CVPR 2025 论文列表

Most existing Dynamic Gaussian Splatting methods for complex dynamic urban scenarios rely on accurate object-level supervision from expensive manual labeling, limiting their scalability in real-world applications. In this paper, we introduce SplatFlow, a Self-Supervised Dynamic Gaussian Splatting within Neural Motion Flow Fields (NMFF) to learn 4D space-time representations without requiring tracked 3D bounding boxes, enabling accurate dynamic scene reconstruction and novel view RGB/depth/flow synthesis. SplatFlow designs a unified framework to seamlessly integrate time-dependent 4D Gaussian representation within NMFF, where NMFF is a set of implicit functions to model temporal motions of both LiDAR points and Gaussians as continuous motion flow fields. Leveraging NMFF, SplatFlow effectively decomposes static background and dynamic objects, representing them with 3D and 4D Gaussian primitives, respectively. NMFF also models the correspondences of each 4D Gaussian across time, which aggregates temporal features to enhance cross-view consistency of dynamic components. SplatFlow further improves dynamic object identification by distilling features from 2D foundation models into 4D space-time representation. Comprehensive evaluations conducted on the Waymo and KITTI Datasets validate SplatFlow's state-of-the-art (SOTA) performance for both image reconstruction and novel view synthesis in dynamic urban scenarios.

Text-based generation and editing of 3D scenes hold significant potential for streamlining content creation through intuitive user interactions. While recent advances leverage 3D Gaussian Splatting (3DGS) for high-fidelity and real-time rendering, existing methods are often specialized and task-focused, lacking a unified framework for both generation and editing. In this paper, we introduce SplatFlow, a comprehensive framework that addresses this gap by enabling direct 3DGS generation and editing. SplatFlow comprises two main components: a multi-view rectified flow (RF) model and a Gaussian Splatting Decoder (GSDecoder). The multi-view RF model operates in latent space, generating multi-view images, depths, and camera poses simultaneously, conditioned on text prompts--thus addressing challenges like diverse scene scales and complex camera trajectories in real-world settings. Then, the GSDecoder efficiently translates these latent outputs into 3DGS representations through a feed-forward 3DGS method. Leveraging training-free inversion and inpainting techniques, SplatFlow enables seamless 3DGS editing and supports a broad range of 3D tasks--including object editing, novel view synthesis, and camera pose estimation--within a unified framework without requiring additional complex pipelines. We validate SplatFlow's capabilities on the MVImgNet and DL3DV-7K datasets, demonstrating its versatility and effectiveness in various 3D generation, editing, and inpainting-based tasks.

Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural rendering methods have gained popularity, as they can build simulation environments from collected logs in a data-driven manner. However, existing neural radiance field (NeRF) methods for sensor-realistic rendering of camera and lidar data suffer from low rendering speeds, limiting their applicability for large-scale testing. While 3D Gaussian Splatting (3DGS) enables real-time rendering, current methods are limited to camera data and are unable to render lidar data essential for autonomous driving. To address these limitations, we propose SplatAD, the first 3DGS-based method for realistic, real-time rendering of dynamic scenes for both camera and lidar data. SplatAD accurately models key sensor-specific phenomena such as rolling shutter effects, lidar intensity, and lidar ray dropouts, using purpose-built algorithms to optimize rendering efficiency. Evaluation across three autonomous driving datasets demonstrates that SplatAD achieves state-of-the-art rendering quality with up to +2 PSNR for NVS and +3 PSNR for reconstruction while increasing rendering speed over NeRF-based methods by an order of magnitude. Code to be released upon publication.

