CVPR 2026 Papers

Recent advances in generative models have enabled the creation of high-fidelity human faces, yet constructing reliable virtual identities that preserve user privacy while supporting consistent and verifiable identity assignment remains challenging. In this paper, we propose a diffusion-based framework for generating traceable virtual identities that maintains stable identity semantics while preserving pose and expression. Our framework couples a virtual identity sampler that generates diverse yet consistent identity embeddings with a 3D geometric and expression conditioning module that preserves the pose and non-identity characteristics of the input face. In addition, we incorporate a lightweight latent watermarking mechanism that embeds an imperceptible identity signature during generation, enabling a user to verify ownership of the resulting virtual identity through a secure token without revealing their real facial appearance. Quantitative evaluations demonstrate that our method achieves high virtual identity consistency, strong pose and expression fidelity, and improved anonymity compared with prior works. These results validate the effectiveness of integrating virtual identity sampling, geometric conditioning, and latent watermarking into a single generative framework, and highlight the practical potential of our solution for constructing privacy-aware virtual identities.

Despite the success of audio-visual large-language models (LLMs), they can produce plausible but ungrounded outputs, termed hallucination. Existing benchmarks focus on environmental sounds (e.g., dog barking) to indicate event occurrence. In contrast, human speech carries fundamentally different, rich semantics and temporal structures, yet it remains unexplored whether current models can accurately align speech content with corresponding visual signals. In this work, we show that speech content can induce hallucinations in audio-visual LLMs. To systematically study this, we introduce SVHalluc, the first comprehensive benchmark for evaluating speech-vision hallucination in audio-visual LLMs. Our benchmark diagnoses speech-vision hallucinations from two critical and complementary aspects: semantic and temporal. Experimental results demonstrate that state-of-the-art open-source audio-visual LLMs struggle with aligning speech content with corresponding visual signals, with a near-random accuracy on multiple tasks. In contrast, Gemini-2.5 Pro significantly outperforms the open-source models. Our analysis suggests that their failures stem from limited ability in cross-modality understanding, despite strong performance in single-modality perception. Our work uncovers a new and fundamental limitation of current audio-visual LLMs and highlights the need for speech-grounded video comprehension. Project page: https://chenshuang-zhang.github.io/projects/svhalluc/.

Reconstructing humans and their surrounding environments in a globally consistent 4D space is essential for comprehensive perception. However, prior works typically assume single-view inputs or decouple humans, scenes, and cameras, making them unable to recover coherent geometry, stable motion, and physically aligned trajectories. These limitations motivate us to introduce a new task: unified human-scene-camera reconstruction from multi-view videos, which aims to jointly estimate dynamic humans, static scenes, and camera poses in one global coordinate frame. We propose TROPHIES--Temporal Reconstruction of Places, Humans, and Cameras from Multi-view Videos--a unified framework tailored for this task. TROPHIES features a Human Branch that models human through temporal and spatial reasoning, and a Scene Branch that reconstructs static geometry with human-aware attention. A global alignment and optimization module couples both branches by enforcing scale consistency, contact priors, and cross-view temporal coherence. Experiments on EgoHuman and EgoExo4D demonstrate that TROPHIES achieves globally aligned, physically plausible 4D reconstructions and consistently outperforms existing paradigms in both global fidelity and human-scene consistency.

Multimodal Sentiment Analysis (MSA) aims to integrate textual, acoustic, and visual information to predict sentiment polarity. With the emergence of Large Language Models (LLMs), existing studies commonly employ learnable queries to compress audio-visual representations and feed them as soft prompts into LLMs for MSA. However, due to the implicit learning mechanism of the learnable queries, these learnable queries lack explicit guidance regarding how each query encodes sentiment semantics. To address this issue, we propose a prototype-as-prompt framework that maps audio-visual representations into a fixed set of multimodal sentiment prototypes. These prototypes are then used as soft prompts to guide the LLM in performing MSA. Concretely, we first compress both textual and non-textual features into multimodal prototypes using a resampling-based strategy. We further introduce a sentiment-aware prototype learning that explicitly binds multimodal prototypes with sentiment semantics. To ensure both cross-modal consistency and intra-modal diversity of multimodal sentiment prototypes, we design a cross-modal prototype alignment constraint and a distance-weighted prototype diversity constraint. Extensive experiments across three LLMs and four benchmark datasets show that PaP achieves superior performance with only 0.09%-0.26% of trainable parameters, highlighting its effectiveness and parameter efficiency.

