ICCV 2025 Papers

The ability to predict collision-free future trajectories from egocentric observations is crucial in applications such as humanoid robotics, VR / AR, and assistive navigation. In this work, we introduce the challenging problem of predicting a sequence of future 6D head poses from an egocentric video. In particular, we predict both head translations and rotations to learn the active information-gathering behavior expressed through head-turning events. To solve this task, we propose a framework that reasons over temporally aggregated 3D latent features, which models the geometric and semantic constraints for both the static and dynamic parts of the environment. Motivated by the lack of training data in this space, we further contribute a data collection pipeline using the Project Aria glasses, and present a dataset collected through this approach. Our dataset, dubbed Aria Navigation Dataset (AND), consists of 4 hours of recording of users navigating in real-world scenarios. It includes diverse situations and navigation behaviors, providing a valuable resource for learning real-world egocentric navigation policies. Extensive experiments show that our model learns human-like navigation behaviors such as waiting / slowing down, rerouting, and looking around for traffic while generalizing to unseen environments. Check out our project webpage at https://sites.google.com/stanford.edu/lookout.

LongSplat addresses critical challenges in novel view synthesis (NVS) from casually captured long videos characterized by irregular camera motion, unknown camera poses, and expansive scenes. Current methods often suffer from pose drift, inaccurate geometry initialization, and severe memory limitations. To address these issues, we introduce LongSplat, a robust unposed 3D Gaussian Splatting framework featuring: (1) Incremental Joint Optimization that concurrently optimizes camera poses and 3D Gaussians to avoid local minima and ensure global consistency; (2) a robust Pose Estimation Module leveraging learned 3D priors; and (3) an efficient Octree Anchor Formation mechanism that converts dense point clouds into anchors based on spatial density. Extensive experiments on challenging benchmarks demonstrate that LongSplat achieves state-of-the-art results, substantially improving rendering quality, pose accuracy, and computational efficiency compared to prior approaches. Project page: https://linjohnss.github.io/longsplat/

Animation colorization is a crucial part of real animation industry production. Long animation colorization has high labor costs. Therefore, automated long animation colorization based on the video generation model has significant research value. Existing studies are limited to short-term colorization. These studies adopt a local paradigm, fusing overlapping features to achieve smooth transitions between local segments. However, the local paradigm neglects global information, failing to maintain long-term color consistency. In this study, we argue that ideal long-term color consistency can be achieved through a dynamic global-local paradigm, i.e., dynamically extracting global color consistent features relevant to the current generation. Specifically, we propose LongAnimation, a novel framework, which mainly includes a SketchDiT, a Dynamic Global-Local Memory (DGLM), and a Color Consistency Reward. The SketchDiT captures hybrid reference features to support the DGLM module. The DGLM module employs a long video understanding model to dynamically compress global historical features and adaptively fuse them with the current generation features. To refine the color consistency, we introduce a Color Consistency Reward. During inference, we propose a color consistency fusion to smooth the video segment transition. Extensive experiments on both short-term (14 frames) and long-term (average 500 frames) animations show the effectiveness of LongAnimation in maintaining short-term and long-term color consistency for open-domain animation colorization task.

An ideal traffic simulator replicates the realistic long-term point-to-point trip that a self-driving system experiences during deployment. Prior models and benchmarks focus on closed-loop motion simulation for initial agents in a scene. This is problematic for long-term simulation. Agents enter and exit the scene as the ego vehicle enters new regions. We propose InfGen, a unified next-token prediction model that performs interleaved closed-loop motion simulation and scene generation. InfGen automatically switches between closed-loop motion simulation and scene generation mode. It enables stable long-term rollout simulation. InfGen performs at the state-of-the-art in short-term (9s) traffic simulation, and significantly outperforms all other methods in long-term (30s) simulation. The code and model of InfGen will be released at https://orangesodahub.github.io/InfGen.