Spike camera is a kind of neuromorphic camera that records dynamic scenes by firing a stream of binary spikes with extremely high temporal resolution. It demonstrates great potential for vision tasks in high-speed scenarios. One limitation in its current implementation is the relatively low spatial resolution. This paper develops a network called Spk2SRImgNet to super-resolve high resolution images from low resolution spike stream. However, fluctuations in spike stream hinder the performance of spike camera super resolution. To address this issue, we propose a motion aligned collaborative filtering (MACF) module, which is motivated by key ideas in classic image restoration schemes to mitigate fluctuations in spike data. MACF leverages the temporal similarity of spike stream to acquire similar features from neighboring moments via motion alignment. To separate disturbances from features, MACF filters these similar features jointly in transform domain to exploit representation sparsity, and generates refinement features that will be used to update initial fluctuated features. Specifically, MACF designs an inverse motion alignment operation to map these refinement features back to their original positions. The initial features are aggregated with the repositioned refinement features to enhance reliability. Experimental results demonstrate that the proposed method achieves state-of-the-art performance compared with existing methods.

Graphical User Interface (GUI) agents demonstrate promising potential in assisting human-computer interaction, automating human user's navigation on digital devices. An ideal GUI agent is expected to achieve high accuracy, low latency, and compatibility for different GUI platforms. Recent vision-based approaches have shown promise by leveraging advanced Vision Language Models (VLMs). While they generally meet the requirements of compatibility and low latency, these vision-based GUI agents tend to have low accuracy due to their limitations in element grounding. To address this issue, we propose SpiritSight, a vision-based, end-to-end GUI agent that excels in GUI navigation tasks across various GUI platforms. First, we create a multi-level, large-scale, high-quality GUI dataset called GUI-Lasagne using scalable methods, empowering SpiritSight with robust GUI understanding and grounding capabilities. Second, we introduce the Universal Block Parsing (UBP) method to resolve the ambiguity problem inherited from the dynamic resolution strategy, further enhancing SpiritSight's ability to ground GUI objects. Through these efforts, SpiritSight agent outperforms other advanced methods on diverse GUI benchmarks, demonstrating its superior capability and compatibility in GUI navigation tasks. The models and code will be made available upon publication.

Transformers have demonstrated outstanding performance across a wide range of tasks, owing to their self-attention mechanism, but they are highly energy-consuming. Spiking Neural Networks have emerged as a promising energy-efficient alternative to traditional Artificial Neural Networks, leveraging event-driven computation and binary spikes for information transfer. The combination of Transformers' capabilities with the energy efficiency of SNNs offers a compelling opportunity. This paper addresses the challenge of adapting the self-attention mechanism of Transformers to the spiking paradigm by introducing a novel approach: Accurate Addition-Only Spiking Self-Attention (A^2OS^2A). Unlike existing methods that rely solely on binary spiking neurons for all components of the self-attention mechanism, our approach integrates binary, ReLU, and ternary spiking neurons. This hybrid strategy significantly improves accuracy while preserving non-multiplicative computations. Moreover, our method eliminates the need for softmax and scaling operations. Extensive experiments show that the A^2OS^2A-based Spiking Transformer outperforms existing SNN-based Transformers on several datasets, even achieving an accuracy of 78.66% on ImageNet-1K. Our work represents a significant advancement in SNN-based Transformer models, offering a more accurate and efficient solution for real-world applications.

Spike-based Transformer presents a compelling and energy-efficient alternative to traditional Artificial Neural Network (ANN)-based Transformers, achieving impressive results through sparse binary computations. However, existing spike-based transformers predominantly focus on spatial attention while neglecting crucial temporal dependencies inherent in spike-based processing, leading to suboptimal feature representation and limited performance. To address this limitation, we propose Spiking Transformer with Spatial-Temporal Attention (STAtten), a simple and straightforward architecture that efficiently integrates both spatial and temporal information in the self-attention mechanism. STAtten introduces a block-wise computation strategy that processes information in spatial-temporal chunks, enabling comprehensive feature capture while maintaining the same computational complexity as previous spatial-only approaches. Our method can be seamlessly integrated into existing spike-based transformers without architectural overhaul. Extensive experiments demonstrate that STAtten significantly improves the performance of existing spike-based transformers across both static and neuromorphic datasets, including CIFAR10/100, ImageNet, CIFAR10-DVS, and N-Caltech101.

