CVPR 2026 论文列表

Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and camera features, which causes inaccurate depth supervision in camera branch and erroneous fusion during cross-modal feature aggregation. The root cause of this misalignment lies in projection errors, stemming from calibration inaccuracies and rolling shutter effect.The key insight of this work is that locations of these projection errors are not random but highly predictable, as they are concentrated at object-background boundaries which 2D detectors can reliably identify. Based on this, our main motivation is to utilize 2D object priors to pre-align cross-modal features before fusion. To address local misalignment, we propose Prior Guided Depth Calibration (PGDC), which leverages 2D priors to alleviate misalignment and preserve correct cross-modal feature pairs. To resolve global misalignment, we introduce Discontinuity Aware Geometric Fusion (DAGF) to suppress residual noise from PGDC and explicitly enhance sharp depth transitions at object-background boundaries, yielding a structurally aware representation. To effectively utilize these aligned representations, we incorporate Structural Guidance Depth Modulator (SGDM), using a gated attention mechanism to efficiently fuse aligned depth and image features. Our method achieves SOTA performance on nuScenes validation dataset, with its mAP and NDS reaching 71.5% and 73.6% respectively. Additionally, on the Argoverse 2 validation set, we achieve a competitive mAP of 41.7%.

Rotational symmetry is an important prior in 6D pose estimation, improving pose accuracy and supporting symmetry-aware evaluation. However, current symmetry annotations for 3D objects remain largely manual or semi-automatic, often requiring predefined types or orders, which limits scalability. This work introduces a fully automatic, reference-free framework for symmetry-type classification, rotational-order identification, and full-axis localization across all eight canonical 3D rotational symmetry types. The method localizes a dominant high-order axis, infers its rotational order through self-consistency analysis, and reconstructs the complete symmetry structure under a hierarchy-guided formulation. A texture-aware extension further models appearance-induced reductions in rotational order while preserving axis orientations. Experiments on idealized and real-world datasets demonstrate strong accuracy and generalization, achieving 94.75% accuracy on 438 symmetric objects in GSO. Training FoundationPose with these priors improves accuracy by up to 0.9% across five BOP datasets, showing that automatically estimated rotational priors improve downstream 6D pose estimation. Code is available at https://github.com/WangYuLin-SEU/KASAL.

Parallel test-time scaling typically trains separate generation and verification models, incurring high training and inference costs. We propose Advantage Decoupled Preference Optimization (ADPO), a unified reinforcement learning framework that jointly learns answer generation and self-verification within a single policy. ADPO introduces two innovations: a preference verification reward improving verification capability and a decoupled optimization mechanism enabling synergistic optimization of generation and verification. Specifically, the preference verification reward computes mean verification scores from positive and negative samples as decision thresholds, providing positive feedback when prediction correctness aligns with answer correctness. Meanwhile, the advantage decoupled optimization computes separate advantages for generation and verification, applies token masks to isolate gradients, and combines masked GRPO objectives, preserving generation quality while calibrating verification scores. ADPO achieves up to +34.1% higher verification AUC and -53.5% lower inference time, with significant gains of +2.8%/+1.4% accuracy on MathVista/MMMU, +1.9 cIoU on ReasonSeg, and +1.7%/+1.0% step success rate on AndroidControl/GUI Odyssey. Code is available at https://github.com/ZJUSCL/ADPO.

Modern computer vision models from different architecture families, e.g., CNNs, Vision Transformers, and MLP-Mixers, achieve remarkably similar aggregate performance on standard benchmarks, masking potential systematic differences in how they process visual information. We introduce a simple yet revealing framework to identify where pretrained model families diverge: by systematically mapping the high-disagreement tail versus the low-disagreement tail of the image distribution. Analyzing 12 pretrained models spanning three architecture families on ImageNet validation set, we discover that controversial images exhibit approximately 4.5xhigher disagreement than consensus images (Controversy Score: 4.46). Despite mean accuracy around 80%, models show structured disagreement patterns: within-family agreement exceeds cross-family agreement, with CNNs and ViTs forming distinct clusters while MLPs show lower overall alignment. Crucially, only the top 10% most controversial images drive the majority of architectural divergence, constituting a small but informationally dense subset that reveals fundamental differences masked by aggregate metrics. Our analysis demonstrates that architectural choice matters most on this concentrated controversy space, providing researchers with actionable guidance for model selection and ensemble construction.