Grasping in a densely cluttered environment is a challenging task for robots. Previous methods tried to solve this problem by actively gathering multiple views before grasp pose generation. However, they either overlooked the importance of the grasp distribution for information gain estimation or relied on the projection of the grasp distribution, which ignores the structure of grasp poses on the SE(3) manifold. To tackle these challenges, we propose a calibrated energy-based model for grasp pose generation and an active view selection method that estimates information gain from grasp distribution. Our energy-based model captures the multi-modality nature of grasp distribution on the SE(3) manifold. The energy level is calibrated to the success rate of grasps so that the predicted distribution aligns with the real distribution. The next best view is selected by estimating the information gain for grasp from the calibrated distribution conditioned on the reconstructed environment, which could efficiently drive the robot to explore affordable parts of the target object. Experiments on simulated environments and real robot setups demonstrate that our model could successfully grasp objects in a cluttered environment with limited view budgets compared to previous state-of-the-art models. Our simulated environment can serve as a reproducible platform for future research on active grasping. The source code of our paper will be made public when the paper is released to the public.

Synthetic Aperture Radar (SAR) imagery plays a critical role in all-weather, day-and-night remote sensing applications. However, existing SAR-oriented deep learning is constrained by data scarcity, while the physically grounded speckle noise in SAR imagery further hampers fine-grained semantic representation learning. To address these challenges, we propose SARMAE, a Noise-Aware Masked Autoencoder for self-supervised SAR representation learning. Specifically, we construct SAR-1M, the first million-scale SAR dataset, with additional paired optical images, to enable large-scale pre-training. Building upon this, we design Speckle-Aware Representation Enhancement (SARE), which injects SAR-specific speckle noise into Masked Autoencoder to facilitate noise-aware and robust representation learning. Furthermore, we introduce Semantic Anchor Representation Constraint (SARC), which leverages paired optical priors to align SAR features and ensure semantic consistency. Extensive experiments across multiple SAR datasets demonstrate that SARMAE achieves state-of-the-art performance on classification, detection, and segmentation tasks. Code, data, and models are available at https://github.com/MiliLab/SARMAE.

Modern mapping tools remain fundamentally point-and-click systems, offering limited support for interactive, multimodal engagement with either map views or real-world camera inputs. This limitation becomes most apparent in the last 100 meters of navigation and during in-situ local discovery, where users naturally combine spatial reasoning over maps with egocentric perception of their surroundings. We introduce IMAIA, an interactive geospatial assistance framework that unifies three core capabilities: (1) map-centric spatial understanding, (2) camera-to-place grounding, and (3) human-centered, bearing-aware navigation. IMAIA consists of two interoperable components--Maps Plus and PAISA--coordinated by a lightweight multi-agent orchestrator. Maps Plus converts vector and satellite maps into a grid-aligned representation that enables flexible, view-conditioned spatial queries. PAISA fuses camera imagery with geospatial signals such as location, heading, and proximity to interpret egocentric scenes and surface relevant attributes of nearby places. The framework is fully modular: vision-language backends can be replaced without altering system behavior. IMAIA enables responsive, interpretable, and context-aware assistance across both map-based and real-world interactions, supporting a new class of interactive mapping experiences that are practical for real-world deployment.