Panoramic image essentially acts as a pivotal role in emerging virtual reality and augmented reality scenarios; however, the generation of panoramic images are essentially challenging due to the intrinsic spherical geometry and spherical distortions caused by equirectangular projection (ERP). To address this, we start from the very basics of S^2 manifold inherent to panoramic images, and propose a novel spherical manifold convolution (SMConv) on S^2 manifold. Based on the SMConv operation, we propose a spherical manifold guided diffusion (SMGD) model for text-conditioned panoramic image generation, which can well accommodate the spherical geometry during generation. We further develop a novel evaluation method by calculating grouped Frechet inception distance (FID) on cube-map projections, which can well reflect the quality of generated panoramic images, compared to existing methods that randomly crop ERP-distorted content. Experiment results demonstrate that our SMGD model achieves the state-of-the-art generation quality and accuracy, whilst retaining the shortest sampling time in the text-conditioned panoramic image generation task. Codes are publicly available at https://github.com/chronos123/SMGD.

This paper proposes a novel method for omnidirectional 360\degree perception. Most common previous methods relied on equirectangular projection. This representation is easily applicable to 2D operation layers but introduces distortions into the image. Other methods attempted to remove the distortions by maintaining a sphere representation but relied on complicated convolution kernels that failed to show competitive results. In this work, we introduce a transformer-based architecture that, by incorporating a novel "Spherical Local Self-Attention" and other spherically-oriented modules, successfully operates in the spherical domain and outperforms the state-of-the-art in 360\degree perception benchmarks for depth estimation and semantic segmentation. Our code is available at https://github.com/yanivbenny/sphere_uformer.

3D Gaussian Splatting (3D-GS) is a recent 3D scene reconstruction technique that enables real-time rendering of novel views by modeling scenes as parametric point clouds of differentiable 3D Gaussians. However, its rendering speed and model size still present bottlenecks, especially in resource-constrained settings. In this paper, we identify and address two key inefficiencies in 3D-GS to substantially improve rendering speed.These improvements also yield the ancillary benefits of reduced model size and training time. First, we optimize the rendering pipeline to precisely localize Gaussians in the scene, boosting rendering speed without altering visual fidelity. Second, we introduce a novel pruning technique and integrate it into the training pipeline, significantly reducing model size and training time while further raising rendering speed. Our Speedy-Splat approach combines these techniques to accelerate average rendering speed by a drastic 6.71x across scenes from the Mip-NeRF 360, Tanks&Temples, and Deep Blending datasets.

We present SpectroMotion, a novel approach that combines 3D Gaussian Splatting (3DGS) with physically-based rendering (PBR) and deformation fields to reconstruct dynamic specular scenes. Previous methods extending 3DGS to model dynamic scenes have struggled to represent specular surfaces accurately. Our method addresses this limitation by introducing a residual correction technique for accurate surface normal computation during deformation, complemented by a deformable environment map that adapts to time-varying lighting conditions. We implement a coarse-to-fine training strategy significantly enhancing scene geometry and specular color prediction. It is the only existing 3DGS method capable of synthesizing photorealistic real-world dynamic specular scenes, outperforming state-of-the-art methods in rendering complex, dynamic, and specular scenes. Please see our project page at https://cdfan0627.github.io/spectromotion/.

State Space Models (SSMs) have recently emerged as an alternative to Vision Transformers (ViTs) due to their unique ability of modeling global relationships with linear complexity. SSMs are specifically designed to capture spatially proximate relationships of image patches. However, they fail to identify relationships between conceptually related yet not adjacent patches. This limitation arises from the non-causal nature of image data, which lacks inherent directional relationships. Additionally, current vision-based SSMs are highly sensitive to transformations such as rotation. Their predefined scanning directions depend on the original image orientation, which can cause the model to produce inconsistent patch-processing sequences after rotation.To address these limitations, we introduce Spectral VMamba, a novel approach that effectively captures the global structure within an image by leveraging spectral information derived from the graph Laplacian of image patches. Through spectral decomposition, our approach encodes patch relationships independently of image orientation, achieving rotation invariance with the aid of our Rotational Feature Normalizer (RFN) module. Our experiments on classification tasks show that Spectral VMamba outperforms the leading SSM models in vision, such as VMamba, while maintaining invariance to rotations and a providing a similar runtime efficiency.