We propose Long-LRM, a feed-forward 3D Gaussian reconstruction model for instant, high-resolution, 360deg wide-coverage, scene-level reconstruction. Specifically, it takes in 32 input images at a resolution of 960x540 and produces the Gaussian reconstruction in just 1 second on a single A100 GPU. To handle the long sequence of 250K tokens brought by the large input size, Long-LRM features a mixture of the recent Mamba2 blocks and the classical transformer blocks, enhanced by a light-weight token merging module and Gaussian pruning steps that balance between quality and efficiency. We evaluate Long-LRM on the large-scale DL3DV benchmark and Tanks&Temples, demonstrating reconstruction quality comparable to the optimization-based methods while achieving an 800x speedup w.r.t. the optimization-based approaches and an input size at least 60x larger than the previous feed-forward approaches. We conduct extensive ablation studies on our model design choices for both rendering quality and computation efficiency. We also explore Long-LRM's compatibility with other Gaussian variants such as 2D GS, which enhances Long-LRM's ability in geometry reconstruction. Project page: http://arthurhero.github.io/projects/llrm/

Video diffusion models have recently shown promise for world modeling through autoregressive frame prediction conditioned on actions. However, they struggle to maintain long-term memory due to the high computational cost associated with processing extended sequences in attention layers. To overcome this limitation, we propose a novel architecture leveraging state-space models (SSMs) to extend temporal memory without compromising computational efficiency. Unlike previous approaches that retrofit SSMs for non-causal vision tasks, our method fully exploits the inherent advantages of SSMs in causal sequence modeling. Central to our design is a block-wise SSM scanning scheme, which strategically trades off spatial consistency for extended temporal memory, combined with dense local attention to ensure coherence between consecutive frames. We evaluate the long-term memory capabilities of our model through spatial retrieval and reasoning tasks over extended horizons. Experiments on Memory Maze and Minecraft datasets demonstrate that our approach surpasses baselines in preserving long-range memory, while maintaining practical inference speeds suitable for interactive applications.

Recent advances in video generation can produce realistic, minute-long single-shot videos with scalable diffusion transformers. However, real-world narrative videos require multi-shot scenes with visual and dynamic consistency across shots. In this work, we introduce Long Context Tuning (LCT), a training paradigm that expands the context window of pre-trained single-shot video diffusion models to learn scene-level consistency directly from data. Our method expands full attention mechanisms from individual shots to encompass all shots within a scene, incorporating interleaved 3D position embedding and an asynchronous noise strategy, enabling both joint and auto-regressive shot generation without additional parameters. Models with bidirectional attention after LCT can further be fine-tuned with context-causal attention, facilitating auto-regressive generation with efficient KV-cache. Experiments demonstrate single-shot models after LCT can produce coherent multi-shot scenes and exhibit emerging capabilities, including compositional generation and interactive shot extension, paving the way for more practical visual content creation.

Vision foundation models (VFMs) such as DINOv2 and CLIP have achieved impressive results on various downstream tasks, but their limited feature resolution hampers performance in applications requiring pixel-level understanding. Feature upsampling offers a promising direction to address this challenge. In this work, we identify two critical factors for enhancing feature upsampling: the upsampler architecture and the training objective. For the upsampler architecture, we introduce a coordinate-based cross-attention transformer that integrates the high-resolution images with coordinates and low-resolution VFM features to generate sharp, high-quality features. For the training objective, we propose constructing high-resolution pseudo-groundtruth features by leveraging class-agnostic masks and self-distillation. Our approach effectively captures fine-grained details and adapts flexibly to various input and feature resolutions. Through experiments, we demonstrate that our approach significantly outperforms existing feature upsampling techniques across various downstream tasks. Our code is released at https://github.com/andrehuang/loftup.

