ICCV 2025 论文列表

General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance prediction data, leading to considerable concern about open-world effectiveness. To address this limitation, we build a large-scale grasping-oriented affordance segmentation benchmark with human-like instructions, named RAGNet. It contains 273k images, 180 categories, and 26k reasoning instructions. The images cover diverse embodied data domains, such as wild, robot, ego-centric, and even simulation data. They are carefully annotated with an affordance map, while the difficulty of language instructions is largely increased by removing their category name and only providing functional descriptions. Furthermore, we propose a comprehensive affordance-based grasping framework, named AffordanceNet, which consists of a VLM pre-trained on our massive affordance data and a grasping network that conditions an affordance map to grasp the target. Extensive experiments on affordance segmentation benchmarks and real-robot manipulation tasks show that our model has a powerful open-world generalization ability. Our data and code is available at this link.

Standard clothing asset generation involves restoring forward-facing flat-lay garment images displayed on a clear background by extracting clothing information from diverse real-world contexts, which presents significant challenges due to highly standardized structure sampling distributions and clothing semantic absence in complex scenarios. Existing models have limited spatial perception, often exhibiting structural hallucinations and texture distortion in this high-specification generative task. To address this issue, we propose a novel Retrieval-Augmented Generation (RAG) framework, termed RAGDiffusion, to enhance structure determinacy and mitigate hallucinations by assimilating knowledge from language models and external databases. RAGDiffusion consists of two processes: (1) Retrieval-based structure aggregation, which employs contrastive learning and a Structure Locally Linear Embedding (SLLE) to derive global structure and spatial landmarks, providing both soft and hard guidance to counteract structural ambiguities; and (2) Omni-level faithful garment generation, which introduces a coarse-to-fine texture alignment that ensures fidelity in pattern and detail components within the diffusing. Extensive experiments on challenging real-world datasets demonstrate that RAGDiffusion synthesizes structurally and texture-faithful clothing assets with significant performance improvements, representing a pioneering effort in high-specification faithful generation with RAG to confront intrinsic hallucinations and enhance fidelity.

Regional prompting, or compositional generation, which enables fine-grained spatial control, has gained increasing attention for its practicality in real-world applications. However, previous methods either introduce additional trainable modules, thus only applicable to specific models, or manipulate on score maps within attention layers using attention masks, resulting in limited control strength when the number of regions increases. To handle these limitations, we present RAGD, a Regional-Aware text-to-image Generation method conditioned on regional descriptions for precise layout composition. RAGD decouples the multi-region generation into two sub-tasks, the construction of individual region (Regional Hard Binding) that ensures the regional prompt is properly executed, and the overall detail refinement (Regional Soft Refinement) over regions that dismiss the visual boundaries and enhance adjacent interactions. Furthermore, RAGD novelly makes repainting feasible, where users can modify specific unsatisfied regions in the last generation while keeping all other regions unchanged, without relying on additional inpainting models. Our approach is tuning-free and applicable to other frameworks as an enhancement to the prompt following property. Quantitative and qualitative experiments demonstrate that RAGD achieves superior performance over attribute binding and object relationship than previous methods.

Accurate breast ultrasound (BUS) image segmentation is critical for diagnosis and surgical planning, but faces challenges due to limited labeled images. Semi-supervised methods show promise by leveraging pseudo-labels to mitigate reliance on large-scale annotations. However, their performance is highly dependent on the quality of pseudo-labels, which is difficult to guarantee in BUS images due to inherent complexities such as low contrast, speckle noise, and artifacts. Previous studies primarily focus on refining pseudo-labels in one way or the other, or introducing auxiliary supervision; yet they overlook the potential of harnessing intrinsic and inherent pixel relations to enhance the robustness of semi-supervised segmentation. In this paper, we present a novel relation-aware semi-supervised model for BUS image segmentation, which is composed of two innovative components: an adjacent relation propagation (ARP) module and a cross-layer relation alignment (CRA) module, for comprehensively explore pixel relations to improve segmentation performance. The ARP propagates relations among adjacent pixels to reinforce the collaborative prediction of correlated pixels and enhance the model's awareness of local semantic consistency. The CRA aligns cross-layer pixel relations, employing deep-layer guidance to rectify erroneous correlations in shallow layers for noise suppression, while integrating multi-scale contexts to enable robust segmentation of lesions with varying sizes. Extensive experiments on two representative BUS datasets under various labeling conditions demonstrate the superiority of our method to the SOTAs. Codes are available at https://github.com/dodooo1/RA-BUSSeg.