State Space Models (SSMs) have shown significant promise in Natural Language Processing (NLP) and, more recently, computer vision. This paper introduces a new methodology leveraging Mamba and Masked Autoencoder (MAE) networks for point cloud data in both supervised and self-supervised learning. We propose three key contributions to enhance Mamba's capability in processing complex point cloud structures. First, we exploit the spectrum of a graph Laplacian to capture patch connectivity, defining an isometry-invariant traversal order that is robust to viewpoints and better captures shape manifolds than traditional 3D grid-based traversals. Second, we adapt segmentation via a recursive patch partitioning strategy informed by Laplacian spectral components, allowing finer integration and segment analysis. Third, we address token placement in MAE for Mamba by restoring tokens to their original positions, which preserves essential order and improves learning. Extensive experiments demonstrate our approach's improvements in classification, segmentation, and few-shot tasks over state-of-the-art (SOTA) baselines.

3D Gaussian Splatting (3DGS), a recently emerged multi-view 3D reconstruction technique, has shown significant advantages in real-time rendering and explicit editing. However, 3DGS encounters challenges in the accurate modeling of both high-frequency view-dependent appearances and global illumination effects, including inter-reflection. This paper introduces SpecTRe-GS, which addresses these challenges and models highly Specular surfaces that reflect nearby objects through Tracing Rays in 3D Gaussian Splatting. SpecTRe-GS separately models reflections from highly specular and rough surfaces to leverage the distinctions between their reflective properties and integrates an efficient ray tracer within the 3DGS framework for querying secondary rays, thus achieving fast and accurate rendering. Also, it incorporates normal prior guidance and joint geometry optimization at various stages of the training process to enhance geometry reconstruction for undistorted reflections. Experiments on both synthetic and real-world scenes demonstrate the superiority of SpecTRe-GS compared to existing 3DGS-based methods in capturing highly specular inter-reflections and also showcase its editing applications.

Diffusion models have emerged as a powerful tool for generating high-quality images, videos, and 3D content. While sampling guidance techniques like CFG improve quality, they reduce diversity and motion. Autoguidance mitigates these issues but demands extra weak model training, limiting its practicality for large-scale models. In this work, we introduce Spatiotemporal Skip Guidance (STG), a simple training-free sampling guidance method for enhancing transformer-based video diffusion models. STG employs an implicit weak model via self-perturbation, avoiding the need for external models or additional training. By selectively skipping spatiotemporal layers, STG produces an aligned, degraded version of the original model to boost sample quality without compromising diversity or dynamic degree. Our contributions include: (1) introducing STG as an efficient, high-performing guidance technique for video diffusion models, (2) eliminating the need for auxiliary models by simulating a weak model through layer skipping, and (3) ensuring quality-enhanced guidance without compromising sample diversity or dynamics unlike CFG. For additional results, visit https://junhahyung.github.io/STGuidance.

The task of occupancy forecasting (OCF) involves utilizing past and present perception data to predict future occupancy states of autonomous vehicle surrounding environments, which is critical for downstream tasks such as obstacle avoidance and path planning. Existing 3D OCF approaches struggle to predict plausible spatial details for movable objects and suffer from slow inference speeds due to neglecting the bias and uneven distribution of changing occupancy states in both space and time. In this paper, we propose a novel spatiotemporal decoupling vision-based paradigm to explicitly tackle the bias and achieve both effective and efficient 3D OCF. To tackle spatial bias in empty areas, we introduce a novel spatial representation that decouples the conventional dense 3D format into 2D bird's-eye view (BEV) occupancy with corresponding height values, enabling 3D OCF derived only from 2D predictions thus enhancing efficiency. To reduce temporal bias on static voxels, we design temporal decoupling to improve end-to-end OCF by temporally associating instances via predicted flows. We develop an efficient multi-head network EfficientOCF to achieve 3D OCF with our devised spatiotemporally decoupled representation. A new metric, conditional IoU (C-IoU), is also introduced to provide a robust 3D OCF performance assessment, especially in datasets with missing or incomplete annotations. The experimental results demonstrate that EfficientOCF surpasses existing baseline methods on accuracy and efficiency, achieving state-of-the-art performance with a fast inference time of 82.33ms with a single GPU. Our code is released at: https://github.com/BIT-XJY/EfficientOCF.

