CVPR 2025 Papers

Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks and environments because of the lack of large-scale training.In contrast, recent advances in vision-language-action (VLA) models have shown impressive generalization capabilities, but these foundation models are developed for fixed-base manipulation tasks.Therefore, we propose an efficient policy adaptation framework to transfer pre-trained VLA models of fix-base manipulation to mobile manipulation, so that high generalization ability across tasks and environments can be achieved in mobile manipulation policy.Specifically, we utilize pre-trained VLA models to generate waypoints of the end-effector with high generalization ability. We design motion planning objectives for the mobile base and the robot arm, which aim at maximizing the physical feasibility of the trajectory. Finally, we present an efficient bi-level objective optimization framework for trajectory generation, where the upper-level optimization predicts waypoints for base movement to enhance the manipulator policy space, and the lower-level optimization selects the optimal end-effector trajectory to complete the manipulation task. Extensive experimental results on OVMM and the real world demonstrate that our method achieves a 4.2% higher success rate than the state-of-the-art mobile manipulation, and only requires 50 training cost for real world deployment due to the strong generalization ability in the pre-trained VLA models.

We present MoGe, a powerful model for recovering 3D geometry from monocular open-domain images. Given a single image, our model directly predicts a 3D point map of the captured scene with an affine-invariant representation, which is agnostic to true global scale and shift. This new representation precludes ambiguous supervision in training and facilitates effective geometry learning. Furthermore, we propose a set of novel global and local geometry supervision techniques that empower the model to learn high-quality geometry. These include a robust, optimal, and efficient point cloud alignment solver for accurate global shape learning, and a multi-scale local geometry loss promoting precise local geometry supervision. We train our model on a large, mixed dataset and demonstrate its strong generalizability and high accuracy. In our comprehensive evaluation on diverse unseen datasets, our model significantly outperforms state-of-the-art methods across all tasks, including monocular estimation of 3D point map, depth map, and camera field of view.

In this paper, we address the problem of human trajectory forecasting, which aims to predict the inherently multi-modal future movements of humans based on their past trajectories and other contextual cues. We propose a novel motion prediction conditional flow matching model, termed MoFlow, to predict K-shot future trajectories for all agents in a given scene. We design a novel flow matching loss function that not only ensures at least one of the K sets of future trajectories is accurate but also encourages all K sets of future trajectories to be diverse and plausible. Furthermore, by leveraging the implicit maximum likelihood estimation (IMLE), we propose a novel distillation method for flow models that only requires samples from the teacher model. Extensive experiments on the real-world datasets, including SportVU NBA games, ETH-UCY, and SDD, demonstrate that both our teacher flow model and the IMLE-distilled student model achieve state-of-the-art performance. These models can generate diverse trajectories that are physically and socially plausible. Moreover, our one-step student model is 100 times faster than the teacher flow model during sampling. The code, model, and data are available at our project page: https://moflow-imle.github.io/.

Multi-object images are widely present in the real world, spanning various areas of daily life. Efficient and accurate editing of these images is crucial for applications such as augmented reality, advertisement design, and medical imaging. Stable Diffusion (SD) has ushered in a new era of high-quality image generation and editing. However, existing methods struggle to analyze abstract relationships between multiple objects, often yielding suboptimal performance. To address this, we propose MoEdit, an auxiliary-free method for multi-object image editing. This method enables high-quality editing of attributes in multi-object images, such as style, object features, and background, by maintaining quantity consistency between the input and output images. To preserve the concept of quantity, we introduce a Quantity Attention (QTTN) module to control the editing process. Additionally, we present a Feature Compensation (FeCom) module to enhance the robustness of object preservation. We also employ a null-text training strategy to retain the guiding capability of text prompts, making them plug-and-play modules. This method leverages the powerful image perception and generation capabilities of the SD model, enabling specific concepts to be preserved and altered between input and output images. Experimental results demonstrate that MoEdit achieves the state-of-the-art performance in high-quality multi-object image editing. Data and codes will be available at https://github.com/Tear-kitty/MoEdit.