Recent studies generally enhance MLLMs' reasoning capabilities via supervised fine-tuning on high-quality chain-of-thought reasoning data, which often leads models to merely imitate successful reasoning paths without understanding what the wrong reasoning paths are.In this work, we aim to enhance the MLLMs' reasoning ability beyond passively imitating positive reasoning paths. To this end, we design Step-wise Group Relative Policy Optimization (StepGRPO), a new online reinforcement learning framework that enables MLLMs to self-improve reasoning ability via simple, effective and dense step-wise rewarding. Specifically, StepGRPO introduces two novel rule-based reasoning rewards: Step-wise Reasoning Accuracy Reward (StepRAR) and Step-wise Reasoning Validity Reward (StepRVR). StepRAR rewards the reasoning paths that contain necessary intermediate reasoning steps via a soft key-step matching technique, while StepRAR rewards reasoning paths that follow a well-structured and logically consistent reasoning process through a reasoning completeness and logic evaluation strategy. With the proposed step-wise reward mechanisms, we introduce R1-VL, a series of of MLLMs with outstanding capabilities in step-by-step reasoning. Extensive experiments over 8 benchmarks demonstrate the superiority of the proposed StepGRPO.

Large Language Models have demonstrated remarkable reasoning capability in complex textual tasks. However, multimodal reasoning, which requires integrating visual and textual information, remains a significant challenge. Existing visual-language models often struggle to effectively analyze and reason visual content, resulting in suboptimal performance on complex reasoning tasks. Moreover, the absence of comprehensive benchmarks hinders the accurate assessment of multimodal reasoning capabilities. In this paper, we introduce R1-Onevision, a multimodal reasoning model designed to bridge the gap between visual perception and deep reasoning. To achieve this, we propose a cross-modal reasoning pipeline that transforms images into formal textual representations, enabling precise language-based reasoning. Leveraging this pipeline, we construct the R1-Onevision dataset which provides detailed, step-by-step multimodal reasoning annotations across diverse domains. We further develop the R1-Onevision model through supervised fine-tuning and reinforcement learning to cultivate advanced reasoning and robust generalization abilities. To comprehensively evaluate multimodal reasoning performance across different grades, we introduce R1-Onevision-Bench, a benchmark aligned with human educational stages, covering exams from junior high school to university and beyond. Experimental results show that R1-Onevision achieves state-of-the-art performance, outperforming models such as GPT-4o and Qwen2.5-VL on multiple challenging multimodal reasoning benchmarks. Code, dataset and benchmark are available at https://github.com/Fancy-MLLM/R1-Onevision

In autonomous driving, the integration of roadside perception systems is essential for overcoming occlusion challenges and enhancing the safety of vulnerable road users (VRUs). While LiDAR and visual (RGB) sensors are commonly used, thermal imaging remains underrepresented in datasets, despite its acknowledged advantages for VRU detection in extreme lighting conditions. In this paper, we present R-LiViT, the first dataset to combine LiDAR, RGB, and thermal imaging from a roadside perspective, with a strong focus on VRUs. R-LiViT captures three intersections during both day and night, ensuring a diverse dataset.It includes 10,000 LiDAR frames and 2,400 temporally and spatially aligned RGB and thermal images across 150 traffic scenarios, with 7 and 8 annotated classes respectively, providing a comprehensive resource for tasks such as object detection and tracking.The dataset and the code for reproducing our evaluation results are made publicly available.