Humans naturally understand 3D spatial relationships, enabling complex reasoning like predicting collisions of vehicles from different directions. Current large multimodal models (LMMs), however, lack of this capability of 3D spatial reasoning. This limitation stems from the scarcity of 3D training data and the bias in current model designs toward 2D data. In this paper, we systematically study the impact of 3D-informed data, architecture, and training setups, introducing SpatialLLM, a large multi-modal model with advanced 3D spatial reasoning abilities. To address data limitations, we develop two types of 3D-informed training datasets: (1) 3D-informed probing data focused on object's 3D location and orientation, and (2) 3D-informed conversation data for complex spatial relationships. Notably, we are the first to curate VQA data that incorporate 3D orientation relationships on real images. Furthermore, we systematically integrate these two types of training data with the architectural and training designs of LMMs, providing a roadmap for optimal design aimed at achieving superior 3D reasoning capabilities. Our SpatialLLM advances machines toward highly capable 3D-informed reasoning, surpassing GPT-4o performance by 8.7%. Our systematic empirical design and the resulting findings offer valuable insights for future research in this direction.

Stereo video synthesis from monocular input is challenging in spatial computing and virtual reality due to the lack of high-quality stereo video pairs for training and the difficulty of maintaining spatio-temporal consistency between frames. Existing methods primarily address these issues by directly applying novel view synthesis (NVS) techniques to video, while facing limitations such as the inability to effectively represent dynamic scenes and the requirement for extensive training data. In this paper, we introduce a novel self-supervised stereo video synthesis paradigm via a video diffusion model, termed SpatialDreamer, which meets the challenges head-on. Firstly, to address the stereo video data insufficiency, we propose a Depth based Video Generation module DVG, which employs a forward-backward rendering mechanism to generate paired videos with geometric and temporal priors. Leveraging data generated by DVG, we propose RefinerNet along with a self-supervised synthetic framework designed to facilitate efficient and dedicated training.More importantly, we devise a consistency control module, which consists of a metric of stereo deviation strength and a Temporal Interaction Learning module TIL for geometric and temporal consistency ensurance respectively. We evaluated the proposed method against various benchmark methods, with the results showcasing its superior performance.

Contrastive Language-Image Pre-training (CLIP) learns robust visual models through language supervision, making it a crucial visual encoding technique for various applications. However, CLIP struggles with comprehending spatial concepts in images, potentially restricting the spatial intelligence of CLIP-based AI systems. In this work, we propose SpatialCLIP, an enhanced version of CLIP with better spatial understanding capabilities. To capture the intricate 3D spatial relationships in images, we improve both "visual model" and "language supervision" of CLIP. Specifically, we design 3D-inspired ViT to replace the standard ViT in CLIP. By lifting 2D image tokens into 3D space and incorporating design insights from point cloud networks, our visual model gains greater potential for spatial perception. Meanwhile, captions with accurate and detailed spatial information are very rare. To explore better language supervision for spatial understanding, we re-caption images and perturb their spatial phrases as negative descriptions, which compels the visual model to seek spatial cues to distinguish these hard negative captions. With the enhanced visual model, we introduce SpatialLLaVA, following the same LLaVA-1.5 training protocol, to investigate the importance of visual representations for MLLM's spatial intelligence. Furthermore, we create SpatialBench, a benchmark specifically designed to evaluate CLIP and MLLM in spatial reasoning. SpatialCLIP and SpatialLLaVA achieve substantial performance improvements, demonstrating stronger capabilities in spatial perception and reasoning, while maintaining comparable results on general-purpose benchmarks.