CVPR 2026 论文列表

Reliable navigation and decision-making of autonomous vehicles require both accurate localization and object detection. Traditionally, these two tasks are handled separately, leading to redundant computation and limited cross-task knowledge transfer. This paper proposes TACO, the first Task-Aware COntrastive learning framework, which performs joint LiDAR localization and 3D object detection within a single, unified network. TACO leverages contrastive learning to explicitly decouple and align static geographic features for localization and object-centric features for detection. This bidirectional mutual supervision not only enhances localization robustness in dynamic environments by filtering dynamic noise but also boosts detection accuracy via effective spatial context. Additionally, we propose OxfoLD, the first dataset that provides multi-traversal LiDAR localization ground truth with rich 3D object annotations, thereby supporting task validation across various times and weather conditions. Experimental results demonstrate that TACO achieves state-of-the-art localization accuracy while maintaining competitive detection performance. The code and dataset will be released.

Despite the remarkable progress in open-vocabulary object detection (OVD), a significant gap remains between the training and testing phases. During training, the RPN and RoI heads often misclassify unlabeled novel-category objects as background, causing some proposals to be prematurely filtered out by the RPN while others are further misclassified by the RoI head. During testing, these proposals again receive low scores and are removed in post-processing, leading to a significant drop in recall and ultimately weakening novel-category detection performance.To address these issues, we propose a novel training framework--NoOVD--which innovatively integrates a self-distillation mechanism grounded in the knowledge of frozen vision-language models (VLMs).Specifically, we design K-FPN, which leverages the pretrained knowledge of VLMs to guide the model in discovering novel-category objects and facilitates knowledge distillation--without requiring additional data--thus preventing forced alignment of novel objects with background.Additionally, we introduce R-RPN, which adjusts the confidence scores of proposals during inference to improve the recall of novel-category objects.Cross-dataset evaluations on OV-LVIS, OV-COCO, and Objects365 demonstrate that our approach consistently achieves superior performance across multiple metrics.

Multimodal large language models (MLLMs) have recently demonstrated remarkable reasoning and perceptual abilities for anomaly detection. However, most approaches remain confined to image-level anomaly detection and textual reasoning, while pixel-level localization still relies on external vision modules and dense annotations. In this work, we activate the intrinsic reasoning potential of MLLMs to perform anomaly detection, pixel-level localization, and interpretable reasoning solely from image-level supervision, without any auxiliary components or pixel-wise labels. Specifically, we propose Reasoning-Driven Anomaly Localization (ReAL), which extracts anomaly-related tokens from the autoregressive reasoning process and aggregates their attention responses to produce pixel-level anomaly maps. We further introduce a Consistency-Guided Reasoning Optimization (CGRO) module that leverages reinforcement learning to align reasoning tokens with visual attentions, resulting in more coherent reasoning and accurate anomaly localization. Extensive experiments on four public benchmarks demonstrate that our method significantly improves anomaly detection, localization, and interpretability. Remarkably, despite relying solely on image-level supervision, our approach achieves performance competitive with MLLM-based methods trained under dense pixel-level supervision. Code is available at https://github.com/YizhouJin313/ReADL.

The performance of promptable video object segmentation (PVOS) models substantially degrades under input corruptions, which prevents PVOS deployment in safety-critical domains. This paper offers the first comprehensive study on robust PVOS (RobustPVOS). We first construct a new, comprehensive benchmark with two real-world evaluation datasets of 351 video clips and more than 2,500 object masks under real-world adverse conditions. At the same time, we generate synthetic training data by applying diverse and temporally varying corruptions to existing VOS datasets. Moreover, we present a new RobustPVOS method, dubbed Memory-object-conditioned Gated-rank Adaptation (MoGA). The key to successfully performing RobustPVOS is two-fold: effectively handling object-specific degradation and ensuring temporal consistency in predictions. MoGA leverages object-specific representations maintained in memory across frames to condition the robustification process, which allows the model to handle each tracked object differently in a temporally consistent way. Extensive experiments on our benchmark validate MoGA's efficacy, showing consistent and significant improvements across diverse corruption types on both synthetic and real-world datasets, establishing a strong baseline for future RobustPVOS research. Our benchmark is publicly available at https://sohyun-l.github.io/RobustPVOS_project_page/.

