ICCV 2025 Papers

Camera control has been actively studied in text or image conditioned video generation tasks. However, altering camera trajectories of a given video remains under-explored, despite its importance in the field of video creation. It is non-trivial due to the extra constraints of maintaining multiple-frame appearance and dynamic synchronization. To address this, we present ReCamMaster, a camera-controlled generative video re-rendering framework that reproduces the dynamic scene of an input video at novel camera trajectories. The core innovation lies in harnessing the generative capabilities of pre-trained text-to-video models through an elegant yet powerful video conditioning mechanism--an aspect often overlooked in current research. To overcome the scarcity of qualified training data, we construct a comprehensive multi-camera synchronized video dataset using Unreal Engine 5, which is carefully curated to follow real-world filming characteristics, covering diverse scenes and camera movements. It helps the model generalize to in-the-wild videos. Lastly, we further improve the robustness to diverse inputs through a meticulously designed training strategy. Extensive experiments show that our method substantially outperforms existing state-of-the-art approaches and strong baselines. Our method also finds promising applications in video stabilization, super-resolution, and outpainting. Our code and dataset are publicly available.

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed and sparse trajectory supervision, limiting their ability to capture the hierarchical reasoning process that human drivers naturally employ. To bridge this gap, we propose ReAL-AD, a Reasoning-Augmented Learning framework that structures decision-making in autonomous driving based on the three-tier human cognitive model: Driving Strategy, Driving Decision, and Driving Operation, where Vision-Language Models (VLMs) are incorporated to enhance situational awareness and structured reasoning across these levels. Specifically, we introduce: (1) the Strategic Reasoning Injector, which formulates high-level driving strategies by interpreting complex traffic contexts from VLM-generated insights; (2) the Tactical Reasoning Integrator, which refines strategic intent into interpretable tactical choices such as lane changes, overtaking, and speed adjustments; and (3) the Hierarchical Trajectory Decoder, which progressively translates tactical decisions into precise control actions for smooth and human-like trajectory execution. Extensive evaluations show that integrating our framework improves planning accuracy and safety by over 30%, making end-to-end autonomous driving more interpretable and aligned with human-like hierarchical reasoning.

In this paper, we present a generalizable method for 3D surface reconstruction from raw point clouds or pre-estimated 3D Gaussians by 3DGS from RGB images. Unlike existing coordinate-based methods which are often computationally intensive when rendering explicit surfaces, our proposed method, named **RayletDF**, introduces a new technique called raylet distance field, which aims to directly predict surface points from query rays. Our pipeline consists of three key modules: a raylet feature extractor, a raylet distance field predictor, and a multi-raylet blender. These components work together to extract fine-grained local geometric features, predict raylet distances, and aggregate multiple predictions to reconstruct precise surface points. We extensively evaluate our method on multiple public real-world datasets, demonstrating superior performance in surface reconstruction from point clouds or 3D Gaussians. Most notably, our method achieves exceptional generalization ability, successfully recovering 3D surfaces in a single-forward pass across unseen datasets in testing.

We present RayZer, a self-supervised multi-view 3D Vision model trained without any 3D supervision, i.e., camera poses and scene geometry, while exhibiting emerging 3D awareness. Concretely, RayZer takes unposed and uncalibrated images as input, recovers camera parameters, reconstructs a scene representation, and synthesizes novel views. During training, RayZer relies solely on its self-predicted camera poses to render target views, eliminating the need for any ground-truth camera annotations and allowing RayZer to be trained with 2D image supervision. The emerging 3D awareness of RayZer is attributed to two key factors. First, we design a self-supervised framework, which achieves 3D-aware auto-encoding of input images by disentangling camera and scene representations. Second, we design a transformer-based model in which the only 3D prior is the ray structure, connecting camera, pixel, and scene simultaneously. RayZer demonstrates comparable or even superior novel view synthesis performance than "oracle" methods that rely on pose annotations in both training and testing.

