining the rigid-motion embeddings in 3D scene flow and 3D shape prior of the target. We train the refinement network on a combination of dataset Objaverse, GSO and ShapeNet, and demonstrate on BOP datasets with novel objects that, after using our method, the result of most state-of-the-art methods improves significantly, without any retraining or fine-tuning.

Vision-language models (VLMs) encounter considerable challenges when adapting to domain shifts stemming from changes in data distribution. Test-time adaptation (TTA) has emerged as a promising approach to enhance VLM performance under such conditions. In practice, test data often arrives in batches, leading to increasing interest in the transductive TTA setting. However, existing TTA methods primarily focus on individual test samples, overlooking crucial cross-sample correlations within a batch. While recent ViT-based TTA methods have introduced batch-level adaptation, they remain suboptimal for VLMs due to inadequate integration of the text modality. To address these limitations, we propose a novel transductive TTA framework, Supportive Clique-based Attribute Prompting (SCAP), which effectively combines visual and textual information to enhance adaptation by generating fine-grained attribute prompts across test batches. SCAP first forms supportive cliques of test samples in an unsupervised manner based on visual similarity and learns an attribute prompt for each clique, capturing shared attributes critical for adaptation. For each test sample, SCAP aggregates attribute prompts from its associated cliques, providing enriched contextual information. To ensure adaptability over time, we incorporate a retention module that dynamically updates attribute prompts and their associated attributes as new data arrives. Comprehensive experiments across multiple benchmarks demonstrate that SCAP outperforms existing state-of-the-art methods, significantly advancing VLM generalization under domain shifts. Our code is available at https://github.com/zhoujiahuan1991/CVPR2025-SCAP.

Over the past few years, vision transformers (ViTs) have consistently demonstrated remarkable performance across various visual recognition tasks. However, attempts to enhance their robustness have yielded limited success, mainly focusing on different training strategies, input patch augmentation, or network structural enhancements. These approaches often involve extensive training and fine-tuning, which are time-consuming and resource-intensive. To tackle these obstacles, we introduce a novel approach named Spatial Autocorrelation Token Analysis (SATA). By harnessing spatial relationships between token features, SATA enhances both the representational capacity and robustness of ViT models. This is achieved through the analysis and grouping of tokens according to their spatial autocorrelation scores prior to their input into the Feed-Forward Network (FFN) block of the self-attention mechanism. Importantly, SATA seamlessly integrates into existing pre-trained ViT baselines without requiring retraining or additional fine-tuning, while concurrently improving efficiency by reducing the computational load of the FFN units. Experimental results show that the baseline ViTs enhanced with SATA not only achieve a new state-of-the-art top-1 accuracy on ImageNet-1K image classification (94.9%) but also establish new state-of-the-art performance across multiple robustness benchmarks, including ImageNet-A (top-1=63.6%), ImageNet-R (top-1=79.2%), and ImageNet-C (mCE=13.6%), all without requiring additional training or fine-tuning of baseline models. Availability: https://github.com/nick-nikzad/SATA

We propose a one-stage framework for real-time multi-person 3D human mesh estimation from a single RGB image. While current one-stage methods, which follow a DETR-style pipeline, achieve state-of-the-art (SOTA) performance with high-resolution inputs, we observe that this particularly benefits the estimation of individuals in smaller scales of the image (e.g., those far from the camera), but at the cost of significantly increased computation overhead. To address this, we introduce scale-adaptive tokens that are dynamically adjusted based on the relative scale of each individual in the image within the DETR framework. Specifically, individuals in smaller scales are processed at higher resolutions, larger ones at lower resolutions, and background regions are further distilled. These scale-adaptive tokens more efficiently encode the image features, facilitating subsequent decoding to regress the human mesh, while allowing the model to allocate computational resources more effectively and focus on more challenging cases. Experiments show that our method preserves the accuracy benefits of high-resolution processing while substantially reducing computational cost, achieving real-time inference with performance comparable to SOTA methods. Code and models are available at https://ChiSu001.github.io/SAT-HMR/.

Recent advancements in deep learning have greatly enhanced 3D object recognition, but most models are limited to closed-set scenarios, unable to handle unknown samples in real-world applications. Open-set recognition (OSR) addresses this limitation by enabling models to both classify known classes and identify novel classes.However, current OSR methods rely on global features to differentiate known and unknown classes, treating the entire object uniformly and overlooking the varying semantic importance of its different parts.To address this gap, we propose Salience-Aware Structured Separation (SASep), which includes (i) a tunable semantic decomposition (TSD) module to semantically decompose objects into important and unimportant parts, (ii) a geometric synthesis strategy (GSS) to generate pseudo-unknown objects by combining these unimportant parts, and (iii) a synth-aided margin separation (SMS) module to enhance feature-level separation by expanding the feature distributions between classes.Together, these components improve both geometric and feature representations, enhancing the model's ability to effectively distinguish known and unknown classes.Experimental results show that SASep achieves superior performance in 3D OSR, outperforming existing state-of-the-art methods. The codes are available at https://github.com/JinfengX/SASep.