Surface reconstruction is fundamental to computer vision and graphics, enabling applications in 3D modeling, mixed reality, robotics, and more. Existing approaches based on volumetric rendering obtain promising results, but optimize on a per-scene basis, resulting in a slow optimization that can struggle to model under-observed or textureless regions. We introduce QuickSplat, which learns data-driven priors to generate dense initializations for 2D gaussian splatting optimization of large-scale indoor scenes. This provides a strong starting point for the reconstruction, which accelerates the convergence of the optimization and improves the geometry of flat wall structures. We further learn to jointly estimate the densification and update of the scene parameters during each iteration; our proposed densifier network predicts new Gaussians based on the rendering gradients of existing ones, removing the needs of heuristics for densification. Extensive experiments on large-scale indoor scene reconstruction demonstrate the superiority of our data-driven optimization. Concretely, we accelerate runtime by 8x, while decreasing depth errors by 48% in comparison to state of the art methods.

Despite recent advances, Text-to-video retrieval (TVR) is still hindered by multiple inherent uncertainties, such as ambiguous textual queries, indistinct text-video mappings, and low-quality video frames. Although interactive systems have emerged to address these challenges by refining user intent through clarifying questions, current methods typically rely on heuristic or ad-hoc strategies without explicitly quantifying these uncertainties, limiting their effectiveness. Motivated by this gap, we propose UMIVR, an Uncertainty-Minimizing Interactive Text-to-Video Retrieval framework that explicitly quantifies three critical uncertainties-text ambiguity, mapping uncertainty, and frame uncertainty-via principled, training-free metrics: semantic entropy-based Text Ambiguity Score (TAS), Jensen-Shannon divergence-based Mapping Uncertainty Score (MUS), and a Temporal Quality-based Frame Sampler (TQFS). By adaptively generating targeted clarifying questions guided by these uncertainty measures, UMIVR iteratively refines user queries, significantly reducing retrieval ambiguity. Extensive experiments on multiple benchmarks validate UMIVR's effectiveness, achieving notable gains in Recall@1 (69.2% after 10 interactive rounds) on the MSR-VTT-1k dataset, thereby establishing an uncertainty-minimizing foundation for interactive TVR.

Quanta image sensors record individual photons, enabling capabilities like imaging in near-complete darkness and ultra-high-speed videography. Yet, most research on quanta sensors is limited to recovering image intensities. Can we go beyond just imaging, and develop algorithms that can extract high-level scene information from quanta sensors? This could unlock new possibilities in vision systems, offering reliable operation in extreme conditions. The challenge: raw photon streams captured by quanta sensors have fundamentally different characteristics than conventional images, making them incompatible with vision models. One approach is to first transform raw photon streams to conventional-like images, but this is prohibitively expensive in terms of compute, memory, and latency. We propose quanta neural networks (QNNs) that directly produce downstream task objectives from raw photon streams. Our core proposal is a trainable QNN layer that can seamlessly integrate with existing image- and video-based neural networks, producing quanta counterparts. By avoiding image reconstruction and allocating computational resources on a scene-adaptive basis, QNNs achieve 1--2 orders of magnitude improvements across all efficiency metrics (compute, latency, readout bandwidth) as compared to reconstruction-based quanta vision, while maintaining high task accuracy across a wide gamut of challenging scenarios including low light and rapid motion.