Due to the complex and highly dynamic motions in the real world, synthesizing dynamic videos from multi-view inputs for arbitrary viewpoints is challenging. Previous works based on neural radiance field or 3D Gaussian splatting are limited to modeling fine-scale motion, greatly restricting their application. In this paper, we introduce \ourname, which consists of two parts to adapt our method to both large-scale and fine-scale motion scenes:1) We decompose a complex dynamic scene into streamlined local spaces defined by seeds, enabling global modeling by capturing motion within each local space.2) We decouple static and dynamic features for local space motion modeling. A static feature shared across time steps captures static information, while a dynamic residual field provides time-specific features. These are combined and decoded to generate Temporal Gaussians, modeling motion within each local space.As a result, we propose a novel dynamic scene reconstruction framework to model highly dynamic real-world scenes more realistically. Our method not only demonstrates competitive performance on various fine-scale datasets compared to state-of-the-art (SOTA) methods, but also represents the first attempt to model larger and more complex highly dynamic scenes. Code and models will be made publicly available.

Scale variation is a fundamental challenge in computer vision. Objects of the same class can have different sizes, and their perceived size is further affected by the distance from the camera. These variations are local to the objects, i.e., different object sizes may change differently within the same image. To effectively handle scale variations, we present a deep equilibrium canonicalizer (DEC) to improve the local scale equivariance of a model. DEC can be easily incorporated into existing network architectures and can be adapted to a pre-trained model. Notably, we show that on the competitive ImageNet benchmark, DEC improves both model performance and local scale consistency across four popular pre-trained deep-nets, e.g., ViT, DeiT, Swin, and BEiT.

Low-rank Adaptation (LoRA) models have revolutionized the personalization of pre-trained diffusion models by enabling fine-tuning through low-rank, factorized weight matrices specifically optimized for attention layers. These models facilitate the generation of highly customized content across a variety of objects, individuals, and artistic styles without the need for extensive retraining. Despite the availability of over 100K LoRA adapters on platforms like Civit.ai, users often face challenges in navigating, selecting, and effectively utilizing the most suitable adapters due to their sheer volume, diversity, and lack of structured organization. This paper addresses the problem of selecting the most relevant and diverse LoRA models from this vast database by framing the task as a combinatorial optimization problem and proposing a novel submodular framework. Our quantitative and qualitative experiments demonstrate that our method generates diverse outputs across a wide range of domains.

Recent advancements in image generation models have enabled personalized image creation with both user-defined subjects (content) and styles. Prior works achieved personalization by merging corresponding low-rank adapters (LoRAs) through optimization-based methods, which are computationally demanding and unsuitable for real-time use on resource-constrained devices like smartphones. To address this, we introduce LoRA.rar, a method that not only improves image quality but also achieves a remarkable speedup of over 4000x in the merging process. We collect a dataset of style and subject LoRAs and pre-train a hypernetwork on a diverse set of content-style LoRA pairs, learning an efficient merging strategy that generalizes to new, unseen content-style pairs, enabling fast, high-quality personalization. Moreover, we identify limitations in existing evaluation metrics for content-style quality and propose a new protocol using multimodal large language models (MLLMs) for more accurate assessment. Our method significantly outperforms the current state of the art in both content and style fidelity, as validated by MLLM assessments and human evaluations.

Foundation models (FMs) achieve strong performance across diverse tasks with task-specific fine-tuning, yet full parameter fine-tuning is often computationally prohibitive for large models. Parameter-efficient fine-tuning (PEFT) methods like Low-Rank Adaptation (LoRA) reduce this cost by introducing low-rank matrices for tuning fewer parameters. While LoRA allows for efficient fine-tuning, it requires significant data for adaptation, making Federated Learning (FL) an appealing solution due to its privacy-preserving collaborative framework. However, combining LoRA with FL introduces two key challenges: the Server-Side Aggregation Bias, where server-side averaging of LoRA matrices diverges from the ideal global update, and the Client-Side Initialization Lag, emphasizing the need for consistent initialization across rounds. Existing approaches address these challenges individually, limiting their effectiveness. We propose LoRA-FAIR, a novel method that tackles both issues by introducing a correction term on the server, enhancing aggregation efficiency and accuracy. LoRA-FAIR maintains computational and communication efficiency, yielding superior performance over state-of-the-art methods. Experimental results on ViT and MLP-Mixer models across large-scale datasets demonstrate that LoRA-FAIR consistently achieves performance improvements in FL settings.