Generating crisp, i.e., one-pixel-wide, edge maps remains one of the fundamental challenges in edge detection, affecting both traditional and learning-based methods. To obtain crisp edges, most existing approaches rely on two hand-crafted post-processing algorithms, Non-Maximum Suppression (NMS) and skeleton-based thinning, which are non-differentiable and hinder end-to-end optimization. Moreover, all existing crisp edge detection methods still depend on such post-processing to achieve satisfactory results. To address this limitation, we propose MatchED, a lightweight, only 21K additional parameters, and plug-and-play matching-based supervision module that can be appended to any edge detection model for joint end-to-end learning of crisp edges. At each training iteration, MatchED performs one-to-one matching between predicted and ground-truth edges based on spatial distance and confidence, ensuring consistency between training and testing protocols. Extensive experiments on four popular datasets demonstrate that integrating MatchED substantially improves the performance of existing edge detection models. In particular, MatchED increases the Average Crispness (AC) metric by up to 2--4x compared to baseline models. Under the crispness-emphasized evaluation (CEval), MatchED further boosts baseline performance by up to 20--35% in ODS and achieves similar gains in OIS and AP, achieving SOTA performance that matches or surpasses standard post-processing for the first time. Code is available at https://cvpr26-matched.github.io.

Modern LiDARs are rapidly transitioning from bulky, mechanically scanned systems to ultra-compact, low-cost, solid-state arrays. This miniaturization--while enabling scalability, affordability, and camera-like data structures--introduces a new and severe failure mode: internal-multipath glare. When light from a bright or retroreflective surface reflects and scatters within the LiDAR, light that should reach a single pixel spreads across the pixel array. The resulting artifacts create phantom objects, obscure real ones, and produce safety-critical "ghosts in the point clouds." This paper introduces a physically grounded sensing model and algorithmic techniques for addressing this effect. We show that internal glare can be represented as a linear, scene-independent operator--the Transient Glare Spread Function (TGSF)--acting on the transient measurements. Building on this model, we develop a training-free approach that operates on low-level LiDAR detections (or echoes) prior to point-cloud formation, leveraging knowledge of the glare spread function to reason about the likelihood of each detection arising from glare. The resulting approach is compatible with existing LiDAR signal-processing pipelines, and deployable on unmodified commercial sensors. Using experiments with real single-photon LiDAR hardware, we demonstrate substantial suppression of severe glare artifacts while preserving true scene structure.

Capturing full-body human motion with object interactions is crucial for AR/VR and robotics applications, yet it remains challenging for conventional vision-based methods due to occlusions and constrained capture volumes. Inertial measurement units (IMUs) offer a compelling alternative without line-of-sight requirements, but existing IMU-based motion capture assumes an isolated human and ignores object contacts and dynamics. To bridge this gap, we present IMU-HOI, a novel framework that jointly recovers full-body human pose and 6-DoF object trajectory from sparse IMUs on the body and object, explicitly modeling human-object Interaction.Our approach first infers probabilistic hand-object contacts directly from IMU streams and uses them as a high-level signal to route between kinematic and inertial reasoning. These contact cues drive a three-stage fusion pipeline that refines human pose and root translation, and fuses hand-based forward kinematics with object-IMU integration for object motion, yielding coherent, drift-resilient trajectories for both human and object. Experiments on challenging human-object interaction scenarios demonstrate substantial accuracy gains over prior inertial motion capture methods. Moreover, IMU-HOI can be plugged into existing sparse-IMU mocap backbones with minimal changes, effectively extending the scope of purely inertial motion capture from isolated humans to full human-object interaction and joint motion estimation.