While continual visual instruction tuning (CVIT) has shown promise in adapting multimodal large language models (MLLMs), existing studies predominantly focus on models without safety alignment. This critical oversight ignores the fact that real-world MLLMs inherently require such mechanisms to mitigate potential risks. In this work, we shift our focus to CVIT for safety-aligned MLLMs and observe that during continual adaptation, the model not only suffers from task forgetting but also exhibits degradation in its safety. Achieving a harmonious balance between safety and task performance remains a crucial challenge. To address this, we propose Harmonious Parameter Adaptation (HPA), a post-training framework composed of focusing-based parameter partition, harmoniously balanced parameter selection, and orthogonal parameter adjustment. Specifically, HPA partitions parameters into two types based on their focus on safety or task performance, and selects the focused ones to preserve from a balanced perspective. In addition, HPA imposes orthogonality constraints on parameter updates to further alleviate catastrophic forgetting. Extensive experiments on the CVIT benchmark and safety evaluation datasets demonstrate that HPA better maintains high safety and mitigates forgetting than existing baselines. Code is available at https://github.com/Minato-Zackie/HPA.

Native FP8 support in modern hardware is essential for training large Transformers, but is severely hindered by extreme activation outliers. Existing solutions either rely on complex mixed-precision engineering or invasive architectural modifications. This paper fundamentally challenges the conventional wisdom that outliers are data-driven. We demonstrate that extreme outliers are a data-independent, mechanically-produced artifact of training, originating from specific structural properties of the weight matrices (i.e., colinearity). Based on this insight, we propose TWEO (Transformers Without Extreme Outliers), a novel, non-invasive loss function. TWEO effectively prevents extreme outliers via a very simple loss term, which reduces outliers from 10000+ to less than 20. TWEO then enables full-model FP8 pre-training with neither engineering tricks nor architectural changes for both LLM and ViT. When standard FP8 training catastrophically collapses, TWEO achieves performance comparable to the BF16 baseline while delivering a 36% increase in training throughput. Also, TWEO enables a new quantization paradigm. Hardware-friendly W8A8 per-tensor static quantization of LLMs, previously considered completely unusable due to outliers, achieves SOTA performance for the first time on TWEO-trained models.

A high-performing, general-purpose visual understanding model should map visual inputs to a taxonomic tree of labels, identify novel categories beyond the training set for which few or no publicly available images exist. Large Multimodal Models (LMMs) have achieved remarkable progress in fine-grained visual recognition (FGVR) for known categories. However, they remain limited in hierarchical visual recognition (HVR) that aims at predicting consistent label paths from coarse to fine categories, especially for novel categories. To tackle these challenges, we propose Taxonomy-Aware Representation Alignment (TARA), a simple yet effective strategy to inject taxonomic knowledge into LMMs. TARA leverages representations from biology foundation models (BFMs) that encode rich biological relationships through hierarchical contrastive learning. By aligning the intermediate representations of visual features with those of BFMs, LMMs are encouraged to extract discriminative visual cues well structured in the taxonomy tree. Additionally, we align the representations of the first answer token with the ground-truth label, flexibly bridging the gap between contextualized visual features and categories of varying granularity according to user intent. Experiments demonstrate that TARA consistently enhances LMMs' hierarchical consistency and leaf node accuracy, enabling reliable recognition of both known and novel categories within complex biological taxonomies. Code is available at https://github.com/PKU-ICST-MIPL/TARA_CVPR2026.