The generation of talking avatars has achieved significant advancements in precise audio synchronization. However, crafting lifelike talking head videos requires capturing a broad spectrum of emotions and subtle facial expressions. Current methods face fundamental challenges: a) the absence of frameworks for modeling single basic emotional expressions, which restricts the generation of complex emotions such as compound emotions; b) the lack of comprehensive datasets rich in human emotional expressions, which limits the potential of models. To address these challenges, we propose the following innovations: 1) the Mixture of Emotion Experts (MoEE) model, which decouples six fundamental emotions to enable the precise synthesis of both singular and compound emotional states; 2) the DH-FaceEmoVid-150 dataset, specifically curated to include six prevalent human emotional expressions as well as four types of compound emotions, thereby expanding the training potential of emotion-driven models; 3) an emotion-to-latents module that leverages multimodal inputs, aligning diverse control signals--such as audio, text, and labels--to enhance audio-driven emotion control. Through extensive quantitative and qualitative evaluations, we demonstrate that the MoEE framework, in conjunction with the DH-FaceEmoVid-150 dataset, excels in generating complex emotional expressions and nuanced facial details, setting a new benchmark in the field. These datasets will be publicly released.

3D Gaussian Splatting (3DGS) has made significant strides in scene representation and neural rendering, with intense efforts focused on adapting it for dynamic scenes. Despite delivering remarkable rendering quality and speed, existing methods struggle with storage demands and the representation of complex real-world motions. To address these challenges, we propose MoDec-GS, a memory-efficient Gaussian splatting framework designed to reconstruct novel views in challenging scenarios with complex motions. We introduce Global-to-Local Motion Decomposition (GLMD) to effectively capture dynamic motions in a coarse-to-fine manner. This approach leverages Global Canonical Scaffolds (Global CS) and Local Canonical Scaffolds (Local CS), which extend static Scaffold representation to dynamic video reconstruction. For Global CS, we propose Global Anchor Deformation (GAD) to efficiently represent global dynamics along complex motions by directly deforming the implicit Scaffold attributes, including anchor position, offset, and local context features. Next, we finely adjust local motions via the Local Gaussian Deformation (LGD) of Local CS explicitly. Additionally, we introduce Temporal Interval Adjustment (TIA) to automatically control the temporal coverage of each Local CS during training, enabling MoDec-GS to find optimal interval assignments based on the specified number of temporal segments. Extensive evaluations demonstrate that MoDec-GS achieves an average 70% reduction in model size over state-of-the-art methods for dynamic 3D Gaussians from real-world dynamic videos while maintaining or even improving rendering quality.

Existing technique on domain adaptive person search commonly utilizes the unified framework for jointly localizing and identifying the person across domains. This framework, however, inevitably results in the gradient conflict problem, particularly in cross-domain scenarios with contradictory objectives, as the unified framework employs shared parameters to simultaneously address person detection and re-identification tasks across the domains. To overcome this, we present a novel mixture of submodules framework, dubbed MoS, that dynamically modulates the combination of submodules depending on the specific task to perform person detection and re-identification, separately. We further design the mixtures of submodules that vary depending on the domain, enabling domain-specific knowledge transfer. Especially, we decompose the main model into several submodules and employ diverse mixtures of submodules that vary depending on the tasks and domains through the conditional routing policy. In addition, we also present counterpart domain sample generation that synthesizes the augmented sample and uses them to learn domain invariant representation for person re-identification through the contrastive domain alignment. We conduct experiments to demonstrate the effectiveness of our MoS over the existing domain adaptive person search method and provide ablation studies.

Generating human motion guided by conditions such as textual descriptions is challenging due to the need for datasets with pairs of high-quality motion and their corresponding conditions. The difficulty increases when aiming for finer control in the generation. To that end, prior works have proposed to combine several motion diffusion models pre-trained on datasets with different types of conditions, thus allowing control with multiple conditions. However, the proposed merging strategies overlook that the optimal way to combine the generation processes might depend on the particularities of each pre-trained generative model and also the specific textual descriptions. In this context, we introduce MixerMDM, the first learnable model composition technique for combining pre-trained text-conditioned human motion diffusion models. Unlike previous approaches, MixerMDM provides a dynamic mixing strategy that is trained in an adversarial fashion to learn to combine the denoising process of each model depending on the set of conditions driving the generation. By using MixerMDM to combine single- and multi-person motion diffusion models, we achieve fine-grained control on the dynamics of every person individually, and also on the overall interaction. Furthermore, we propose a new evaluation technique that, for the first time in this task, measures the interaction and individual quality by computing the alignment between the mixed generated motions and their conditions as well as the capabilities of MixerMDM to adapt the mixing throughout the denoising process depending on the motions to mix.

