ICCV 2025 论文列表

Audio-Visual Speech Enhancement (AVSE) leverages both audio and visual information to improve speech quality. Despite noisy real-world conditions, humans are generally able to perceive and interpret corrupted speech segments as clear. Researches in cognitive science have shown how the brain merges auditory and visual inputs to achieve this, which mainly manifests in four insights: (1) Humans utilize high-level semantic context to reconstruct corrupted speech signals, highlighting the importance of semantics. (2) Visual cues are shown to strongly correlate with semantic information, enabling visual cues to facilitate semantic context modeling. (3) Visual appearance and vocal information jointly benefit identification, implying that visual cues strengthen low-level signal context modeling. (4) High-level semantic knowledge and low-level auditory processing operate concurrently, allowing the semantics to guide signal-level context modeling. Motivated by these insights, we propose CogCM, a cognition-inspired hierarchical contextual modeling framework. The CogCM framework includes three core modules: (1) A semantic context modeling module (SeCM) to capture high-level semantic context from both audio and visual modalities; (2) A signal context modeling module (SiCM) to model fine-grained temporal-spectral structures under multi-modal semantic context guidance; (3) A semantic-to-signal guidance module (SSGM) to leverage semantic context in guiding signal context modeling across both temporal and frequency dimensions. Extensive experiments on 7 benchmarks demonstrate CogCM's superiority, especially achieving 63.6% SDR and 58.1% PESQ improvements at -15dB SNR -- outperforming state-of-the-art methods across all metrics.

We introduce CoTracker3, a new state-of-the-art point tracker. With CoTracker3, we revisit the design of recent trackers, removing components and reducing the number of parameters while also improving performance. We also explore the interplay of synthetic and real data. Recent trackers are trained on synthetic videos due to the difficulty of collecting tracking annotations for real data. However, this can result in suboptimal performance due to the statistical gap between synthetic and real videos. We thus suggest using off-the-shelf trackers as teachers, annotating real videos with pseudo-labels. Compared to other recent attempts at using real data for learning trackers, this scheme is much simpler and achieves better results using 1,000 times less data. CoTracker3 is available in online (causal) and offline variants and is particularly robust to occlusions.

Anticipating and recognizing surgical workflows are critical for intelligent surgical assistance systems. However, existing methods rely on deterministic decision-making, struggling to generalize across the large anatomical and procedural variations inherent in real-world surgeries. In this paper, we introduce an innovative framework that incorporates stochastic modeling through a denoising diffusion probabilistic model (DDPM) into conventional deterministic learning for surgical workflow analysis. At the heart of our approach is a collaborative co-training paradigm: the DDPM branch captures procedural uncertainties to enrich feature representations, while the task branch focuses on predicting surgical phases and instrument usage. Theoretically, we demonstrate that this mutual refinement mechanism benefits both branches: the DDPM reduces prediction errors in uncertain scenarios, and the task branch directs the DDPM toward clinically meaningful representations. Notably, the DDPM branch is discarded during inference, enabling real-time predictions without sacrificing accuracy. Experiments on the Cholec80 dataset show that for the anticipation task, our method achieves a 16% reduction in eMAE compared to state-of-the-art approaches, and for phase recognition, it improves the Jaccard score by 1.0%. Additionally, on the AutoLaparo dataset, our method achieves a 1.5% improvement in the Jaccard score for phase recognition, while also exhibiting robust generalization to patient-specific variations. Our code and weight will be available.