Recent advances in Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have made it standard practice to reconstruct 3D scenes from multi-view images. Removing objects from such 3D representations is a fundamental editing task that requires complete and seamless inpainting of occluded regions, ensuring consistency in geometry and appearance. Although existing methods have made notable progress in improving inpainting consistency, they often neglect global lighting effects, leading to physically implausible results. Moreover, these methods struggle with view-dependent non-Lambertian surfaces, where appearance varies across viewpoints, leading to unreliable inpainting. In this paper, we present 3D Gaussian Object Removal in the Intrinsic Space (GOR-IS), a novel framework for physically consistent and visually coherent 3D object removal. Our approach decomposes the scene into intrinsic components and explicitly models light transport to maintain global lighting effects consistency. Furthermore, we introduce an intrinsic-space inpainting module that operates directly in the material and lighting domains, effectively addressing the challenges posed by non-Lambertian surfaces. Extensive experiments on both synthetic and real-world datasets demonstrate that our framework substantially improves the physical consistency and visual coherence of object removal, outperforming existing methods by 13% in perceptual similarity (LPIPS) and 2dB in peak signal-to-noise ratio (PSNR). Code is publicly available at https://applezyh.github.io/GOR-IS-project-page/

Real-world object detection must operate in evolving environments where new classes emerge, domains shift, and unseen objects must be identified as unknown--all without accessing prior data. We introduce Evolving World Object Detection (EWOD), a paradigm coupling incremental learning, domain adaptation, and unknown detection under exemplar-free constraints. To tackle EWOD, we propose EW-DETR framework that augments DETR-based detectors with three synergistic modules: Incremental LoRA Adapters for exemplar-free incremental learning under evolving domains; a Query-Norm Objectness Adapter that decouples objectness-aware features from DETR decoder queries; and Entropy-Aware Unknown Mixing for calibrated unknown detection. This framework generalises across DETR-based detectors, enabling state-of-the-art RF-DETR to operate effectively in evolving-world settings. We also introduce FOGS (Forgetting, Openness, Generalisation Score) to holistically evaluate performance across these dimensions. Extensive experiments on Pascal Series and Diverse Weather benchmarks show EW-DETR outperforms other methods, improving FOGS by 57.24%.

With the rapid advancement of generative models, generated image detection has become an important task in visual forensics. Although existing methods have achieved remarkable progress, they often rely, after training, on only a small subset of highly salient forgery cues, which limits their ability to generalize to unseen generative mechanisms. We argue that reliably generated image detection should not depend on a single decision path but should preserve multiple judgment perspectives, enabling the model to understand the differences between real and generated images from diverse viewpoints. Based on this idea, we propose an anti-feature-collapse learning framework that filters task-irrelevant components and suppresses excessive overlap among different forgery cues in the representation space, preventing discriminative information from collapsing into a few dominant feature directions. This design maintains diverse and complementary evidence within the model, reduces reliance on a small set of salient cues, and enhances robustness under unseen generative settings. Extensive experiments on multiple public benchmarks demonstrate that the proposed method significantly outperforms the state-of-the-art approaches in cross-model scenarios, achieving an accuracy improvement of 5.02% and exhibiting superior generalization and detection reliability. The source code is available at https://github.com/Yanmou-Hui/DoU.

In this paper, we present a method to reconstruct physically plausible human-object interactions (HOI) from monocular videos. While existing kinematic-based approaches produce visually plausible motion, they often result in physical artifacts such as interpenetration and object floating. To overcome these issues, we introduce a physics-guided reconstruction framework that begins with a kinematic estimate and then refines it through a reinforcement learning (RL) policy trained to reproduce the interaction in a physics simulator. Because kinematic estimates are typically noisy, naive RL training can fail. Therefore, we propose an adaptive sampling strategy with a dual self-updating mechanism that automatically identifies the frames with the most informative and reliable kinematic reconstruction. Our process progressively improves reconstruction quality and yields physically consistent HOI sequences. We demonstrate our approach on two standard benchmarks and achieve clear improvements in physical plausibility metrics over state-of-the-art methods.

