CVPR 2025 论文列表

Research on accelerating bundle adjustment has focused on photo collections where each image is accompanied by its own set of camera parameters. However, real-world applications overwhelmingly call for shared intrinsics bundle adjustment (SI-BA) where camera parameters are shared across multiple images. Utilizing overlooked optimization opportunities specific to SI-BA, most notably matrix-free computation, we present a solver that is eight times faster than alternatives while consuming a tenth of the memory. Additionally, we examine factors contributing to BA instability under single-precision computation and propose mitigations.

We present **Material Anything**, a fully-automated, unified diffusion framework designed to generate physically-based materials for 3D objects. Unlike existing methods that rely on complex pipelines or case-specific optimizations, Material Anything offers a robust, end-to-end solution adaptable to objects under diverse lighting conditions. Our approach leverages a pre-trained image diffusion model, enhanced with a triple-head architecture and rendering loss to improve stability and material quality. Additionally, we introduce confidence masks as a dynamic switcher within the diffusion model, enabling it to effectively handle both textured and texture-less objects across varying lighting conditions. By employing a progressive material generation strategy guided by these confidence masks, along with a UV-space material refiner, our method ensures consistent, UV-ready material outputs. Extensive experiments demonstrate our approach outperforms existing methods across a wide range of object categories and lighting conditions.

Auxiliary-free human video matting methods, which rely solely on input frames, often struggle with complex or ambiguous backgrounds. To tackle this, we propose MatAnyone, a practical framework designed for target-assigned video matting. Specifically, building on a memory-based framework, we introduce a consistent memory propagation module via region-adaptive memory fusion, which adaptively combines memory from the previous frame. This ensures stable semantic consistency in core regions while maintaining fine details along object boundaries. For robust training, we present a larger, high-quality, and diverse dataset for video matting. Additionally, we incorporate a novel training strategy that efficiently leverages large-scale segmentation data, further improving matting stability. With this new network design, dataset, and training strategy, MatAnyone delivers robust, accurate video matting in diverse real-world scenarios, outperforming existing methods. The code and model will be publicly available.

Pre-training with random masked inputs has emerged as a novel trend in self-supervised training. However, supervised learning still faces a challenge in adopting masking augmentations, primarily due to unstable training. In this paper, we propose a novel way to involve masking augmentations dubbed Masked Sub-branch (MaskSub). MaskSub consists of the main-branch and sub-branch, the latter being a part of the former. The main-branch undergoes conventional training recipes, while the sub-branch merits intensive masking augmentations, during training. MaskSub tackles the challenge by mitigating adverse effects through a relaxed loss function similar to a self-distillation loss. Our analysis shows that MaskSub improves performance, with the training loss converging faster than in standard training, which suggests our method stabilizes the training process. We further validate MaskSub across diverse training scenarios and models, including DeiT-III training, MAE finetuning, CLIP finetuning, BERT training, and hierarchical architectures (ResNet and Swin Transformer). Our results show that MaskSub consistently achieves impressive performance gains across all the cases. MaskSub provides a practical and effective solution for introducing additional regularization under various training recipes. Code available at https://github.com/naver-ai/augsub

Self-supervised learning has transformed 2D computer vision by enabling models trained on large, unannotated datasets to provide versatile off-the-shelf features that perform similarly to models trained with labels. However, in 3D scene understanding, self-supervised methods are typically only used as a weight initialization step for task-specific fine-tuning, limiting their utility for general-purpose feature extraction. This paper aims to address this shortcoming by proposing a robust evaluation protocol specifically designed to assess the quality of self-supervised features for 3D scene understanding. Our protocol uses multi-resolution feature sampling of hierarchical models to create rich point-level representations that capture the semantic capabilities of the model and, hence, are suitable for evaluation with linear probing and nearest-neighbor methods. Furthermore, we introduce the first self-supervised model that performs similarly to supervised models when only off-the-shelf features are used in a linear probing setup. In particular, our model is trained natively in 3D with a novel self-supervised approach based on a Masked Scene Modeling objective, which reconstructs deep features of masked patches in a bottom-up manner and is specifically tailored to hierarchical 3D models. Our experiments not only demonstrate that our method achieves competitive performance to supervised models, but also surpasses existing self-supervised approaches by a large margin.

Open-vocabulary 3D scene understanding is pivotal for enhancing physical intelligence, as it enables embodied agents to interpret and interact dynamically within real-world environments. This paper introduces MPEC, a novel Masked Point-Entity Contrastive learning method for open-vocabulary 3D semantic segmentation that leverages both 3D entity-language alignment and point-entity consistency across different point cloud views to foster entity-specific feature representations. Our method improves semantic discrimination and enhances the differentiation of unique instances, achieving state-of-the-art results on ScanNet for open-vocabulary 3D semantic segmentation and demonstrating superior zero-shot scene understanding capabilities. Extensive fine-tuning experiments on 8 datasets, spanning from low-level perception to high-level reasoning tasks, showcase the potential of learned 3D features, driving consistent performance gains across varied 3D scene understanding tasks.