Collaborative perception shares information among different agents and helps solving problems that individual agents may face, e.g., occlusions and small sensing range. Prior methods usually separate the multi-agent fusion and multi-time fusion into two consecutive steps. In contrast, this paper proposes an efficient collaborative perception that aggregates the observations from different agents (space) and different times into a unified spatio-temporal space simultanesouly. The unified spatio-temporal space brings two benefits, i.e., efficient feature transmission and superior feature fusion. 1) Efficient feature transmission: each static object yields a single observation in the spatial temporal space, and thus only requires transmission only once (whereas prior methods re-transmit all the object features multiple times). 2) superior feature fusion: merging the multi-agent and multi-time fusion into a unified spatial-temporal aggregation enables a more holistic perspective, thereby enhancing perception performance in challenging scenarios. Consequently, our Collaborative perception with Spatio-temporal Transformer (CoST) gains improvement in both efficiency and accuracy. Notably, CoST is not tied to any specific method and is compatible with a majority of previous methods, enhancing their accuracy while reducing the transmission bandwidth.

Medical foundation models, pre-trained on diverse data sources, have shown significant potential for multi-domain medical imaging tasks.However, the domain shifts across different anatomical types significantly hinder their performance compared to domain-specific models.To address this challenge, we propose CoSMIC, a Continual Self-supervised learning framework for Multi-domain medIcal image analysis, with the core idea of Conditional mutual information maximization. Specifically, CoSMIC (i) acquires domain-specific knowledge sequentially, bypassing domain shifts caused by joint pre-training; (ii) enhances generalized representations by proposing a novel conditional contrastive loss to prevent catastrophic forgetting. This loss hierarchically aligns multi-view features within the current domain, maximizing their mutual information conditioned on domain-invariant representations extracted from prior domains through Anatomy-Guided Calibration. We pre-train CoSMIC across four medical domains and evaluate it on fifteen downstream datasets from five domains: Retinoscopy, Radiography, Ophthalmoscopy, Dermoscopy, and Histopathology (unseen). Experimental results show that CoSMIC (i) achieves robust feature extraction ability comparable to domain-specific models, (ii) exhibits exceptional generalization capability, significantly surpassing SOTA medical foundation models, and (iii) demonstrates superior transferability to new domains, overcoming current continual pre-training methods.

3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure, which hinders accurate 3D scene reconstruction. In this study, we propose CoMoGaussian, a Continuous Motion-Aware Gaussian Splatting that reconstructs precise 3D scenes from motion-blurred images while maintaining real-time rendering speed. Considering the complex motion patterns inherent in real-world camera movements, we predict continuous camera trajectories using neural ordinary differential equations (ODEs). To ensure accurate modeling, we employ rigid body transformations, preserving the shape and size of the object but rely on the discrete integration of sampled frames. To better approximate the continuous nature of motion blur, we introduce a continuous motion refinement (CMR) transformation that refines rigid transformations by incorporating additional learnable parameters. By revisiting fundamental camera theory and leveraging advanced neural ODE techniques, we achieve precise modeling of continuous camera trajectories, leading to improved reconstruction accuracy. Extensive experiments demonstrate state-of-the-art performance both quantitatively and qualitatively on benchmark datasets, which include a wide range of motion blur scenarios, from moderate to extreme blur.

This prospective study proposes CoMatch, a novel semi-dense image matcher with dynamic covisibility awareness and bilateral subpixel accuracy. Firstly, observing that modeling context interaction over the entire coarse feature map elicits highly redundant computation due to the neighboring representation similarity of tokens, a covisibility-guided token condenser is introduced to adaptively aggregate tokens in light of their covisibility scores that are dynamically estimated, thereby ensuring computational efficiency while improving the representational capacity of aggregated tokens simultaneously. Secondly, considering that feature interaction with non-covisible areas is distracting, which may degrade feature distinctiveness, a covisibility-assisted attention mechanism is deployed to selectively suppress irrelevant message broadcast from non-covisible reduced tokens, resulting in robust and compact attention to relevant rather than all ones. Thirdly, we find that at the fine-level stage, current methods adjust only the target view's keypoints to subpixel level, while those in the source view remain restricted at the coarse level and thus not informative enough, detrimental to keypoint location-sensitive usages. A simple yet potent fine correlation module is developed to refine matching candidates in both source and target views to subpixel level, attaining attractive performance improvement. Thorough experimentation across an array of public benchmarks affirms CoMatch's promising accuracy, efficiency, and generalizability. Code is available at https://github.com/ZizhuoLi/CoMatch.