Infrared and visible image fusion (IVIF) aims to synthesise complementary information from the two source modalities while preserving natural textures and salient thermal signatures simultaneously. Existing solutions predominantly rely on extensive sets of rigidly aligned image pairs for training. However, acquiring such data is often impractical due to the costly and labour-intensive alignment process. Besides, maintaining a rigid pairing setting during training restricts the volume of cross-modal relationships, thereby limiting the generalisation performance. To this end, this work challenges the necessity of Strictly Paired Training Paradigm (SPTP) by systematically investigating UnPaired and Arbitrarily Paired Training Paradigms (UPTP and APTP) for high-performance IVIF. We establish a theoretical objective of APTP, reflecting the complementary nature between UPTP and SPTP. More importantly, we develop a practical framework capable of significantly enriching cross-modal relationships even with severely limited and unaligned training data. To validate our propositions, three end-to-end lightweight baselines, alongside a set of innovative loss functions, are designed to cover three classic frameworks (CNN, Transformer, GAN). Comprehensive experiments demonstrate that the proposed APTP and UPTP are feasible and capable of training models on a severely limited and content-inconsistent infrared and visible dataset, achieving performance comparable to that of a dataset 100xlarger in SPTP. This finding fundamentally alleviates the cost and difficulty of data collection while enhancing model robustness from the data perspective, delivering a feasible solution for IVIF studies.

Omni-modal large language models (omni LLMs) have recently achieved strong performance across audiovisual understanding tasks, yet they remain highly susceptible to cross-modal hallucinations arising from spurious correlations and dominant language priors. In this work, we propose Modality-Decoupled Direct Preference Optimization (MoD-DPO), a simple and effective framework for improving modality grounding in omni LLMs. MoD-DPO introduces modality-aware regularization terms that explicitly enforce invariance to corruptions in irrelevant modalities and sensitivity to perturbations in relevant modalities, thereby reducing unintended cross-modal interactions. To further mitigate over-reliance on textual priors, we incorporate a language-prior debiasing penalty that discourages hallucination-prone text-only responses. Extensive experiments across multiple audio-visual hallucination benchmarks demonstrate that MoD-DPO consistently improves perception accuracy and hallucination resistance, outperforming previous preference optimization baselines under similar training budgets. Our findings underscore the importance of modality-faithful alignment and demonstrate a scalable path toward more reliable and resilient multimodal foundation models.

Fairness in Continual Learning for Large Multimodal Models (LMMs) is an emerging yet underexplored challenge, particularly in the presence of imbalanced data distributions that can lead to biased model updates and suboptimal performance across tasks. While recent continual learning studies have made progress in addressing catastrophic forgetting, the problem of fairness caused by imbalanced data remains largely underexplored. This paper presents a novel Fairness Direct Preference Optimization (FaiDPO or \phi-DPO) framework for continual learning in LMMs. In particular, we first propose a new continual learning paradigm based on Direct Preference Optimization (DPO) to mitigate catastrophic forgetting by aligning learning with pairwise preference signals. Then, we identify the limitations of conventional DPO in imbalanced data and present a new \phi-DPO loss that explicitly addresses distributional biases. We provide a comprehensive theoretical analysis demonstrating that our approach addresses both forgetting and data imbalance. Additionally, to enable \phi-DPO-based continual learning, we construct pairwise preference annotations for existing benchmarks in the context of continual learning. Extensive experiments and ablation studies show the proposed \phi-DPO achieves State-of-the-Art performance across multiple benchmarks, outperforming prior continual learning methods of LMMs.

Diffusion-based approaches have recently driven remarkable progress in real-world image super-resolution (SR). However, existing methods still struggle to simultaneously preserve fine details and ensure high-fidelity reconstruction, often resulting in suboptimal visual quality. In this paper, we propose FiDeSR, a high-fidelity and detail-preserving one-step diffusion super-resolution framework. During training, we introduce a detail-aware weighting strategy that adaptively emphasizes regions where the model exhibits higher prediction errors. During inference, low- and high-frequency adaptive enhancers further refine the reconstruction without requiring model retraining, enabling flexible enhancement control. To further improve the reconstruction accuracy, FiDeSR incorporates a latent residual refinement, which corrects prediction errors in the diffusion noise and enhances fine detail recovery. FiDeSR achieves superior real-world SR performance compared to existing diffusion-based methods, producing outputs with both high perceptual quality and faithful content restoration. The source code will be released at: https://github.com/Ar0Kim/FiDeSR.