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose predictions. To address this, we reformulate template-based object pose estimation as a ray alignment problem, where the viewing directions from multiple posed template images are learned to align with a non-posed query image. Inspired by recent progress in diffusion-based camera pose estimation, we embed this formulation into a diffusion transformer architecture that aligns a query image with a set of posed templates. We reparameterize object rotation using object-centered camera rays and model object translation by extending scale-invariant translation estimation to dense translation offsets. Our model leverages geometric priors from the templates to guide accurate query pose inference. A coarse-to-fine training strategy based on narrowed template sampling improves performance without modifying the network architecture. Extensive experiments across multiple benchmark datasets show competitive results of our method compared to state-of-the-art approaches in unseen object pose estimation.

RayGauss has recently achieved state-of-the-art results on synthetic and indoor scenes, representing radiance and density fields with irregularly distributed elliptical basis functions rendered via volume ray casting using a Bounding Volume Hierarchy (BVH). However, its computational cost prevents real-time rendering on real-world scenes. Our approach, RayGaussX, builds on RayGauss by introducing key contributions that significantly accelerate both training and inference. Specifically, we incorporate volumetric rendering acceleration strategies such as empty-space skipping and adaptive sampling, enhance ray coherence, and introduce scale regularization to reduce false-positive intersections. Additionally, we propose a new densification criterion that improves density distribution in distant regions, leading to enhanced graphical quality on larger scenes. As a result, RayGaussX achieves 5x to 12x faster training and 50x to 80x higher rendering speeds (FPS) on real-world datasets while improving visual quality by up to +0.56 dB in PSNR. The code will soon be publicly available on GitHub.

Large vision-language models such as CLIP have made significant strides in zero-shot anomaly detection through prompt engineering. However, most existing methods typically process each test image individually, ignoring the practical rarity of abnormal patches in real-world scenarios. Although some batch-based approaches exploit the rarity by processing multiple samples concurrently, they generally introduce unacceptable latency for real-time applications. To mitigate these limitations, we propose RareCLIP, a novel online zero-shot anomaly detection framework that enables sequential image processing in real-time without requiring prior knowledge of the target domain. RareCLIP capitalizes on the zero-shot capabilities of CLIP and integrates a dynamic test-time rarity estimation mechanism. A key innovation of our framework is the introduction of a prototype patch feature memory bank, which aggregates representative features from historical observations and continuously updates their corresponding rarity measures. For each incoming image patch, RareCLIP computes a rarity score by aggregating the rarity measures of its nearest neighbors within the memory bank. Moreover, we introduce a prototype sampling strategy based on dissimilarity to enhance computational efficiency, as well as a similarity calibration strategy to enhance the robustness of rarity estimation. Extensive experiments demonstrate that RareCLIP attains state-of-the-art performance with 98.2% image-level AUROC on MVTec AD and 94.4% on VisA, while achieving a latency of 59.4 ms. Code is available at https://github.com/hjf02/RareCLIP.

In this work, we introduce a challenging task for simultaneously generating 3D holistic body motions and singing vocals directly from textual lyrics inputs, advancing beyond existing works that typically address these two modalities in isolation. To facilitate this, we first collect the RapVerse dataset, a large dataset containing synchronous rapping vocals, lyrics, and high-quality 3D holistic body meshes. With the RapVerse dataset, we investigate the extent to which scaling autoregressive multimodal transformers across language, audio, and motion can enhance the coherent and realistic generation of vocals and whole-body human motions. For modality unification, a vector-quantized variational autoencoder is employed to encode whole-body motion sequences into discrete motion tokens, while a vocal-to-unit model is leveraged to obtain quantized audio tokens preserving content, prosodic information and singer identity. By jointly performing transformer modeling on these three modalities in a unified way, our framework ensures a seamless and realistic blend of vocals and human motions. Extensive experiments demonstrate that our unified generation framework not only produces coherent and realistic singing vocals alongside human motions directly from textual inputs, but also rivals the performance of specialized single-modality generation systems, establishing new benchmarks for joint vocal-motion generation.