Autoregressive models have demonstrated remarkable success across various fields, from large language models (LLMs) to large multimodal models (LMMs) and 2D content generation, moving closer to artificial general intelligence (AGI). Despite these advances, applying autoregressive approaches to 3D object generation and understanding remains largely unexplored. This paper introduces Scale AutoRegressive 3D (SAR3D), a novel framework that leverages a multi-scale 3D vector-quantized variational autoencoder (VQVAE) to tokenize 3D objects for efficient autoregressive generation and detailed understanding. By predicting the next scale in a multi-scale latent representation instead of the next single token, SAR3D reduces generation time significantly, achieving fast 3D object generation in just 0.82 seconds on an A6000 GPU. Additionally, given the tokens enriched with hierarchical 3D-aware information, we finetune a pretrained LLM on them, enabling multimodal comprehension of 3D content.Our experiments show that SAR3D surpasses current 3D generation methods in both speed and quality and allows LLMs to interpret and caption 3D models comprehensively.

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered growing interest from the community, particularly for their ability to be jointly trained with downstream tasks. However, previous learning-based sampling methods either lead to unrecognizable sampling patterns by generating a new point cloud or biased sampled results by focusing excessively on sharp edge details. Moreover, they all overlook the natural variations in point distribution across different shapes, applying a similar sampling strategy to all point clouds. In this paper, we propose a Sparse Attention Map and Bin-based Learning method (termed SAMBLE) to learn shape-specific sampling strategies for point cloud shapes. SAMBLE effectively achieves an improved balance between sampling edge points for local details and preserving uniformity in the global shape, resulting in superior performance across multiple common point cloud downstream tasks, even in scenarios with few-point sampling.

In the field of zero-shot 3D instance segmentation, existing 2D-to-3D lifting methods typically obtain 2D segmentation across multiple RGB frames using vision foundation models, which are then projected and merged into 3D space. However, since the inference of vision foundation models on a single frame is not integrated with adjacent frames, the masks of the same object may vary across different frames, leading to a lack of view consistency in the 2D segmentation. Furthermore, current lifting methods average the 2D segmentation from multiple views during the projection into 3D space, causing low-quality masks and high-quality masks to share the same weight. These factors can lead to fragmented 3D segmentation. In this paper, we present SAM2Object, a novel zero-shot 3D instance segmentation method that effectively utilizes the Segment Anything Model 2 to segment and track objects, consolidating view consistency across frames. Our approach combines these consistent 2D masks with 3D geometric priors, improving the robustness of 3D segmentation. Additionally, we introduce mask consolidation module to filter out low-quality masks across frames, which enables more precise 2D-to-3D matching. Comprehensive evaluations on ScanNetV2, ScanNet++ and ScanNet200 demonstrate the robustness and effectiveness of SAM2Object, showcasing its ability to outperform previous methods. Our project page is at https://jihuaizhaohd.github.io/SAM2Object.

Reference Audio-Visual Segmentation (Ref-AVS) aims to provide a pixel-wise scene understanding in Language-aided Audio-Visual Scenes (LAVS). This task requires the model to continuously segment objects referred to by text and audio from a video. Previous dual-modality methods always fail due to the lack of a third modality and the existing triple-modality method struggles with spatio-temporal consistency, leading to the target shift of different frames. In this work, we introduce a novel framework, termed SAM2-LOVE, which integrates textual, audio, and visual representations into a learnable token to prompt and align SAM2 for achieving Ref-AVS in the LAVS. Technically, our approach includes a multimodal fusion module aimed at improving multimodal understanding of SAM2, as well as token propagation and accumulation strategies designed to enhance spatio-temporal consistency without forgetting historical information. We conducted extensive experiments to demonstrate that SAM2-LOVE outperforms the SOTA by 8.5% in J&F on the Ref-AVS benchmark and showcase the simplicity and effectiveness of the components. Our code will be available here.