Cross-subject visual decoding aims to reconstruct visual experiences from brain activity across individuals, enabling more scalable and practical brain-computer interfaces. However, existing methods often suffer from degraded performance when adapting to new subjects with limited data, as they struggle to preserve both the semantic consistency of stimuli and the alignment of brain responses. To address these challenges, we propose Duala, a dual-level alignment framework designed to achieve stimulus-level consistency and subject-level alignment in fMRI-based cross-subject visual decoding. (1) At the stimulus level, Duala introduces a semantic alignment and relational consistency strategy that preserves intra-class similarity and inter-class separability, maintaining clear semantic boundaries during adaptation. (2) At the subject level, a distribution-based feature perturbation mechanism is developed to capture both global and subject-specific variations, enabling adaptation to individual neural representations without overfitting. Experiments on the Natural Scenes Dataset (NSD) demonstrate that Duala effectively improves alignment across subjects. Remarkably, even when fine-tuned with only about one hour of fMRI data, Duala achieves over 81.1% image-to-brain retrieval accuracy and consistently outperforms existing fine-tuning strategies in both retrieval and reconstruction. Our code is available at https://github.com/ShumengLI/Duala.

Aligning text-to-video diffusion models with human preferences is crucial for generating high-quality videos. Existing Direct Preference Otimization (DPO) methods rely on multi-sample ranking and task-specific critic models, which is inefficient and often yields ambiguous global supervision. To address these limitations, we propose LocalDPO, a novel post-training framework that constructs localized preference pairs from real videos and optimizes alignment at the spatio-temporal region level. We design an automated pipeline to efficiently collect preference pair data that generates preference pairs with a single inference per prompt, eliminating the need for external critic models or manual annotation. Specifically, we treat high-quality real videos as positive samples and generate corresponding negatives by locally corrupting them with random spatio-temporal masks and inpainting only the masked regions using the frozen base model. During training, we introduce a region-aware DPO loss that restricts preference learning to corrupted areas for rapid convergence. Experiments on Wan2.1 and CogVideoX demonstrate that LocalDPO consistently improves video fidelity, temporal coherence and human preference scores over other post-training approaches, establishing a more efficient and fine-grained paradigm for video generator alignment.

In unsupervised cross-modal hashing, real world multimodal data often exhibit partial alignment and semantic ambiguity. Dominant modalities can easily bias the fusion process, while semantically related samples may be mistakenly treated as negatives in contrastive learning, leading to unstable optimization. To address these issues, we propose Unsupervised Weighted Masked Contrastive Hashing (UWMCH). UWMCH introduces masking before multimodal fusion to construct partially observed interactions, encouraging the model to learn complementary semantics and reducing over-reliance on dominant modality cues. We further develop a semantic affinity guided weighted contrastive objective to reduce the influence of false negatives by combining instance level consistency with a cluster consensus prior. In addition, the global and local semantic geometries of the fused space are stabilized via Cluster-Centroid Agreement (CCA) and Semantic Structure Regularization (SSR). Extensive experiments on three benchmark datasets demonstrate the effectiveness and robustness of the proposed method.

Registration of multiview point clouds typically depends on extensive pairwise matching to build a pose graph for global synchronization, which is computationally expensive and ill-posed without holistic geometric constraints. In this paper, we propose FUSER, the first feed-forward multi-view registration transformer that processes all scans jointly in a unified, compact latent space to directly predict global poses without any pairwise estimation. To maintain tractability, FUSER employs a sparse 3D CNN to encode each scan into low-resolution superpoint features preserving absolute translation cues, followed by a Geometric Alternating Attention module for efficient intra- and inter-scan reasoning. Particularly, we transfer 2D attention priors from off-the-shelf foundation models (i.e., \pi^3) to enhance 3D feature attention. Building upon FUSER and its estimates, we further introduce FUSER-DF, an SE(3) diffusion refinement framework to correct FUSER's estimates through a denoising process over the joint SE(3)^N space. Here, FUSER serves as a surrogate multiview register to model the denoiser, and a prior-conditioned SE(3)^N variational lower bound is derived for denoising supervision. Extensive experiments on 3DMatch and ScanNet confirm the superior registration accuracy and efficiency of our method.