We propose a novel method for aerial visual localization over low Level-of-Detail (LoD) city models. Previous wireframe-alignment-based method LoD-Loc [99] has shown promising localization results leveraging LoD models. However, LoD-Loc mainly relies on high-LoD (LoD3 or LoD2) city models, but the majority of available models and those many countries plan to construct nationwide are low-LoD (LoD1). Consequently, enabling localization on low-LoD city models could unlock drones' potential for global urban localization. To address these issues, we introduce LoD-Loc v2, which employs a coarse-to-fine strategy using explicit silhouette alignment to achieve accurate localization over low-LoD city models in the air. Specifically, given a query image, LoD-Loc v2 first applies a building segmentation network to shape building silhouettes. Then, in the coarse pose selection stage, we construct a pose cost volume by uniformly sampling pose hypotheses around a prior pose to represent the pose probability distribution. Each cost of the volume measures the degree of alignment between the projected and predicted silhouettes. We select the pose with maximum value as the coarse pose. In the fine pose estimation stage, a particle filtering method incorporating a multi-beam tracking approach is used to efficiently explore the hypothesis space and obtain the final pose estimation. To further facilitate research in this field, we release two datasets with LoD1 city models covering 10.7 km2, along with real RGB queries and ground-truth pose annotations. Experimental results show that LoD-Loc v2 improves estimation accuracy with high-LoD models and enables localization with low-LoD models for the first time. Moreover, it outperforms state-of-the-art baselines by large margins, even surpassing texture-model-based methods, and broadens the convergence basin to accommodate larger prior errors. The project are available at https://github.com/VictorZoo/LoD-Loc-v2.

The image enhancement methods based on 3D lookup tables (3D LUTs) efficiently reduce both model size and runtime by interpolating pre-calculated values at the vertices. However, the 3D LUT methods have a limitation due to their lack of spatial information, as they convert color values on a point-by-point basis. Although spatial-aware 3D LUT methods address this limitation, they introduce additional modules that require a substantial number of parameters, leading to increased runtime as image resolution increases. To address this issue, we propose a method for generating image-adaptive LUTs by focusing on the redundant parts of the tables. Our efficient framework decomposes a 3D LUT into a linear sum of low-dimensional LUTs and employs singular value decomposition (SVD). Furthermore, we enhance the modules for spatial feature fusion to be more cache-efficient. Extensive experimental results demonstrate that our model effectively decreases both the number of parameters and runtime while maintaining spatial awareness and performance. The code is available at https://github.com/WontaeaeKim/SVDLUT.

We introduce an image upscaling technique tailored for 3D Gaussian Splatting (3DGS) on lightweight GPUs. Compared to 3DGS, it achieves significantly higher rendering speeds and reduces artifacts commonly observed in 3DGS reconstructions. Our technique upscales low-resolution 3DGS renderings with a marginal increase in cost by directly leveraging the analytical image gradients of Gaussians for gradient-based bicubic spline interpolation.The technique is agnostic to the specific 3DGS implementation, achieving novel view synthesis at rates 3x-4x higher than the baseline implementation.Through extensive experiments on multiple datasets, we showcase the performance improvements and high reconstruction fidelity attainable with gradient-aware upscaling of 3DGS images.We further demonstrate the integration of gradient-aware upscaling into the gradient-based optimization of a 3DGS model and analyze its effects on reconstruction quality and performance.

Lens flare significantly degrades image quality, impacting critical computer vision tasks like object detection and autonomous driving. Recent Single Image Flare Removal (SIFR) methods perform poorly when off-frame light sources are incomplete or absent. We propose LightsOut, a diffusion-based outpainting framework tailored to enhance SIFR by reconstructing off-frame light sources. Our method leverages a multitask regression module and LoRA fine-tuned diffusion model to ensure realistic and physically consistent outpainting results. Comprehensive experiments demonstrate LightsOut consistently boosts the performance of existing SIFR methods across challenging scenarios without additional retraining, serving as a universally applicable plug-and-play preprocessing solution.