This paper presents Randomized AutoRegressive modeling (RAR) for visual generation, which sets a new state-of-the-art performance on the image generation task while maintaining full compatibility with language modeling frameworks. The proposed RAR is simple: during a standard autoregressive training process with a next-token prediction objective, the input sequence-typically ordered in raster form-is randomly permuted into different factorization orders with a probability r, where r starts at 1 and linearly decays to 0 over the course of training. This annealing training strategy enables the model to learn to maximize the expected likelihood over all factorization orders and thus effectively improve the model's capability of modeling bidirectional contexts. Importantly, RAR preserves the integrity of the autoregressive modeling framework, ensuring full compatibility with language modeling while significantly improving performance in image generation. On the ImageNet-256 benchmark, RAR achieves an FID score of 1.48, not only surpassing prior state-of-the-art autoregressive image generators but also outperforming leading diffusion-based and masked transformer-based methods. Code and models are available at https://github.com/bytedance/1d-tokenizer

Prompt-based continual learning provides a rehearsal-free solution by tuning small sets of parameters while keeping pre-trained models frozen. To meet the complex demands of sequential tasks, it is crucial to integrate task-specific knowledge within prompts effectively. However, existing works rely on either fixed learned prompts (i.e., prompts whose representations remain unchanged during new task learning) or on prompts generated from an entangled task-shared space, limiting the representational diversity of the integrated prompt. To address this issue, we propose a novel prompt-evolving mechanism to adaptively aggregate base prompts (i.e., task-specific prompts) into a unified prompt while ensuring diversity. By transforming and aligning base prompts, both previously learned and newly introduced, our approach continuously evolves accumulated knowledge to facilitate learning new tasks. We further introduce a learnable probabilistic gate that adaptively determines which layers to activate during the evolution process. We validate our method on image classification and video action recognition tasks in class-incremental learning, achieving average gains of 9.07% and 7.40% over existing methods across all scenarios.

Research on differentiable scene representations is consistently moving towards more efficient, real-time models. Recently, this has led to the popularization of splatting methods, which eschew the traditional ray-based rendering of radiance fields in favor of rasterization. This has yielded a significant improvement in rendering speeds due to the efficiency of rasterization algorithms and hardware, but has come at a cost: the approximations that make rasterization efficient also make implementation of light transport phenomena like reflection and refraction much more difficult. We propose a novel scene representation which avoids these approximations, but keeps the efficiency and reconstruction quality of splatting by leveraging a decades-old efficient volumetric mesh ray tracing algorithm which has been largely overlooked in recent computer vision research. The resulting model, which we name Radiant Foam, achieves rendering speed and quality comparable to Gaussian Splatting, without the constraints of rasterization. Unlike ray traced Gaussian models that use hardware ray tracing acceleration, our method requires no special hardware or APIs beyond the standard features of a programmable GPU.

High-fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring further data collection costs. While recent advances in radiance fields have demonstrated promising results in 3D reconstruction and sensor data synthesis using cameras and LiDAR, their potential for radar remains largely unexplored. Radar is crucial for autonomous driving due to its robustness in adverse weather conditions like rain, fog, and snow, where optical sensors often struggle. Although the state-of-the-art radar-based neural representation shows promise for 3D driving scene reconstruction, it performs poorly in scenarios with significant radar noise, including receiver saturation and multipath reflection. Moreover, it is limited to synthesizing preprocessed, noise-excluded radar images, failing to address realistic radar data synthesis. To address these limitations, this paper proposes RadarSplat, which integrates Gaussian Splatting with novel radar noise modeling to enable realistic radar data synthesis and enhanced 3D reconstruction. Compared to the state-of-the-art, RadarSplat achieves superior radar image synthesis (+3.4 PSNR / 2.6x SSIM) and improved geometric reconstruction (-40% RMSE / 1.5x Accuracy), demonstrating its effectiveness in generating high-fidelity radar data and scene reconstruction.