Sora has unveiled the immense potential of the Diffusion Transformer (DiT) architecture in single-scene video generation. However, the more challenging task of multi-scene video generation, which offers broader applications, remains relatively underexplored. To bridge this gap, we propose Mask^2DiT, a novel approach that establishes fine-grained, one-to-one alignment between video segments and their corresponding text annotations. Specifically, we introduce a symmetric binary mask at each attention layer within the DiT architecture, ensuring that each text annotation applies exclusively to its respective video segment while preserving temporal coherence across visual tokens. This attention mechanism enables precise segment-level textual-to-visual alignment, allowing the DiT architecture to effectively handle video generation tasks with a fixed number of scenes. To further equip the DiT architecture with the ability to generate additional scenes based on existing ones, we incorporate a segment-level conditional mask, which conditions each newly generated segment on the preceding video segments, thereby enabling auto-regressive scene extension. Both qualitative and quantitative experiments confirm that Mask^2DiT excels in maintaining visual consistency across segments while ensuring semantic alignment between each segment and its corresponding text description. Our project page is \href https://tianhao-qi.github.io/Mask2DiTProject/ https://tianhao-qi.github.io/Mask2DiTProject/ .

While 3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in novel view synthesis and real-time rendering, the high memory consumption due to the use of millions of Gaussians limits its practicality. To mitigate this issue, improvements have been made by pruning unnecessary Gaussians, either through a hand-crafted criterion or by using learned masks. However, these methods deterministically remove Gaussians based on a snapshot of the pruning moment, leading to sub-optimized reconstruction performance from a long-term perspective. To address this issue, we introduce MaskGaussian, which models Gaussians as probabilistic entities rather than permanently removing them, and utilize them according to their probability of existence. To achieve this, we propose a masked-rasterization technique that enables unused yet probabilistically existing Gaussians to receive gradients, allowing for dynamic assessment of their contribution to the evolving scene and adjustment of their probability of existence. Hence, the importance of Gaussians iteratively changes and the pruned Gaussians are selected diversely. Extensive experiments demonstrate the superiority of the proposed method in achieving better rendering quality with fewer Gaussians than previous pruning methods, pruning over 60% of Gaussians on average with only a 0.02 PSNR decline. Our code can be found at: https://github.com/kaikai23/MaskGaussian

World models that forecast environmental changes from actions are vital for autonomous driving models with strong generalization. The prevailing driving world model mainly build on pixel-level video prediction model. Although these models can produce high-fidelity video sequences with advanced diffusion-based generator, they are constrained by their predictive duration and overall generalization capabilities. In this paper, we explore to solve this problem by combining pixel-level generation loss with MAE-style feature-level context learning. In particular, we instantiate this target with three key design: (1) A more scalable Diffusion Transformer (DiT) structure trained with extra mask construction task. (2) we devise diffusion-related mask tokens to deal with the fuzzy relations between mask reconstruction and generative diffusion process. (3) we extend mask construction task to spatial-temporal domain by utilizing row-wise mask for shifted self-attention rather than masked self-attention in MAE. Then, we adopt a row-wise cross-view module to align with this mask design. Based on above improvement, we propose MaskGWM: a Generalizable driving World Model embodied with Video Mask reconstruction. Our model contains two variants: MaskGWM-long, focusing on long-horizon prediction, and MaskGWM-mview, dedicated to multi-view generation.Comprehensive experiments on standard benchmarks validate the effectiveness of the proposed method, which contain normal validation of Nuscene dataset, long-horizon rollout of OpenDV-2K dataset and zero-shot validation of Waymo dataset. Quantitative metrics on these datasets show our method notably improving state-of-the-art driving world model.

Recent open-vocabulary segmentation methods adopt mask generators to predict segmentation masks and leverage pre-trained vision-language models, *e.g.*, CLIP, to classify these masks via mask pooling.Although these approaches show promising results, it is counterintuitive that accurate masks often fail to yield accurate classification results through pooling CLIP image embeddings within the mask regions.In this paper, we reveal the performance limitations of mask pooling and introduce **Mask-Adapter**, a simple yet effective method to address these challenges in open-vocabulary segmentation.Compared to directly using proposal masks, our proposed Mask-Adapter extracts *semantic activation maps* from proposal masks, providing richer contextual information and ensuring alignment between masks and CLIP.Additionally, we propose a *mask consistency loss* that encourages proposal masks with similar IoUs to obtain similar CLIP embeddings to enhance models' robustness to varying predicted masks.Mask-Adapter integrates seamlessly into open-vocabulary segmentation methods based on mask pooling in a plug-and-play manner, delivering more accurate classification results. Extensive experiments across several zero-shot benchmarks demonstrate significant performance gains for the proposed Mask-Adapter on several well-established methods.Notably, Mask-Adapter also extends effectively to SAM and achieves impressive results on several open-vocabulary segmentation datasets. Code and models are available at https://github.com/hustvl/MaskAdapter.