Text-to-image (T2I) diffusion models excel at generating photorealistic images, but commonly struggle to render accurate spatial relationships described in text prompts. We identify two core issues underlying this common failure: 1) the ambiguous nature of spatial-related data in existing datasets, and 2) the inability of current text encoders to accurately interpret the spatial semantics of input descriptions. We address these issues with CoMPaSS, a versatile training framework that enhances spatial understanding of any T2I diffusion model. CoMPaSS solves the ambiguity of spatial-related data with the Spatial Constraints-Oriented Pairing (SCOP) data engine, which curates spatially accurate training data through a set of principled spatial constraints. To better exploit the curated high-quality spatial priors, CoMPaSS further introduces a Token ENcoding ORdering (TENOR) module to allow better exploitation of high-quality spatial priors, effectively compensating for the shortcoming of text encoders. Extensive experiments on four popular open-weight T2I diffusion models covering both UNet- and MMDiT-based architectures demonstrate the effectiveness of CoMPaSS by setting new state-of-the-arts with substantial relative gains across well-known benchmarks on spatial relationships generation, including VISOR (+98%), T2I-CompBench Spatial (+67%), and GenEval Position (+131%).

Vehicle-to-vehicle (V2V) cooperative autonomous driving holds great promise for improving safety by addressing the perception and prediction uncertainties inherent in single-agent systems. However, traditional cooperative methods are constrained by rigid collaboration protocols and limited generalization to unseen interactive scenarios. While LLM-based approaches offer generalized reasoning capabilities, their challenges in spatial planning and unstable inference latency hinder their direct application in cooperative driving. To address these limitations, we propose CoLMDriver, the first full-pipeline LLM-based cooperative driving system, enabling effective language-based negotiation and real-time driving control. CoLMDriver features a parallel driving pipeline with two key components: (i) an LLM-based negotiation module under an critic-feedback paradigm, which continuously refines cooperation policies through feedback from previous decisions of all vehicles; and (ii) an intention-guided waypoint generator, which translates negotiation outcomes into executable waypoints. Additionally, we introduce InterDrive, a CARLA-based simulation benchmark comprising 10 challenging interactive driving scenarios for evaluating V2V cooperation. Experimental results demonstrate that CoLMDriver significantly outperforms existing approaches, achieving an 11% higher success rate across diverse highly interactive V2V driving scenarios. Code is released on https://github.com/cxliu0314/CoLMDriver.

The newly proposed Generalized Referring Expression Segmentation (GRES) amplifies the formulation of classic RES by involving complex multiple/non-target scenarios. Recent approaches address GRES by directly extending the well-adopted RES frameworks with object-existence identification. However, these approaches tend to encode multi-granularity object information into a single representation, which makes it difficult to precisely represent comprehensive objects of different granularity. Moreover, the simple binary object-existence identification across all referent scenarios fails to specify their inherent differences, incurring ambiguity in object understanding. To tackle the above issues, we propose a **Co**unting-Aware **H**ierarchical **D**ecoding framework (CoHD) for GRES. By decoupling the intricate referring semantics into different granularity with a visual-linguistic hierarchy, and dynamic aggregating it with intra- and inter-selection, CoHD boosts multi-granularity comprehension with the reciprocal benefit of the hierarchical nature. Furthermore, we incorporate the counting ability by embodying multiple/single/non-target scenarios into count- and category-level supervision, facilitating comprehensive object perception. Experimental results on gRefCOCO, Ref-ZOM, R-RefCOCO, and RefCOCO benchmarks demonstrate the effectiveness and rationality of CoHD which outperforms state-of-the-art GRES methods by a remarkable margin. Code is available.