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a significant challenge. Recent research has explored leveraging large-scale human activity data for pre-training, but the substantial morphological differences between humans and robots introduce a significant human-robot domain discrepancy, hindering the generalization of these models to downstream manipulation tasks. To overcome this, we propose a novel adaptation paradigm that leverages readily available paired human-robot video data to bridge the domain gap. Our method employs a human-robot contrastive alignment loss to align the semantics of human and robot videos, adapting pre-trained models to the robot domain in a parameter-efficient manner. Experiments on 20 simulated tasks across two different benchmarks and five real-world tasks demonstrate significant improvements. These results span both single-task and language-conditioned multi-task settings, evaluated using two different pre-trained models. Compared to existing pre-trained models, our adaptation method improves the average success rate by over 7% across multiple tasks on both simulated benchmarks and real-world evaluations.

Despite great success across various multimodal tasks, Large Vision-Language Models (LVLMs) often encounter object hallucinations with generated textual responses being inconsistent with the actual objects in images. We examine different LVLMs and pinpoint that one root cause of object hallucinations lies with deficient attention on discriminative image features. Specifically, LVLMs often predominantly attend to prompt-irrelevant global features instead of prompt-relevant local features, undermining their visual grounding capacity and leading to object hallucinations. We propose Assembly of Global and Local Attention (AGLA) , a training-free and plug-and-play approach that mitigates hallucinations by assembling global features for response generation and local features for visual discrimination simultaneously. Specifically, we introduce an image-prompt matching scheme that captures prompt-relevant local features from images, leading to an augmented view of the input image where prompt-relevant content is highlighted while irrelevant distractions are suppressed. Hallucinations can thus be mitigated with a calibrated logit distribution that is from generative global features of the original image and discriminative local features of the augmented image. Extensive experiments show the superiority of AGLA in LVLM hallucination mitigation, demonstrating its wide applicability across both discriminative and generative tasks. Our code is available at https://github.com/Lackel/AGLA.

Hallucination remains a major challenge for Large Vision-Language Models (LVLMs). Direct Preference Optimization (DPO) has gained increasing attention as a simple solution to hallucination issues. It directly learns from constructed preference pairs that reflect the severity of hallucinations in responses to the same prompt and image. Nonetheless, different data construction methods in existing works bring notable performance variations. We identify a crucial factor here: outcomes are largely contingent on whether the constructed data aligns on-policy w.r.t the initial (reference) policy of DPO. Theoretical analysis suggests that learning from off-policy data is impeded by the presence of KL-divergence between the updated policy and the reference policy. From the perspective of dataset distribution, we systematically summarize the inherent flaws in existing algorithms that employ DPO to address hallucination issues. To alleviate the problems, we propose On-Policy Alignment (OPA)-DPO framework, which uniquely leverages expert feedback to correct hallucinated responses and aligns both the original and expert-revised responses in an on-policy manner. Notably, with only 4.8k data, OPA-DPO achieves an additional reduction in the hallucination rate of LLaVA-1.5-7B: 13.26% on the AMBER benchmark and 5.39% on the Object-Hal benchmark, compared to the previous SOTA algorithm trained with 16k samples.