Multi-modal Large Language Models (MLLMs) have introduced a novel dimension to document understanding, i.e., they endow large language models with visual comprehension capabilities; however, how to design a suitable image-text pre-training task for bridging the visual and language modality in document-level MLLMs remains underexplored. In this study, we introduce a novel visual-language alignment method that casts the key issue as a Visual Question Answering with Mask generation (VQAMask) task, optimizing two tasks simultaneously: VQA-based text parsing and mask generation. The former allows the model to implicitly align images and text at the semantic level. The latter introduces an additional mask generator (discarded during inference) to explicitly ensure alignment between visual texts within images and their corresponding image regions at a spatially-aware level. Together, they can prevent model hallucinations when parsing visual text and effectively promote spatially-aware feature representation learning. To support the proposed VQAMask task, we construct a comprehensive image-mask generation pipeline and provide a large-scale dataset with 6M data (MTMask6M). Subsequently, we demonstrate that introducing the proposed mask generation task yields competitive document-level understanding performance. Leveraging the proposed VQAMask, we introduce Marten, a training-efficient MLLM tailored for document-level understanding. Extensive experiments show that our Marten consistently achieves significant improvements among 8B-MLLMs in document-centric tasks. Code and datasets are available at https://github.com/PriNing/Marten.

The automated analysis of chemical literature holds promise to accelerate discovery in fields such as material science and drug development. In particular, search capabilities for chemical structures and Markush structures (chemical structure templates) within patent documents are valuable, e.g., for prior-art search. Advancements have been made in the automatic extraction of chemical structures from text and images, yet the Markush structures remain largely unexplored due to their complex multi-modal nature. In this work, we present MarkushGrapher, a multi-modal approach for recognizing Markush structures in documents. Our method jointly encodes text, image, and layout information through a Vision-Text-Layout encoder and an Optical Chemical Structure Recognition vision encoder. These representations are merged and used to auto-regressively generate a sequential graph representation of the Markush structure along with a table defining its variable groups. To overcome the lack of real-world training data, we propose a synthetic data generation pipeline that produces a wide range of realistic Markush structures. Additionally, we present M2S, the first annotated benchmark of real-world Markush structures, to advance research on this challenging task. Extensive experiments demonstrate that our approach outperforms state-of-the-art chemistry-specific and general-purpose vision-language models in most evaluation settings. Code, models, and datasets are available.

Human hands play a central role in interacting, motivating increasing research in dexterous robotic manipulation. Data-driven embodied AI algorithms demand precise, large-scale, human-like manipulation sequences, which are challenging to obtain with conventional reinforcement learning or real-world teleoperation. To address this, we introduce ManipTrans, a novel two-stage method for efficiently transferring human bimanual skills to dexterous robotic hands in simulation. ManipTrans first pre-trains a generalist trajectory imitator to mimic hand motion, then fine-tunes a specific residual module under interaction constraints, enabling efficient learning and accurate execution of complex bimanual tasks. Experiments show that ManipTrans surpasses state-of-the-art methods in success rate, fidelity, and efficiency. Leveraging ManipTrans, we transfer multiple hand-object datasets to robotic hands, creating DexManipNet, a large-scale dataset featuring previously unexplored tasks like pen capping and bottle unscrewing. DexManipNet comprises 3.3K episodes of robotic manipulation and is easily extensible, facilitating further policy training for dexterous hands and enabling real-world deployments.

In this paper, we introduce ManiVideo, a novel method for generating consistent and temporally coherent bimanual hand-object manipulation videos from given motion sequences of hands and objects. The core idea of ManiVideo is the construction of a multi-layer occlusion (MLO) representation that learns 3D occlusion relationships from occlusion-free normal maps and occlusion confidence maps. By embedding the MLO structure into the UNet in two forms, the model enhances the 3D consistency of dexterous hand-object manipulation. To further achieve the generalizable grasping of objects, we integrate Objaverse, a large-scale 3D object dataset, to address the scarcity of video data, thereby facilitating the learning of extensive object consistency. Additionally, we propose an innovative training strategy that effectively integrates multiple datasets, supporting downstream tasks such as human-centric hand-object manipulation video generation. Through extensive experiments, we demonstrate that our approach not only achieves video generation with plausible hand-object interaction and generalizable objects, but also outperforms existing SOTA methods.