Dynamic scene rendering opens new avenues in autonomous driving by enabling closed-loop simulations with photorealistic data, which is crucial for validating end-to-end algorithms. However, the complex and highly dynamic nature of traffic environments presents significant challenges in accurately rendering these scenes. In this paper, we introduce a novel 4D Gaussian Splatting (4DGS) approach, which incorporates context and temporal deformation awareness to improve dynamic scene rendering. Specifically, we employ a 2D semantic segmentation foundation model to self-supervise the 4D semantic features of Gaussians, ensuring meaningful contextual embedding. Simultaneously, we track the temporal deformation of each Gaussian across adjacent frames. By aggregating and encoding both semantic and temporal deformation features, each Gaussian is equipped with cues for potential deformation compensation within 3D space, facilitating a more precise representation of dynamic scenes. Experimental results show that our method improves 4DGS's ability to capture fine details in dynamic scene rendering for autonomous driving and outperforms other self-supervised methods in 4D reconstruction and novel view synthesis. Furthermore, CoDa-4DGS deforms semantic features with each Gaussian, enabling broader applications.

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent model, O1, showcased impressive capabilities in solving complex problems by utilizing extensive reasoning chains. This prompts an important question: can robot models achieve better performance in multi-task, complex environments by reviewing prior observations and then providing task-specific reasoning to guide action prediction?In this paper, we introduce Chain-of-Affordance (CoA-VLA), a novel approach to scaling robot models by incorporating reasoning in the format of sequential robot affordances to facilitate task completion. Specifically, we prompt the model to consider the following four types of affordances before taking action: (1) object affordance-- what object to manipulate and where it is; (2) grasp affordance -- the specific object part to grasp; (3) spatial affordance -- the optimal space to place the object; and (4) movement affordance-- the collision-free path for movement. We further transform each affordance into two prompting formats: visual affordance and textual affordance. We introduce a novel vision-language co-injection module that integrates this knowledge into the policy network. This allows the robot to leverage essential contextual information during action inference, resulting in improved precision and robustness. Our experiments demonstrate that CoA-VLA outperforms state-of-the-art robot foundation models, including OpenVLA and Octo, on a variety of tasks. Furthermore, CoA-VLA exhibits strong generalization capabilities, including recognizing unseen object poses, identifying free space, and avoiding obstacles in novel environments.

Controllable diffusion models have been widely applied in image stylization. However, existing methods often treat the style in the reference image as a single, indivisible entity, which makes it difficult to transfer specific stylistic attributes. To address this issue, we propose a fine-grained controllable image stylization framework, Co-Painter, to decouple multiple attributes embedded in the reference image and adaptively inject it into the diffusion model. We first build a multi-condition image stylization framework based on the text-to-image generation model. Then, to drive it, we develop a fine-grained decoupling mechanism to implicitly separate the attributes from the image. Finally, we design a gated feature injection mechanism to adaptively regulate the importance of multiple attributes. To support the above procedure, we also build a dataset with fine-grained styles. It comprises nearly 48,000 image-text pairs samples. Extensive experiments demonstrate that the proposed model achieves an optimal balance between text alignment and style similarity to reference images, both in standard and fine-grained settings.

Humans can perform previously unexperienced interactions with novel objects simply by observing others engage with them. Weakly-supervised affordance grounding mimics this process by learning to locate object regions that enable actions on egocentric images, using exocentric interaction images with image-level annotations. However, extracting affordance knowledge solely from exocentric images and transferring it one-way to egocentric images limits the applicability of previous works in complex interaction scenarios. Instead, this study introduces LoopTrans, a novel closed-loop framework that not only transfers knowledge from exocentric to egocentric but also transfers back to enhance exocentric knowledge extraction. Within LoopTrans, several innovative mechanisms are introduced, including unified cross-modal localization and denoising knowledge distillation, to bridge domain gaps between object-centered egocentric and interaction-centered exocentric images while enhancing knowledge transfer. Experiments show that LoopTrans achieves consistent improvements across all metrics on image and video benchmarks, even handling challenging scenarios where object interaction regions are fully occluded by the human body.