Interactive segmentation is to segment the mask of the target object according to the user's interactive prompts. There are two mainstream strategies: early fusion and late fusion. Current specialist models utilize the early fusion strategy that encodes the combination of images and prompts to target the prompted objects, yet repetitive complex computations on the images result in high latency. Late fusion models extract image embeddings once and merge them with the prompts in later interactions. This strategy avoids redundant image feature extraction and improves efficiency significantly. A recent milestone is the Segment Anything Model (SAM). However, this strategy limits the models ability to extract detailed information from the prompted target zone. To address this issue, we propose SAM-REF, a two-stage refinement framework that fully integrates images and prompts by using a lightweight refiner into the interaction of late fusion, which combines the accuracy of early fusion and maintains the efficiency of late fusion. Through extensive experiments, we show that our SAM-REF model outperforms the current state-of-the-art method in most metrics on segmentation quality without compromising efficiency.

Foundation models like the Segment Anything Model (SAM) have significantly advanced promptable image segmentation in computer vision. However, extending these capabilities to videos presents substantial challenges, particularly in ensuring precise and temporally consistent mask propagation in dynamic scenes. SAM 2 attempts to address this by training a model on massive image and video data from scratch to learn complex spatiotemporal associations, resulting in huge training costs that hinder research and practical deployment. In this paper, we introduce SAM-I2V, an effective image-to-video upgradation method for cultivating a promptable video segmentation (PVS) model. Our approach strategically upgrades the pre-trained SAM to support PVS, significantly reducing training complexity and resource requirements. To achieve this, we introduce three key innovations: (i) an image-to-video feature extraction upgrader built upon SAM's static image encoder to enable spatiotemporal video perception, (ii) a memory filtering strategy that selects the most relevant past frames for more effective utilization of historical information, and (iii) a memory-as-prompt mechanism leveraging object memory to ensure temporally consistent mask propagation in dynamic scenes. Comprehensive experiments demonstrate that our method achieves over 90% of SAM 2's performance while using only 0.2% of its training cost. Our work presents a resource-efficient pathway to PVS, lowering barriers for further research in PVS model design and enabling broader applications and advancements in the field. Code and model will be available at: https://github.com/showlab/SAM-I2V.

Despite advances in Large Multi-modal Models, applying them to long and untrimmed video content remains challenging due to limitations in context length and substantial memory overhead. These constraints often lead to significant information loss and reduced relevance in the model responses. With the exponential growth of video data across web platforms, understanding long-form video is crucial for advancing generalized intelligence. In this paper, we introduce SALOVA: Segment-Augmented LOng Video Assistant, a novel video-LLM framework designed to enhance the comprehension of lengthy video content through targeted retrieval process. We address two main challenges to achieve it: (i) We present the SceneWalk dataset, a high-quality collection of 87.8K long videos, each densely captioned at the segment level to enable models to capture scene continuity and maintain rich descriptive context. (ii) We develop robust architectural designs integrating dynamic routing mechanism and spatio-temporal projector to efficiently retrieve and process relevant video segments based on user queries. Our framework mitigates the limitations of current video-LMMs by allowing for precise identification and retrieval of relevant video segments in response to queries, thereby improving the contextual relevance of the generated responses. Through extensive experiments, SALOVA demonstrates enhanced capability in processing complex long-form videos, showing significant capability to maintain contextual integrity across extended sequences.

Text-driven motion generation has advanced significantly with the rise of denoising diffusion models. However, previous methods often oversimplify representations for the skeletal joints, temporal frames, and textual words, limiting their ability to fully capture the information within each modality and their interactions. Moreover, when using pre-trained models for downstream tasks, such as editing, they typically require additional efforts, including manual interventions, optimization, or fine-tuning. In this paper, we introduce a skeleton-aware latent diffusion (SALAD), a model that explicitly captures the intricate inter-relationships between joints, frames, and words. Furthermore, by leveraging cross-attention maps produced during the generation process, we enable the attention-based zero-shot text-driven motion editing using a pre-trained SALAD model, requiring no additional user input beyond text prompts. Our approach significantly outperforms previous methods in terms of text-motion alignment without compromising generation quality, and demonstrates practical versatility by providing diverse editing capabilities beyond generation. Code is available at project page.