Cancers identified in CT scans are usually accompanied by detailed radiology reports, but publicly available CT datasets often lack these essential reports. This absence limits their usefulness for developing accurate report generation AI. To address this gap, we present AbdomenAtlas 3.0, the first public, high-quality abdominal CT dataset with detailed, expert-reviewed radiology reports. All reports are paired with per-voxel masks and they describe liver, kidney and pancreatic tumors. AbdomenAtlas 3.0 has 9,262 triplets of CT, mask and report--3,955 with tumors. These CT scans come from 17 public datasets. Besides creating the reports for these datasets, we expanded their number of tumor masks by 4.2x, identifying 3,011 new tumor cases. Notably, the reports in AbdomenAtlas 3.0 are more standardized, and generated faster than traditional human-made reports. They provide details like tumor size, location, attenuation and surgical resectability. These reports were created by 12 board-certified radiologists using our proposed RadGPT, a novel framework that converted radiologist-revised tumor segmentation masks into structured and narrative reports. Besides being a dataset creation tool, RadGPT can also become a fully-automatic, segmentation-assisted report generation method. We benchmarked this method and 5 state-of-the-art report generation vision-language models. Our results show that segmentation strongly improves tumor detection in AI-made reports.

While recent online HD mapping methods relieve burdened offline pipelines and solve map freshness, they remain limited by perceptual inaccuracies, occlusion in dense traffic, and an inability to fuse multi-agent observations. We propose RTMap to enhance these single-traversal methods by persistently crowdsourcing a multi-traversal HD map as a self-evolutional memory. On onboard agents, RTMap simultaneously addresses three core challenges in an end-to-end fashion: (1) Uncertainty-aware positional modeling for HD map elements, (2) probabilistic-aware localization w.r.t. the crowdsourced prior-map, and (3) real-time detection for possible road structural changes. Experiments on several public autonomous driving datasets demonstrate our solid performance on both the prior-aided map quality and the localization accuracy, demonstrating our effectiveness of robustly serving downstream prediction and planning modules while gradually improving the accuracy and freshness of the crowdsourced prior-map asynchronously. Our source-code will be made publicly available at https://github.com/CN-ADLab/RTMap.

Remote sensing foundation models largely break away from the traditional paradigm of designing task-specific models, offering greater scalability across multiple tasks. However, they face challenges such as low computational efficiency and limited interpretability, especially when dealing with large-scale remote sensing images. To overcome these, we draw inspiration from heat conduction, a physical process modeling local heat diffusion. Building on this idea, we are the first to explore the potential of using the parallel computing model of heat conduction to simulate the local region correlations in high-resolution remote sensing images, and introduce RS-vHeat, an efficient multi-modal remote sensing foundation model. Specifically, RS-vHeat 1) applies the Heat Conduction Operator (HCO) with a complexity of O(N^ 1.5 ) and a global receptive field, reducing computational overhead while capturing remote sensing object structure information to guide heat diffusion; 2) learns the frequency distribution representations of various scenes through a self-supervised strategy based on frequency domain hierarchical masking and multi-domain reconstruction; 3) significantly improves efficiency and performance over state-of-the-art techniques across 4 tasks and 10 datasets. Compared to attention-based remote sensing foundation models, we reduce memory usage by 84%, FLOPs by 24% and improves throughput by 2.7 times. The code will be made publicly available.

We present ROVI, a high-quality synthetic dataset for instance-grounded text-to-image generation, created by labeling 1M curated web images. Our key innovation is a strategy called re-captioning, focusing on the pre-detection stage, where a VLM (Vision-Language Model) generates comprehensive visual descriptions that are then processed by an LLM (Large Language Model) to extract a flat list of potential categories for OVDs (Open-Vocabulary Detectors) to detect. This approach yields a global prompt inherently linked to instance annotations while capturing secondary visual elements humans typically overlook. Evaluations show that ROVI exceeds existing detection datasets in image quality and resolution while containing two orders of magnitude more categories with an open-vocabulary nature. For demonstrative purposes, a text-to-image model GLIGEN trained on ROVI significantly outperforms state-of-the-art alternatives in instance grounding accuracy, prompt fidelity, and aesthetic quality. Our dataset and reproducible pipeline are available at https://github.com/CihangPeng/ROVI.