We propose Quadratic Gaussian Splatting (QGS), a novel representation that replaces static primitives with deformable quadric surfaces (e.g., ellipse, paraboloids) to capture intricate geometry. Unlike prior works that rely on Euclidean distance for primitive density modeling--a metric misaligned with surface geometry under deformation--QGS introduces geodesic distance-based density distributions. This innovation ensures that density weights adapt intrinsically to the primitive curvature, preserving consistency during shape changes (e.g., from planar disks to curved paraboloids). By solving geodesic distances in closed form on quadric surfaces, QGS enables surface-aware splatting, where a single primitive can represent complex curvature that previously required dozens of planar surfels, potentially reducing memory usage while maintaining efficient rendering via fast ray-quadric intersection. Experiments on DTU, Tanks and Temples, and MipNeRF360 datasets demonstrate state-of-the-art surface reconstruction, with QGS reducing geometric error (chamfer distance) by 33% over 2DGS and 27% over GOF on the DTU dataset. Crucially, QGS retains competitive appearance quality, bridging the gap between geometric precision and visual fidelity for applications like robotics and immersive reality.

The practical deployment of diffusion models is still hindered by the high memory and computational overhead. Although quantization paves a way for model compression and acceleration, existing methods face challenges in achieving low-bit quantization efficiently. In this paper, we identify imbalanced activation distributions as a primary source of quantization difficulty, and propose to adjust these distributions through weight finetuning to be more quantization-friendly. We provide both theoretical and empirical evidence supporting finetuning as a practical and reliable solution. Building on this approach, we further distinguish two critical types of quantized layers: those responsible for retaining essential temporal information and those particularly sensitive to bit-width reduction. By selectively finetuning these layers under both local and global supervision, we mitigate performance degradation while enhancing quantization efficiency. Our method demonstrates its efficacy across three high-resolution image generation tasks, obtaining state-of-the-art performance across multiple bit-width settings.

Existing text-to-image models often rely on parame- ter fine-tuning techniques such as Low-Rank Adaptation (LoRA) to customize visual attributes. However, when com- bining multiple LoRA models for content-style fusion tasks, unstructured modifications of weight matrices often lead to undesired feature entanglement between content and style attributes. We propose QR-LoRA, a novel fine-tuning frame- work leveraging QR decomposition for structured parame- ter updates that effectively separate visual attributes. Our key insight is that the orthogonal Q matrix naturally min- imizes interference between different visual features, while the upper triangular R matrix efficiently encodes attribute- specific transformations. Our approach fixes both Q and R matrices while only training an additional task-specific R matrix. This structured design reduces trainable param- eters to half of conventional LoRA methods and supports effective merging of multiple adaptations without cross- contamination due to the strong disentanglement properties between R matrices. Experiments demonstrate that QR- LoRA achieves superior disentanglement in content-style fusion tasks, establishing a new paradigm for parameter- efficient, disentangled fine-tuning in generative models. The project page is available at: https://luna-ai-lab. github.io/QR-LoRA/

Multimodal Diffusion Transformers (MM-DiTs) have recently emerged as a powerful framework for unified text-vision synthesis, surpassing traditional U-Net architectures in generative tasks. One key innovation lies in its Multimodal Self-Attention (MM-SA) interaction where image and text tokens are concatenated and processed via self-attention.However, this mechanism poses significant challenges for editing, rendering conventional U-Net-based attention manipulation methods ineffective. To address this limitation, we propose QK-Edit, a training-free framework that exploits the unique attention dynamics of MM-DiTs for precise text-guided image and video editing. By introducing a novel query-key manipulation strategy, our method isolates and adjusts critical attention components to achieve an optimal balance between prompt fidelity and structural consistency. This enables seamless edits across various tasks, including object addition, object removal, object replacement, changing background, changing material, changing color, and style transformation. Notably, it can be easily implemented with feature replacement in inference.QK-Edit demonstrates superior editing performance on state-of-the-art models, such as FLUX and HunyuanVideo, effectively bridging the gap between generative power and editable flexibility in MM-DiTs, and paving the way for scalable multimodal content creation.