Occluded visible-infrared person re-identification (Occluded VI-ReID) remains difficult due to modality heterogeneity and occlusions, both of which break structural consistency and weaken cross-modality feature alignment. Existing methods rely mainly on spatial-domain cues (such as local body parts and salient patches), but their discriminability degrades severely under varying imaging conditions or partial visibility. To address these issues, we introduce a spatial-frequency collaborative perspective that offers global perception and cross-location consistency. Specifically, we propose a Spatial-Frequency Collaborative Learning (SFCL) framework that uses frequency information to complement spatial representations. SFCL comprises a Cross-Modality Frequency Alignment Module (CFAM), a Spatial-Frequency Interaction Module (SFIM), and a Frequency-Aware Discriminative (FAD) loss. The CFAM models the spectral features of visible/infrared images in the frequency domain, establishing modality-consistent spectral priors. The SFIM injects these priors into spatial features, promoting dual-domain interaction and complementary representations of spatial and frequency semantics. In addition, the FAD loss jointly enforces cross-modality frequency alignment and semantic consistency, thus enhancing robustness and discriminability under occlusions. For real-occlusion evaluation, we construct two occluded datasets, Occ-SYSU-MM01 and Occ-RegDB, on which SFCL outperforms the state-of-the-art.

Multimodal Large Language Models (MLLMs) incorporating 3D geometry demonstrate significant power in 3D scene understanding. Their primary bottleneck, however, is the substantial computational burden associated with processing multi-view, lengthy visual token sequences. To surmount this challenge, we propose Merge3D, a geometry-aware token merging framework that integrates both 3D geometry and 2D semantic information. Conventional 2D compression methods, which rely solely on semantic signals, prove inadequate for 3D tasks, as they tend to discard spatially critical tokens and damage grounding performance. Merge3D bridges the modalities with a Semantic-Geometric Token Merger (SemGeo Merger): 2D attention is used to select semantically salient dominant tokens, while a hybrid 2D+3D similarity assigns and aggregates contextual tokens from spatially coherent 3D neighborhoods. This preserves 3D structural priors and inter-frame correspondences under aggressive compression. Merge3D achieves up to 70% visual token reduction and up to ~3xinference speedup, while retaining strong performance on 3D grounding, captioning, and spatial reasoning benchmarks such as Scan2Cap, CV-Bench, and BLINK.

A key scalability challenge in neural solvers for industrial-scale physics simulations is efficiently capturing both fine-grained local interactions and long-range global dependencies across millions of spatial elements. We introduce the Multi-Scale Patch Transformer (MSPT), an architecture that combines local point attention within patches with global attention to coarse patch-level representations. To partition the input domain into spatially-coherent patches, we employ ball trees, which handle irregular geometries efficiently. This dual-scale design enables MSPT to scale to millions of points on a single GPU. We validate MSPT on standard PDE benchmarks (elasticity, plasticity, fluid dynamics, porous flow) and large-scale aerodynamic datasets (ShapeNet-Car, Ahmed-ML), achieving state-of-the-art accuracy with substantially lower memory footprint and computational cost.

Recent perception-generalist approaches based on language models have achieved state-of-the-art results across diverse tasks, including 3D scene layout estimation and 3D object detection, via unified architecture and interface. However, these approaches rely on autoregressive next-token prediction, which is inherently slow. In this work, we introduce Fast SceneScript, a novel structured language model for accurate and efficient 3D scene understanding. Our method employs multi-token prediction (MTP) to reduce the number of autoregressive iterations and significantly accelerate inference. While MTP improves speed, unreliable token predictions can significantly reduce accuracy. To filter out unreliable tokens, we adapt self-speculative decoding (SSD) for structured language models and introduce confidence-guided decoding (CGD) with an improved scoring mechanism for token reliability. Furthermore, we design a parameter-efficient mechanism that reduces the parameter overhead of MTP. Extensive experiments on synthetic and real-world benchmarks demonstrate that Fast SceneScript can generate up to 9 tokens per decoder inference step without compromising accuracy, while adding only 7.5% additional parameters.