Neural 3D representations, such as Neural Radiation Fields (NeRF), excel at producing photorealistic rendering results but lack the flexibility for manipulation and editing which is crucial for content creation. However, manipulating NeRF is not highly controllable and requires a long training and inference time. With the emergence of 3D Gaussian Splatting (3DGS), extremely high-fidelity novel view synthesis can be achieved using an explicit point-based 3D representation with much faster training and rendering speed. However, there is still a lack of effective means to manipulate 3DGS freely while maintaining rendering quality. In this work, we aim to tackle the challenge of achieving manipulable photo-realistic rendering. We propose to utilize a triangular mesh to manipulate 3DGS directly with self-adaptation. This approach reduces the need to design various algorithms for different types of 3DGS manipulation. By utilizing a triangle shape-aware Gaussian binding and adapting method, we can achieve 3DGS manipulation and preserve high-fidelity rendering. In addition, our method is also effective with inaccurate meshes extracted from 3DGS. Experiments demonstrate our method's effectiveness and superiority over baseline approaches.

Derived from diffusion models, MangaNinja specializes in the task of reference-guided line art colorization. We incorporate two thoughtful designs to ensure precise character detail transcription, including a patch shuffling module to facilitate correspondence learning between the reference color image and the target line art, and a point-driven control scheme to enable fine-grained color matching. Experiments on a self-collected benchmark demonstrate the superiority of our model over current solutions in terms of precise colorization. We further showcase the potential of the proposed interactive point control in handling challenging cases (*e.g.*, extreme poses and shadows), cross-character colorization, multi-reference harmonization, *etc.*, beyond the reach of existing algorithms.

Monitoring wildlife is essential for ecology and ethology, especially in light of the increasing human impact on ecosystems. Camera traps have emerged as habitat-centric sensors enabling the study of wildlife populations at scale with minimal disturbance. However, the lack of annotated video datasets limits the development of powerful video understanding models needed to process the vast amount of fieldwork data collected. To advance research in wild animal behavior monitoring we present MammAlps, a multimodal and multi-view dataset of wildlife behavior monitoring from 9 camera-traps in the Swiss National Park. MammAlps contains over 14 hours of video with audio, 2D segmentation maps and 8.5 hours of individual tracks densely labeled for species and behavior. Based on 6135 single animal clips, we propose the first hierarchical and multimodal animal behavior recognition benchmark using audio, video and reference scene segmentation maps as inputs. Furthermore, we also propose a second ecology-oriented benchmark aiming at identifying activities, species, number of individuals and meteorological conditions from 397 multi-view and long-term ecological events, including false positive triggers. We advocate that both tasks are complementary and contribute to bridging the gap between machine learning and ecology. Code and data are available at: https://github.com/eceo-epfl/MammAlps

We propose a novel hybrid Mamba-Transformer backbone, MambaVision, specifically tailored for vision applications. Our core contribution includes redesigning the Mamba formulation to enhance its capability for efficient modeling of visual features. Through a comprehensive ablation study, we demonstrate the feasibility of integrating Vision Transformers (ViT) with Mamba. Our results show that equipping the Mamba architecture with self-attention blocks in the final layers greatly improves its capacity to capture long-range spatial dependencies. Based on these findings, we introduce a family of MambaVision models with a hierarchical architecture to meet various design criteria. For classification on the ImageNet-1K dataset, MambaVision variants achieve state-of-the-art (SOTA) performance in terms of both Top-1 accuracy and throughput. In downstream tasks such as object detection, instance segmentation, and semantic segmentation on MS COCO and ADE20K datasets, MambaVision outperforms comparably sized backbones while demonstrating favorable performance. Code: https://github.com/NVlabs/MambaVision

Deep visual odometry has demonstrated great advancements by learning-to-optimize technology. This approach heavily relies on the visual matching across frames. However, ambiguous matching in challenging scenarios leads to significant errors in geometric modeling and bundle adjustment optimization, which undermines the accuracy and robustness of pose estimation. To address this challenge, this paper proposes MambaVO, which conducts robust initialization, Mamba-based sequential matching refinement, and smoothed training to enhance the matching quality and improve the pose estimation in deep visual odometry. Specifically, when a new frame is received, it is matched with the closest keyframe in the maintained Point-Frame Graph (PFG) via the semi-dense based Geometric Initialization Module (GIM). Then the initialized PFG is processed by a proposed Geometric Mamba Module (GMM), which exploits the matching features to refine the overall inter-frame pixel-to-pixel matching. The refined PFG is finally processed by deep BA to optimize the poses and the map. To deal with the gradient variance, a Trending-Aware Penalty (TAP) is proposed to smooth training by balancing the pose loss and the matching loss to enhance convergence and stability. A loop closure module is finally applied to enable MambaVO++. On public benchmarks, MambaVO and MambaVO++ demonstrate SOTA accuracy performance, while ensuring real-time running performance with low GPU memory requirement. Codes will be publicly available.