Optical vibration sensing enables recovering the scene sound directly from the surface vibration of nearby objects, turning everyday objects into "visual microphones". However, most prior methods had focused on capturing the vibrations of specific objects with highly favorable vibration responses. These include objects where the surface vibrations are generated by the object itself (e.g., speaker membrane or guitar body) or objects consisting of a thin membrane which is highly reactive to sound (e.g., a chip bag or the leaf of a plant).In this paper, we tackle sound recovery for a more challenging class of solid objects whose vibration responses are poor or highly resonant. We simultaneously capture vibrations for multiple surface points on the object using a speckle-based vibrometry imaging system. Then, we derive a novel physics-guided vibration formation model that relates the scene sound source to the captured multi-point multi-axis vibrations via the object's vibrational modes. The model is then used to reverse the resonant transfer function of the vibrating object, fusing the plurality of vibration signals to estimate the original sound source of the scene. We evaluate our approach by recovering sound from a variety of everyday objects, demonstrating that it significantly outperforms traditional single-point speckle vibrometry in challenging scenarios where it performs poorly.

Event cameras provide microsecond latency, making them suitable for 6D object pose tracking in fast, dynamic scenes where conventional RGB and depth pipelines suffer from motion blur and large pixel displacements. We introduce EventTrack6D, an event-depth tracking framework that generalizes to novel objects without object-specific training by reconstructing both intensity and depth at arbitrary timestamps between depth frames. Conditioned on the most recent depth measurement, our dual reconstruction recovers dense photometric and geometric cues from sparse event streams. Our EventTrack6D operates at over 120 FPS and maintains temporal consistency under rapid motion. To support training and evaluation, we introduce a comprehensive benchmark suite: a large-scale synthetic dataset for training and two complementary evaluation sets, including real and simulated event datasets. Trained exclusively on synthetic data, EventTrack6D generalizes effectively to real-world scenarios without fine-tuning, maintaining accurate tracking across diverse objects and motion patterns. Our method and datasets validate the effectiveness of event cameras for event-based 6D pose tracking of novel objects. Code and datasets are publicly available at https://chohoonhee.github.io/Event6D.

The widespread misuse of image generation technologies has raised security concerns, driving the development of AI-generated image detection methods. However, generalization has become a key challenge and open problem: existing approaches struggle to adapt to emerging generative methods and content types in real-world scenarios. To address this issue, we propose a Scene-Aware and Importance-Guided Dynamic Optimization detection framework with continual learning (SAIDO). Specifically, we design Scene-Awareness-Based Expert Module (SAEM) that dynamically identifies and incorporates new scenes using VLLMs. For each scene, independent expert modules are dynamically allocated, enabling the framework to capture scene-specific forgery features better and enhance cross-scene generalization. To achieve an effective balance between model plasticity and stability when learning from multiple image generative methods, we introduce Importance-Guided Dynamic Optimization Mechanism (IDOM), which optimizes each neuron through an importance-guided gradient projection strategy, thereby achieving an effective balance between model plasticity and stability. Extensive experiments on continual learning tasks demonstrate that our method outperforms the current SOTA method in both stability and plasticity, achieving 44.22% and 40.57% relative reductions in average detection error rate and forgetting rate, respectively. On open-world datasets, it improves the average detection accuracy by 9.47% compared to the current SOTA method.

We introduce RAVEN, a deep learning architecture for processing frequency-modulated continuous-wave (FMCW) radar data that is designed for high computational efficiency. RAVEN reduces computation by using a learnable antenna mixer module on independent receiver state space encoders (SSM) to compress the virtual MIMO array into a compact set of learned features and by performing per-chirp inference with a calibrated early-exit rule, so the model reaches a decision using only a subset of chirps in a radar frame. These design choices yield up to 170x lower computation and 4x lower end-to-end latency than conventional frame-based radar backbones, while achieving state-of-the-art detection and BEV free-space segmentation performance on automotive radar datasets.