3D classification with point cloud input is a fundamental problem in 3D vision. However, due to the discrete nature and the insufficient material description of point cloud representations, there are ambiguities in distinguishing wire-like and flat surfaces, as well as transparent or reflective objects. To address these issues, we propose Gaussian Splatting (GS) point cloud-based 3D classification. We find that the scale and rotation coefficients in the GS point cloud help characterize surface types. Specifically, wire-like surfaces consist of multiple slender Gaussian ellipsoids, while flat surfaces are composed of a few flat Gaussian ellipsoids. Additionally, the opacity in the GS point cloud represents the transparency characteristics of objects. As a result, ambiguities in point cloud-based 3D classification can be mitigated utilizing GS point cloud as input. To verify the effectiveness of GS point cloud input, we construct the first real-world GS point cloud dataset in the community, which includes 20 categories with 200 objects in each category. Experiments not only validate the superiority of GS point cloud input, especially in distinguishing ambiguous objects, but also demonstrate the generalization ability across different classification methods.

Zero-Shot Composed Image Retrieval (ZS-CIR) involves diverse tasks with a broad range of visual content manipulation intent across domain, scene, object, and attribute. The key challenge for ZS-CIR tasks is to modify a reference image according to manipulation text to accurately retrieve a target image, especially when the reference image is missing essential target content. In this paper, we propose a novel prediction-based mapping network, named PrediCIR, to adaptively predict the missing target visual content in reference images in the latent space before mapping for accurate ZS-CIR. Specifically, a world view generation module first constructs a source view by omitting certain visual content of a target view, coupled with an action that includes the manipulation intent derived from existing image-caption pairs. Then, a target content prediction module trains a world model as a predictor to adaptively predict the missing visual information guided by user intention in manipulating text at the latent space. The two modules map an image with the predicted relevant information to a pseudo-word token without extra supervision. Our model shows strong generalization ability on six ZS-CIR tasks. It obtains consistent and significant performance boosts ranging from 1.73% to 4.45% over the best methods and achieves new state-of-the-art results on ZS-CIR. Our code is available at https://github.com/Pter61/predicir.

Diffusion models have become central to various image editing tasks, yet they often fail to fully adhere to physical laws, particularly with effects like shadows, reflections, and occlusions. In this work, we address the challenge of generating photorealistic mirror reflections using diffusion-based generative models. Despite extensive training data, existing diffusion models frequently overlook the nuanced details crucial to authentic mirror reflections. Recent approaches have attempted to resolve this by creating synthetic datasets and framing reflection generation as an inpainting task; however, they struggle to generalize across different object orientations and positions relative to the mirror. Our method overcomes these limitations by introducing key augmentations into the synthetic data pipeline: (1) random object positioning, (2) randomized rotations, and (3) grounding of objects, significantly enhancing generalization across poses and placements. To further address spatial relationships and occlusions in scenes with multiple objects, we implement a strategy to pair objects during dataset generation, resulting in a dataset robust enough to handle these complex scenarios. Achieving generalization to real-world scenes remains a challenge, so we introduce a three-stage training curriculum to develop the MirrorFusion 2.0 model, aimed at improving real-world performance. We provide extensive qualitative and quantitative evaluations to support our approach. The project page is available at: https://mirror-verse.github.io/.

We investigate the generation of minority samples using pretrained text-to-image (T2I) latent diffusion models. Minority instances, in the context of T2I generation, can be defined as ones living on low-density regions of text-conditional data distributions. They are valuable for various applications of modern T2I generators, such as data augmentation and creative AI. Unfortunately, existing pretrained T2I diffusion models primarily focus on high-density regions, largely due to the influence of guided samplers (like CFG) that are essential for high-quality generation. To address this, we present a novel framework to counter the high-density-focus of T2I diffusion models. Specifically, we first develop an online prompt optimization framework that encourages emergence of desired properties during inference while preserving semantic contents of user-provided prompts. We subsequently tailor this generic prompt optimizer into a specialized solver that promotes generation of minority features by incorporating a carefully-crafted likelihood objective. Extensive experiments conducted across various types of T2I models demonstrate that our approach significantly enhances the capability to produce high-quality minority instances compared to existing samplers. Code is available at https://github.com/soobin-um/MinorityPrompt.