Can a model distinguish between the sound of a spoon hitting a hardwood floor versus a carpeted one? Everyday object interactions produce sounds unique to the objects involved. We introduce the sounding object detection task to evaluate a model's ability to link these sounds to the objects directly involved. Inspired by human perception, our multimodal object-aware framework learns from in-the-wild egocentric videos. To encourage an object-centric approach, we first develop an automatic pipeline to compute segmentation masks of the objects involved to guide the model's focus during training towards the most informative regions of the interaction. A slot attention visual encoder is used to further enforce an object prior. We demonstrate state of the art performance on our new task along with existing multimodal action understanding tasks.

Federated Learning (FL) is a privacy-preserving distributed machine learning paradigm. Nonetheless, the substantial distribution shifts among clients pose a considerable challenge to the performance of current FL algorithms. To mitigate this challenge, various methods have been proposed to enhance the FL training process. This paper endeavors to tackle the issue of data heterogeneity from another perspective---by improving FL algorithms prior to the actual training stage. Specifically, we introduce the Client2Vec mechanism, which generates a unique client index that contains clients' distribution shifts information for each client before the commencement of FL training. Subsequently, we leverage the generated client index to enhance the subsequent FL training process. To demonstrate the effectiveness of the proposed Client2Vec method, we conduct three case studies that assess the impact of the client index on the FL training process. These case studies encompass enhanced client sampling, model aggregation, and local training. Extensive experiments conducted on diverse datasets and model architectures show the efficacy of Client2Vec across all three case studies. Our code is available at https://github.com/LINs-lab/client2vec.

Motion deblurring addresses the challenge of image blur caused by camera or scene movement. Event cameras provide motion information that is encoded in the asynchronous event streams. To efficiently leverage the temporal information of event streams, we employ Spiking Neural Networks (SNNs) for motion feature extraction and Artificial Neural Networks (ANNs) for color information processing. Due to the non-uniform distribution and inherent redundancy of event data, existing cross-modal feature fusion methods exhibit certain limitations. Inspired by the visual attention mechanism in the human visual system, this study introduces a bioinspired dual-drive hybrid network (BDHNet). Specifically, the Neuron Configurator Module (NCM) is designed to dynamically adjust neuron configurations based on cross-modal features, thereby focusing the spikes in blurry regions and adapting to varying blurry scenarios dynamically. Additionally, the Region of Blurry Attention Module (RBAM) is introduced to generate a blurry mask in an unsupervised manner, effectively extracting motion clues from the event features and guiding more accurate cross-modal feature fusion. Extensive subjective and objective evaluations demonstrate that our method outperforms current state-of-the-art methods on both synthetic and real-world datasets.

In the effort to achieve robust and generalizable category-level object pose estimation, recent methods primarily focus on learning fundamental representations from data. However, the inherent biases within the data are often overlooked: the repeated training samples and similar environments may mislead the models to over-rely on specific patterns, hindering models' performance on novel instances. In this paper, we present CleanPose, a novel method that mitigates the data biases to enhance category-level pose estimation by integrating causal learning and knowledge distillation. By incorporating key causal variables (structural information and hidden confounders) into causal modeling, we propose the causal inference module based on front-door adjustment, which promotes unbiased estimation by reducing potential spurious correlations. Additionally, to further confront the data bias at the feature level, we devise a residual-based knowledge distillation approach to transfer unbiased semantic knowledge from 3D foundation model, providing comprehensive causal supervision. Extensive experiments across multiple benchmarks (REAL275, CAMERA25 and HouseCat6D) hightlight the superiority of proposed CleanPose over state-of-the-art methods. Code will be available at https://github.com/chrislin0621/CleanPose.