Although deep neural networks have achieved remarkable success in various computer vision tasks, they face significant challenges in degraded image understanding due to domain shifts caused by quality variations. Drawing biological inspiration from the human visual system (HVS), which dynamically adjusts perception strategies through contrast gain control and selective attention to salient regions, we propose Quality-Adaptive Normalization (Q-Norm) - a novel normalization method that learns adaptive parameters guided by image quality features. Our approach addresses two critical limitations of conventional normalization techniques: 1) Domain Covariance Shift: Existing methods fail to align feature distributions across different quality domains. Q-Norm implicitly achieves cross-domain alignment through quality-aware parameter adaptation without explicit loss functions. 2) Biological Plausibility: By mimicking HVS's contrast normalization mechanisms and attention-based feature selection, Q-Norm dynamically adjusts the mean and variance parameters using a pre-trained quality assessment model, ensuring robustness to image degradation. Extensive experiments across multiple tasks (image classification, semantic segmentation, object detection) demonstrate that Q-Norm consistently outperforms baseline methods on low-quality images. Code has been released at https://github.com/IIP-Lab-XDU/Q-Norm.

Multimodal Large Language Models (MLLMs) have demonstrated significant success in visual understanding tasks. However, challenges persist in adapting these models for video comprehension due to the large volume of data and temporal complexity. Existing Video-LLMs using uniform frame sampling often struggle to capture the query-related crucial spatiotemporal clues of videos effectively. In this paper, we introduce Q-Frame, a novel approach for adaptive frame selection and multi-resolution scaling tailored to the video's content and the specific query. Q-Frame employs a training-free, plug-and-play strategy generated by a text-image matching network like CLIP, utilizing the Gumbel-Max trick for efficient frame selection. Q-Frame allows Video-LLMs to process more frames without exceeding computational limits, thereby preserving critical temporal and spatial information. We demonstrate Q-Frame's effectiveness through extensive experiments on benchmark datasets, including MLVU, LongVideoBench, and Video-MME, illustrating its superiority over existing methods and its applicability across various video understanding tasks.

Modern reconstruction techniques can effectively model complex 3D scenes from sparse 2D views. However, automatically assessing the quality of novel views and identifying artifacts is challenging due to the lack of ground truth images and the limitations of no-reference image metrics in predicting reliable artifact maps. The absence of such metrics hinders assessment of the quality of novel views and limits the adoption of post-processing techniques, such as inpainting, to enhance reconstruction quality. To tackle this, recent work has established a new category of metrics (cross-reference), predicting image quality solely by leveraging context from alternate viewpoint captures. In this work, we propose a new cross-reference metric, Puzzle Similarity, which is designed to localize artifacts in novel views. Our approach utilizes image patch statistics from the training views to establish a scene-specific distribution, later used to identify poorly reconstructed regions in the novel views. Given the lack of good measures to evaluate cross-reference methods in the context of 3D reconstruction, we collected a novel human-labeled dataset of artifact and distortion maps in unseen reconstructed views. Through this dataset, we demonstrate that our method achieves state-of-the-art localization of artifacts in novel views, correlating with human assessment, even without aligned references. We can leverage our new metric to enhance applications like automatic image restoration, guided acquisition, or 3D reconstruction from sparse inputs. Find the project page at https://nihermann.github.io/puzzlesim/.

Test-time adaptation (TTA) is crucial for mitigating performance degradation caused by distribution shifts in 3D point cloud classification. In this work, we introduce Token Purging (PG), a novel backpropagation-free approach that removes tokens highly affected by domain shifts before they reach attention layers. Unlike existing TTA methods, PG operates at the token level, ensuring robust adaptation without iterative updates. We propose two variants: PG-SP, which leverages source statistics, and PG-SF, a fully source-free version relying on CLS-token-driven adaptation. Extensive evaluations on ModelNet40-C, ShapeNet-C, and ScanObjectNN-C demonstrate that PG-SP achieves an average of +10.3% higher accuracy than state-of-the-art backpropagation-free methods, while PG-SF sets new benchmarks for source-free adaptation. Moreover, PG is 12.4x faster and 5.5x more memory efficient than our baseline, making it suitable for real-world deployment.