Traditional video instance segmentation (VIS) models rely on extensive per-frame video annotations, which are both time-consuming and costly. In this paper, we present MinMaxVIS, a novel VIS framework that reduces the dependency on fully labeled video datasets by utilizing a small set of labeled images from the target domain along with a large volume of general-domain, unlabeled images. MinMaxVIS operates in three stages: first, a preliminary segmentation model is trained on the small labeled set from the target domain; this model then retrieves relevant instances from the unlabeled dataset to build a high-quality pseudo-labeled set, ensuring a rich content alignment with the target domain while avoiding the inefficiencies of large-scale semi-supervised learning across the entire unlabeled set. Finally, we train MinMaxVIS on a combination of labeled and pseudo-labeled data, addressing challenges such as noise in pseudo-labels and instance association across frames. To simulate object continuity, we augment static images to create paired frames, allowing MinMaxVIS to capture instance associations effectively. MinMaxVIS outperforms the prior image-driven approach, MinVIS, achieving superior mAP scores with significantly reduced labeled data. For instance, MinMaxVIS with a Swin-L backbone attains 62.2 mAP on YouTube-VIS 2019 using only 2% labeled data and additional unlabeled images from SA-1B. This surpasses MinVIS, which uses the same backbone trained on fully labeled YouTube-VIS 2019, by 0.6 mAP.

The rapid scaling of large vision pretrained models makes fine-tuning tasks more and more difficult on devices with low computational resources. We explore a new visual adaptation paradigm called separated tuning, which treats large pretrained models as standalone feature extractors that run on powerful cloud servers. The fine-tuning carries out on devices which possess only low computational resources (slow CPU, no GPU, small memory, etc.) Existing methods that are potentially suitable for our separated tuning paradigm are discussed. But, three major drawbacks hinder their application in separated tuning: low adaptation capability, large adapter network, and in particular, high information transfer overhead. To address these issues, we propose Minimal Interaction Separated Tuning, or MIST, which reveals that the sum of intermediate features from pretrained models not only has minimal information transfer but also has high adaptation capability. With a lightweight attention-based adaptor network, MIST achieves information transfer efficiency, parameter efficiency, computational and memory efficiency, and at the same time demonstrates competitive results on various visual adaptation benchmarks.

Deep learning has achieved significant advancements in medical image segmentation, but existing models still face challenges in accurately segmenting lesion regions. The main reason is that some lesion regions in medical images have unclear boundaries, irregular shapes, and small tissue density differences, leading to label ambiguity. However, the existing model treats all data equally without taking quality differences into account in the training process, resulting in noisy labels negatively impacting model training and unstable feature representations. In this paper, a **d**ata-driven **a**lternating **le**arning (**DALE**) paradigm is proposed to optimize the model's training process, achieving stable and high-precision segmentation. The paradigm focuses on two key points: (1) reducing the impact of noisy labels, and (2) calibrating unstable representations. To mitigate the negative impact of noisy labels, a loss consistency-based collaborative optimization method is proposed, and its effectiveness is theoretically demonstrated. Specifically, the label confidence parameters are introduced to dynamically adjust the influence of labels of different confidence levels during model training, thus reducing the influence of noise labels. To calibrate the learning bias of unstable representations, a distribution alignment method is proposed. This method restores the underlying distribution of unstable representations, thereby enhancing the discriminative capability of fuzzy region representations. Extensive experiments on various benchmarks and model backbones demonstrate the superiority of the DALE paradigm, achieving an average performance improvement of up to 7.16%.

Recently, the Image Prompt Adapter (IP-Adapter) has been increasingly integrated into text-to-image diffusion models (T2I-DMs) to improve controllability. However, in this paper, we reveal that T2I-DMs equipped with the IP-Adapter (T2I-IP-DMs) enable a new jailbreak attack named the hijacking attack. We demonstrate that, by uploading imperceptible image-space adversarial examples (AEs), the adversary can hijack massive benign users to jailbreak an Image Generation Service (IGS) driven by T2I-IP-DMs and mislead the public to discredit the service provider. Worse still, the IP-Adapter's dependency on open-source image encoders reduces the knowledge required to craft AEs. Extensive experiments verify the technical feasibility of the hijacking attack. In light of the revealed threat, we investigate several existing defenses and explore combining the IP-Adapter with adversarially trained models to overcome existing defenses' limitations. Our code is available at https://github.com/fhdnskfbeuv/attackIPA.