Infrared Small Target Detection (IRSTD) aims to identify low signal-to-noise ratio small targets in infrared images with complex backgrounds, which is crucial for various applications. However, existing IRSTD methods typically rely solely on image modalities for processing, which fail to fully capture contextual information, leading to limited detection accuracy and adaptability in complex environments. Inspired by vision-language models, this paper proposes a novel framework, SAIST, which integrates textual information with image modalities to enhance IRSTD performance. The framework consists of two main components: Scene Recognition Contrastive Language-Image Pretraining (SR-CLIP) and CLIP-guided Segment Anything Model (CG-SAM). SR-CLIP generates a set of visual descriptions through object-object similarity and object-scene relevance, embedding them into learnable prompts to refine the textual description set. This reduces the domain gap between vision and language, generating precise textual and visual prompts. CG-SAM utilizes the prompts generated by SR-CLIP to accurately guide the Mask Decoder in learning prior knowledge of background features, while incorporating infrared imaging equations to improve small target recognition in complex backgrounds and significantly reduce the false alarm rate. Additionally, this paper introduces the first multimodal IRSTD dataset, MIRSTD, which contains abundant image-text pairs. Experimental results demonstrate that the proposed SAIST method outperforms existing state-of-the-art approaches.

The latest advancements in multi-modal large language models (MLLMs) have spurred a strong renewed interest in end-to-end motion planning approaches for autonomous driving. Many end-to-end approaches rely on human annotations to learn intermediate perception and prediction tasks, while purely self-supervised approaches--which directly learn from sensor inputs to generate planning trajectories without human annotations--often underperform the state of the art. We observe a key gap in the input representation space: end-to-end approaches built on MLLMs are often pretrained with reasoning tasks in 2D image space rather than the native 3D space in which autonomous vehicles plan. To this end, we propose S4-Driver, a scalable self-supervised motion planning algorithm with spatio-temporal visual representation, based on the popular PaLI multimodal large language model. S4-Driver uses a novel sparse volume strategy to seamlessly transform the strong visual representation of MLLMs from perspective view to 3D space without the need to finetune the vision encoder. This representation aggregates multi-view and multi-frame visual inputs and enables better prediction of planning trajectories in 3D space. To validate our method, we run experiments on both nuScenes and Waymo Open Motion Dataset (with in-house camera data). Results show that S4-Driver performs favorably against existing supervised multi-task approaches while requiring no human annotations. It also demonstrates great scalability when pretrained on large volumes of unannotated driving logs.

In this paper, we aim ambitiously for a realistic yet challenging problem, namely, how to reconstruct high-quality 3D scenes from sparse low-resolution views that simultaneously suffer from deficient perspectives and contents. Whereas existing methods only deal with either sparse views or low-resolution observations, they fail to handle such hybrid and complicated scenarios. To this end, we propose a novel Sparse-view Super-resolution 3D Gaussian Splatting framework, dubbed S2Gaussian, that can reconstruct structure-accurate and detail-faithful 3D scenes with only sparse and low-resolution views. The S2Gaussian operates in a two-stage fashion. In the first stage, we initially optimize a low-resolution Gaussian representation with depth regularization and densify it to initialize the high-resolution Gaussians through a tailored Gaussian Shuffle operation. In the second stage, we refine the high-resolution Gaussians with the super-resolved images generated from both original sparse views and pseudo-views rendered by the low-resolution Gaussians. In which a customized blur-free inconsistency modeling scheme and a 3D robust optimization strategy are elaborately designed to mitigate multi-view inconsistency and eliminate erroneous updates caused by imperfect supervision. Extensive experiments demonstrate superior results and in particular establishing new state-of-the-art performances with more consistent geometry and finer details. Project Page https://jeasco.github.io/S2Gaussian/.

In this paper, we present S2D-LFE, an innovative approach for sparse-to-dense light field event generation. For the first time to our knowledge, S2D-LFE enables controllable novel view synthesis only from sparse-view light field event (LFE) data, and addresses three critical challenges for the LFE generation task: simplicity, controllability, and consistency. The simplicity aspect eliminates the dependency on frame-based modality, which often suffers from motion blur and low frame-rate limitations. The controllability aspect enables precise view synthesis under sparse LFE conditions with view-related constraints. The consistency aspect ensures both cross-view and temporal coherence in the generated results. To realize S2D-LFE, we develop a novel diffusion-based generation network with two key components. First, we design an LFE-customized variational auto-encoder that effectively compresses and reconstructs LFE by integrating cross-view information. Second, we design an LFE-aware injection adaptor to extract comprehensive geometric and texture priors. Furthermore, we construct a large-scale synthetic LFE dataset containing 162 one-minute sequences using simulator, and capture a real-world testset using our custom-built sparse LFE acquisition system, covering diverse indoor and outdoor scenes. Extensive experiments demonstrate that S2D-LFE successfully generates up to 9x9 dense LFE from sparse 2x2 inputs and outperforms existing methods on both synthetic and real-world data. The datasets and code are available at https://github.com/Yutong2022/S2D-LFE.