Vision-Language-Action models have emerged as essential generalist robot policies for diverse manipulation tasks, conventionally relying on directly translating multimodal inputs into actions via Vision-Language Model embeddings. Recent advancements have introduced explicit intermediary reasoning--such as sub-task prediction (language) or goal image synthesis (vision)--to guide action generation. However, these intermediate reasoning are often indirect and inherently limited in their capacity to convey the full, granular information required for precise action execution. Instead, we posit that the most effective form of reasoning is one that deliberates directly in the action space. We introduce Action Chain-of-Thought (ACoT), a paradigm where the reasoning process itself is formulated as a structured sequence of coarse action intents that guide the final policy. In this paper, we propose ACoT-VLA, a novel architecture that materializes the ACoT paradigm. Specifically, we introduce two complementary components: an Explicit Action Reasoner (EAR) and Implicit Action Reasoner (IAR). The former proposes coarse reference trajectories as explicit action-level reasoning steps, while the latter extracts latent action priors from internal representations of multimodal input, co-forming an ACoT that conditions the downstream action head to enable grounded policy learning. Extensive experiments in real-world and simulation environments demonstrate the superiority of our proposed method. Code is available at: https://github.com/AgibotTech/ACoT-VLA.

Scene text editing seeks to modify textual content in natural images while maintaining visual realism and semantic consistency. Existing methods often require task-specific training or paired data, limiting their scalability and adaptability. In this paper, we propose TextFlow, a training-free scene text editing framework that integrates the strengths of Attention Boost (AttnBoost) and Flow Manifold Steering (FMS) to enable flexible, high-fidelity text manipulation without additional training. Specifically, FMS preserves the structural and style consistency by modeling the visual flow of characters and background regions, while AttnBoost enhances the rendering of textual content through attention-based guidance. By jointly leveraging these complementary modules, our approach performs end-to-end text editing through semantic alignment and spatial refinement in a plug-and-play manner. Extensive experiments demonstrate that our framework achieves visual quality and text accuracy comparable to or superior to those of training-based counterparts, generalizing well across diverse scenes and languages. This study advances scene text editing toward a more efficient, generalizable, and training-free paradigm.

Imitation learning enables robots to learn how to execute tasks via observation. However, real-world environments like homes and offices are often severely partially observed due to their large spatial scales. In addition, many tasks involve executing a series of subtasks requiring autonomous robots to reason over extended time horizons. To address these challenges, we propose using scene graphs as an explicit and structured memory mechanism in imitation learning. By maintaining a dynamic scene graph that captures object-centric relationships and their evolution over time, our method allows the agent to retain relevant historical context during task execution to efficiently reason over incrementally accrued scene information. Our experiments on simulated mobile manipulation and real-world tabletop manipulation demonstrate that our approach substantially improves policy performance, particularly in settings that demand long-term reasoning and robust generalization under partial observability.

Panoramic depth estimation enables a complete 360^\circ understanding of 3D environments but faces significant challenges in generalizing to real-world scenes. While recent zero-shot depth models like Depth Anything achieve remarkable generalization on perspective images, their performance sharply degrades on panoramas due to projection distortions and the lack of spherical geometric awareness. Moreover, collecting large-scale panoramic RGB-D data is costly, hindering the large-scale training of panoramic foundation models. To address these issues, we propose an SO(3)-Equivariant ViT-Adapter, which transfers the powerful zero-shot capability of the perspective pre-trained ViT to panoramic depth estimation by explicitly incorporating a rotation-equivariant inductive bias. Our adapter introduces an SO(3) deformable cross-attention mechanism to effectively align SO(3)-equivariant features with perspective features, enhancing rotational consistency without modifying the ViT backbone. Trained solely on synthetic panoramas, our framework achieves robust zero-shot sim-to-real performance on real indoor benchmarks, including Matterport3D and Stanford2D3D, demonstrating both data efficiency and strong generalization for panoramic depth estimation.