Aerial object-goal navigation (Aerial ObjectNav) requires an Unmanned Aerial Vehicle (UAV) to navigate to target objects in large-scale outdoor environments using only visual observations and high-level object descriptions, without detailed step-by-step instructions. Existing approaches rely on local observations or short-term history, lacking comprehensive scene understanding and efficient spatial exploration strategies, which constrains their navigation capability in complex aerial scenarios. To address these challenges, we propose OctMem-Agent, an octree memory-augmented framework for aerial object-goal navigation. Specifically, we introduce an Adaptive Octree Memory that incrementally aggregates RGB-D observations into a hierarchical 3D representation, capturing both explored regions and unexplored frontiers across large-scale aerial environments. We further propose a Instruction-Guided Memory Query module that extracts task-relevant scene and exploration tokens through instruction-modulated queries. By integrating these tokens with visual observations and language instructions, OctoMem-Agent achieves comprehensive scene understanding and effective spatial exploration for target localization. Extensive experiments on the Aerial ObjectNav benchmark UAV-ON demonstrate that our method achieves a significant 7.5% improvement in success rate over existing methods, validating the effectiveness of our design.

Motion transfer has emerged as a promising direction for controllable video generation, yet existing methods largely focus on single-object scenarios and struggle when multiple objects require distinct motion patterns. In this work, we present FlexiMMT, the first implicit image-to-video (I2V) motion transfer framework that explicitly enables multi-object, multi-motion transfer. Given a static multi-object image and multiple reference videos, FlexiMMT independently extracts motion representations and accurately assigns them to different objects, supporting flexible recombination and arbitrary motion-to-object mappings. To address the core challenge of cross-object motion entanglement, we introduce a Motion Decoupled Mask Attention Mechanism that uses object-specific masks to constrain attention, ensuring that motion and text tokens only influence their designated regions. We further propose a Differentiated Mask Propagation Mechanism that derives object-specific masks directly from diffusion attention and progressively propagates them across frames efficiently. Extensive experiments demonstrate that FlexiMMT achieves precise, compositional, and state-of-the-art performance in I2V-based multi-object multi-motion transfer. Our project page is: https://ethan- li123.github.io/FlexiMMT_page/

We introduce Talk2Move, a reinforcement learning (RL) based diffusion framework for text-instructed spatial transformation of objects within scenes. Spatially manipulating objects in a scene through natural language poses a challenge for multimodal generation systems. While existing text-based manipulation methods can adjust appearance or style, they struggle to perform object-level geometric transformations--such as translating, rotating, or resizing objects--due to scarce paired supervision and pixel-level optimization limits. Talk2Move employs Group Relative Policy Optimization (GRPO) to explore geometric actions through diverse rollouts generated from input images and lightweight textual variations, removing the need for costly paired data. A spatial reward guided model aligns geometric transformations with linguistic description, while off-policy step evaluation and active step sampling improve learning efficiency by focusing on informative transformation stages. Furthermore, we design object-centric spatial rewards that evaluate displacement, rotation, and scaling behaviors directly, enabling interpretable and coherent transformations.Experiments on curated benchmarks demonstrate that Talk2Move achieves precise, consistent, and semantically faithful object transformations, outperforming existing text-guided editing approaches in both spatial accuracy and scene coherence.

Cross-domain few-shot object detection (CD-FSOD) aims to adapt pretrained detectors from a source domain to target domains with limited annotations, suffering from severe domain shifts and data scarcity problems. In this work, we find a previously overlooked phenomenon: models exhibit dispersed and unfocused attention in target domains, leading to imprecise localization and redundant predictions, just like a human cannot focus on visual objects. Therefore, we call it the target-domain Astigmatism problem. Analysis on attention distances across transformer layers reveals that regular fine-tuning inherently shows a trend to remedy this problem, but results are still far from satisfactory, which we aim to enhance in this paper. Biologically inspired by the human fovea-style visual system, we enhance the fine-tuning's inherent trend through a center-periphery attention refinement framework, which contains (1) a Positive Pattern Refinement module to reshape attention toward semantic objects using class-specific prototypes, simulating the visual center region; (2) a Negative Context Modulation module to enhance boundary discrimination by modeling background context, simulating the visual periphery region; and (3) a Textual Semantic Alignment module to strengthen center-periphery distinction through cross-modal cues. Our bio-inspired approach transforms astigmatic attention into focused patterns, substantially improving adaptation to target domains. Experiments on six challenging CD-FSOD benchmarks consistently demonstrate improved detection accuracy and establish new state-of-the-art results.