Generative image watermarking enables the proactive detection and traceability of generated images. Among existing methods, inversion-based frameworks achieve highly conceal ed watermark embedding by injecting watermarks into the latent representation before the diffusion process. The robustness of this approach hinges on both the embedding mechanism and inversion accuracy. However, prior works have predominantly focused on optimizing the embedding process while overlooking inversion errors, which significantly affect extraction fidelity. In this paper, we address the challenge of inversion errors and propose ROAR, a dual-domain optimization-based framework designed to mitigate errors arising from two key sources: 1) Latent-domain errors, which accumulate across inversion steps due to inherent approximation assumptions. 2) Pixel-domain errors, which result from channel distortions such as JPEG compression. To tackle these issues, we introduce two novel components: A Regeneration-based Optimization (RO) mechanism, which incorporates an optimizable starting latent to minimize latent-domain errors; A Mixture of Experts (MoE)-based distortion-adaptive restoration (AR) network, which effectively recovers watermarked distributions from pixel-level distortions.Extensive experiments demonstrate that ROAR significantly reduces inversion errors and enhances watermark extraction robustness, thereby improving the reliability of generative image watermarking.

Perceiving and autonomously navigating through work zones is a challenging and under-explored problem. Open datasets for this long-tailed scenario are scarce. We propose the ROADWork dataset to learn to recognize, observe, analyze, and drive through work zones. State-of-the-art foundation models fail when applied to work zones. Fine-tuning models on our dataset significantly improves perception and navigation in work zones. With ROADWork, we discover new work zone images with higher precision (+32.5%) at a much higher rate (12.8x) around the world. Open-vocabulary methods fail too, whereas fine-tuned detectors improve performance (+32.2 AP).Vision-Language Models (VLMs) struggle to describe work zones, but fine-tuning substantially improves performance (+36.7 SPICE). Beyond fine-tuning, we show the value of simple techniques. Video label propagation provides additional gains (+2.6 AP) for instance segmentation. While reading work zone signs, composing a detector and text spotter via crop-scaling improves performance (+14.2% 1-NED). Composing work zone detections to provide context further reduces hallucinations (+3.9 SPICE) in VLMs. We predict navigational goals and compute drivable paths from work zone videos. Incorporating road work semantics ensures 53.6% goals have angular error (AE) < 0.5 (+9.9%) and 75.3% pathways have AE < 0.5 (+8.1%).

Visual Language Models (VLMs) have achieved remarkable success in many domains due to their ability to perform step-by-step reasoning. However, progress in the telecommunication (Telecom) domain remains limited, primarily due to the lack of high-quality datasets and domain-specific insights. In this paper, we introduce RMultiplex200K, a multimodal dataset designed to present step-wise reasoning rationales and correctness scores for real-world Telecom questions. This enables VLMs to engage in step-level reasoning and verification using multimodal information, thereby facilitating reliable problem-solving. RMultiplex200K is highly scalable as it is constructed without human annotations, relying instead on our automatic plan-based annotation (ApPA) method, which automatically synthesizes reasoning steps labeled with reward scores. With this dataset, we introduce TC-NAVIGATOR, a new mechanism for training multimodal process reward models to serve as reliable reasoning verifiers for VLMs. For instance, the Qwen-2-VL-72B and Llama-3.2-90B models, which initially achieve only 21.3% and 19.8% respectively on practice Telecom questions, reached 48.5% and 46.1% accuracy, respectively, after training with RMultiplex200K and verifying with TC-NAVIGATOR.