Precise spatial control in diffusion-based style transfer remains challenging. This challenge arises because diffusion models treat style as a global feature and lack explicit spatial grounding of style representations, making it difficult to restrict style application to specific objects or regions. To our knowledge, existing diffusion models are unable to perform true localized style transfer, typically relying on handcrafted masks or multi-stage post-processing that introduce boundary artifacts and limit generalization. To address this, we propose an attention-supervised diffusion framework that explicitly teaches the model where to apply a given style by aligning the attention scores of style tokens with object masks during training. Two complementary objectives, a Focus loss based on KL divergence and a Cover loss using binary cross-entropy, jointly encourage accurate localization and dense coverage. A modular LoRA-MoE design further enables efficient and scalable multi-style adaptation. To evaluate localized stylization, we introduce the Regional Style Editing Score, which measures Regional Style Matching through CLIP-based similarity within the target region and Identity Preservation via masked LPIPS and pixel-level consistency on unedited areas. Experiments show that our method achieves mask-free, single-object style transfer at inference, producing regionally accurate and visually coherent results that outperform existing diffusion-based editing approaches.

The advent of "OCR 2.0" and large-scale vision-language models (VLMs) has set new benchmarks in text recogni- tion. However, these unified architectures often come with significant computational demands, challenges in precise text localization within complex layouts, and a propen- sity for textual hallucinations. Revisiting the prevailing notion that model scale is the sole path to high accu- racy, this paper introduces PP-OCRv5, a meticulously op- timized, lightweight OCR system with merely 5 million pa- rameters. We demonstrate that PP-OCRv5 achieves per- formance competitive with many billion-parameter VLMs on standard OCR benchmarks, while offering superior lo- calization precision and reduced hallucinations. The cor- nerstone of our success lies not in architectural expansion but in a data-centric investigation. We systematically dis- sect the role of training data by quantifying three critical dimensions: data difficulty, data accuracy, and data diver- sity. Our extensive experiments reveal that with a sufficient volume of high-quality, accurately labeled, and diverse data, the performance ceiling for traditional, efficient two- stage OCR pipelines is far higher than commonly assumed. This work provides compelling evidence for the viability of lightweight, specialized models in the large-model era and offers practical insights into data curation for OCR. The source code and models are publicly available at https: //github.com/PaddlePaddle/PaddleOCR.

Cooperative perception significantly enhances scene understanding by integrating complementary information from diverse agents. However, existing research often overlooks critical challenges inherent in real-world multi-source data integration, specifically high temporal latency and multi-source noise. To address these practical limitations, we propose Collaborative Alignment and Transformation Network (CATNet), an adaptive compensation framework that resolves temporal latency and noise interference in multi-agent systems. Our key innovations can be summarized in three aspects. First, we introduce a Spatio-Temporal Recurrent Synchronization (STSync) that aligns asynchronous feature streams via adjacent-frame differential modeling, establishing a temporal-spatially unified representation space. Second, we design a Dual-Branch Wavelet Enhanced Denoiser (WTDen) that suppresses global noise and reconstructs localized feature distortions within aligned representations. Third, we construct an Adaptive Feature Selector (AdpSel) that dynamically focuses on critical perceptual features for robust fusion. Extensive experiments on multiple datasets demonstrate that CATNet consistently outperforms existing methods under complex traffic conditions, proving its superior robustness and adaptability.

Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm performs preparatory manipulation that enables the other's goal-directed action--for instance, pushing the iPad to the table's edge before picking it up, or lifting the pen body to allow the other hand to remove its cap. In this work, we introduce Collaborative Preparatory Manipulation, a class of bimanual manipulation tasks that demand understanding object semantics and geometry, anticipating spatial relationships, and planning long-horizon coordinated actions between the two arms. To tackle this challenge, we propose a visual affordance-based framework that first envisions the final goal-directed action and then guides one arm to perform a sequence of preparatory manipulations that facilitate the other arm's subsequent operation. This affordance-centric representation enables anticipatory inter-arm reasoning and coordination, generalizing effectively across various objects spanning diverse categories. Extensive experiments in both simulation and the real world demonstrate that our approach substantially improves task success rates and generalization compared to competitive baselines.