Active 3D Gaussian reconstruction achieves superior completeness and rendering quality by intelligently selecting viewpoints. However, existing methods suffer from two critical limitations: information gain metrics that prioritize geometric coverage while ignoring rendering quality, and overfitting to sparse view configurations that degrades novel view synthesis. We introduce ActivePolicy, a novel framework addressing both challenges through principled NBV selection and regularization. We propose GL-Graph, a graph-theoretic strategy that unifies geometric consistency, rendering quality, and observation redundancy into a single stability criterion. To counteract overfitting, we introduce 4D-Reg, which identifies floaters through manifold discrepancies among three depth types (R-Depth, alpha-Depth, C-Depth) and suppresses them via adaptive dropout. Extensive experiments demonstrate state-of-the-art reconstruction completeness and rendering fidelity on standard benchmarks.

In remote sensing rotated object detection, mainstream methods suffer from two bottlenecks, directional incoherence at detector neck and task conflict at detecting head. Ulitising fourier rotation equivariance, we introduce Fourier Angle Alignment, which analyses angle information through frequency spectrum and aligns the main direction to a certain orientation. Then we propose two plug and play modules : FAAFusion and FAA Head. FAAFusion works at the detector neck, aligning the main direction of higher-level features to the lower-level features and then fusing them. FAA Head serves as a new detection head, which pre-aligns RoI features to a canonical angle and adds them to the original features before classification and regression. Experiments on DOTA-v1.0, DOTA-v1.5 and HRSC2016 show that our method can greatly improve previous work. Particularly, our method achieves new state-of-the-art results of 78.72% mAP on DOTA-v1.0 and 72.28% mAP on DOTA-v1.5 datasets with single scale training and testing, validating the efficacy of our approach in remote sensing object detection. The code will be public upon acceptance.

Radar semantic segmentation (RSS) is critical for robust perception in adverse conditions, but poses unique challenges: radar frequency maps are highly anisotropic, multi-scale, sparse and noisy. Conventional CNN or Transformer architectures, designed for camera images, fail to account for these characteristics, leading degraded performance. We propose MARSS (Modular Attention-enhanced Radar Semantic Segmentation), a novel framework that integrates three specialized modules to address radar-specific issues. In the encoder, the RADE module employs lightweight channel self-attention and depthwise convolutions to robustly encode noisy, anisotropic features. In intermediate layers, the RFAF module performs multi-scale feature fusion and region-level attention to isolate salient radar features. The decoder's RADM module combines state space models with axial self-attention to reconstruct segmentation masks with anisotropy and temporality-aware context. These components collectively suppress noise, disentangle range-Doppler features, and enforce spatial-temporal consistency. On the CARRADA dataset, MARSS achieves substantially higher performance than prior RSS methods, especially for small fast-moving targets.

Spatial transcriptomics provides both spatial coordinates and gene expression profiles, enabling the study of tissue organization and cellular heterogeneity. Despite recent progress, current spatial clustering methods still face two major limitations. First, representations learned from spatial and expression views often differ due to view-specific noise and incomplete structural information. Without enforcing sample-level cross-view consistency, embeddings from the two views may not correspond to the same biological identity, reducing discriminative capability. Second, existing approaches lack effective semantic-level supervision. Although node embeddings capture local neighborhood patterns, they do not explicitly reflect high-level semantic structures. Prototype-based modeling can provide such semantic abstraction, yet current methods seldom align prototypes with node representations, leading to weak semantic consistency. To overcome these issues, we propose a Multi-View Hierarchical Alignment Learning for Spatial Transcriptomics (MHAL). At the sample level, MHAL introduce positive sample alignment to enforce consistency between spatial and expression embeddings. At the semantic level, MHAL design prototype level contrastive learning, where prototypes act as semantic anchors and guide the formation of coherent cluster structures. Together, these two alignment mechanisms progressively ensure both local consistency and global semantic discrimination. Extensive experimental results demonstrate that the proposed hierarchical contrastive multi-view clustering method achieves competitive performance in spatial domain identification compared to other state-of-the-art methods.