ICML 2026 论文列表

Online Reinforcement Learning (RL) offers a promising avenue for complex image editing but is currently constrained by the scarcity of reliable and fine-grained reward signals. Existing evaluators frequently struggle with a critical perception gap we term "Attention Collapse," where models neglect cross-image comparisons and fail to capture fine-grained details, resulting in inaccurate perception and miscalibrated scores. To address these limitations, we propose **SpatialReward**, a reward model that enforces precise verification via explicit spatial reasoning. By anchoring reasoning to predicted edit regions, SpatialReward grounds semantic judgments in pixel-level evidence, significantly enhancing evaluative accuracy. Trained on a curated 260k spatial-aware dataset, our model achieves state-of-the-art performance on MMRB2 and EditReward-Bench, and outperforms proprietary evaluators on our proposed **MultiEditReward-Bench**. Furthermore, SpatialReward serves as a robust signal in online RL, boosting OmniGen2 by +0.90 on GEdit-Bench—surpassing the leading discriminative model and doubling the gain of GPT-4.1 (+0.45). These results demonstrate that spatial reasoning is essential for unlocking effective alignment in image editing.

Finding flat minima in the loss landscape is a key strategy for Domain Generalization (DG). However, its effectiveness is often limited by two crucial challenges. 1) Domain Shift: Existing methods like Sharpness-Aware Minimization (SAM) apply a uniform optimization strategy across all domains, overlooking the differences of the learning difficulties among multiple domains and thus performing poorly on challenging domains. 2) Anisotropic Sharpness: By perturbing parameters along a single gradient direction, SAM and its variants ignore multi-directional flatness, making the model converge to minima that remain sharp in other directions. The combined challenges make it more difficult for the model to find truly robust solutions in multi-domain scenarios. To overcome these limitations, we propose the Dual Adaptive Sharpness-Aware Minimization (DA-SAM), which comprises two key modules: Dynamic Adaptive Scaling (DAS) module and Adaptive Multi-Directional Flattening (AMDF) module. First, to tackle the domain shift problem, the DAS module computes the real-time loss on each domain to adaptively generate domain-specific scaling factors that guide the generation of perturbation directions. Second, the AMDF module calculates local flatness by generating multiple directions to simulate perturbations in the parameter space. Based on the learned local flatness metric, it dynamically adjusts the perturbation step size to guide the model parameters to be away from anisotropic sharp regions. Crucially, DAS provides domain-level guidance that makes AMDF’s multi-directional geometric exploration more targeted and effective. Extensive experiments on five DG benchmarks demonstrate the effectiveness of our DA-SAM algorithm.

Active mapping enables embodied agents to understand and interact in previously unseen environments. However, most methods struggle to achieve zero-shot generalization to large-scale scenes and lack support for language instructions. We propose a VLM-based active mapping method that achieves zero-shot mapping while facilitating language-driven human–agent interaction. First, we introduce a 360-BEV representation that integrates omnidirectional semantics with BEV-aligned geometric structure to enhance scene understanding. Second, we develop a candidate waypoint generation strategy that allows the VLM-driven agent to select informative 2D waypoints in image space and back-project them into executable metric actions in 3D space, enabling the VLM to plan in its strongest modality. Third, we design a VLM-based depth-first exploration agent that decomposes the scenes into explorable regions, selects informative waypoints within each region, and organizes them into a topological tree. The agent follows the depth-first exploration policy to achieve thorough coverage of large-scale scenes. Without task-specific training, our method outperforms the strongest baseline, improving coverage and AUC by approximately 13.25\% and 14.00\%, respectively, while enabling language-conditioned interaction.

The quantity and 3-D shape of wear particles are essential indicators for assessing the health of jet engines, enabling early detection of potential damage and preventing accidents caused by catastrophic failures. However, capturing wear particles is difficult due to their minute sizes and ultra high-speed movement within intense jet flows. Existing technologies struggle with the extreme background noise and low resolution in such harsh environments. In this paper, we propose QuantWear, the first quantum sensing system designed to directly quantify and profile wear particles on the sub-millimeter scale. QuantWear innovatively tracks wear particles by monitoring the spectral signatures of Sodium (Na) and Potassium (K) atoms within jet flow, which naturally adhere to particle surfaces due to electrochemical reactions in high-temperature combustion. We construct a custom atomic detector that leverages quantum jump and Faraday rotation effects to isolate these specific atomic signals, effectively suppressing the broad-spectrum flame noise. Next, we apply a deep learning framework to effectively measure the quantity of wear particles in dynamic vaporous backgrounds. Finally, we generate a fully reconstructed 3-D model of the wear particles from multiple 2-D images. Extensive field tests and high-fidelity simulations demonstrate that QuantWear achieves an imaging Signal-to-Noise Ratio (SNR) of 22.5 dB and a 3-D reconstruction similarity exceeding 95%, significantly outperforming state-of-the-art technologies.

Dynamic Facial Expression Recognition (DFER) models the temporal evolution of facial expressions in videos. In real-world scenarios, changing scenarios distort expression trajectories, challenging existing methods. Most current approaches address this via passive feature alignment or domain-incremental learning but do not explicitly model scenario evolution, limiting their ability to capture expression dynamics under scenario-incremental changes. To address this, we propose **EmWorld**, an emotion world model for DFER that explicitly models latent emotion state evolution under scenario variations. Specifically, **EmWorld** formulates scenario-incremental DFER as a progressive Bayesian inference problem over latent world states with dual temporal scales. Slow-timescale component (**STS**) models scenario evolution using stochastic evolutionary priors, capturing long-term scenario effects and providing proactive guidance in new scenarios. Fast-timescale component (**FTS**) models frame-level expression dynamics with temporally consistent latent transitions, decoupling expression dynamics from scenario influences. By jointly inferring latent states at both timescales, EmWorld shifts DFER from a passive feature discrimination to active probabilistic state inference under evolving scenarios. Experiments on FERV39k, DFEW, and MAFW demonstrate that EmWorld consistently outperforms state-of-the-art methods, achieving up to 3.84\% improvement while exhibiting strong cross-scenario stability and long-term robustness.

Reinforcement Learning with Verifiable Rewards (RLVR) and Group Relative Policy Optimization (GRPO) have significantly advanced the reasoning capabilities of large language models. Extending these methods to multimodal settings, however, faces a critical challenge: the instability of std-based normalization, which is easily distorted by extreme samples with nearly positive or negative rewards. Unlike pure-text LLMs, multimodal models are particularly sensitive to such distortions, as both perceptual and reasoning errors influence their responses. To address this, we characterize each sample by its difficulty, defined through perceptual complexity (measured via visual entropy) and reasoning uncertainty (captured by model confidence). Building on this characterization, we propose difficulty-aware group normalization (Durian), which re-groups samples by difficulty levels and shares the std within each group. Our approach preserves GRPO's intra-group distinctions while eliminating sensitivity to extreme cases, yielding significant performance gains across multiple multimodal reasoning benchmarks.

The performance of unified multimodal models for image generation and editing is fundamentally constrained by the quality and comprehensiveness of their training data. While existing datasets have covered basic tasks like style transfer and simple object manipulation, they often lack the systematic structure and challenging scenarios required for real-world applications. To address this bottleneck, we introduce OpenGPT-4o-Image, a large-scale dataset constructed using a novel methodology that combines hierarchical task taxonomy with automated data generation. Our taxonomy not only includes fundamental capabilities such as text rendering and style control but also introduces highly practical yet challenging categories like scientific imagery for physics/chemistry illustrations and complex instruction editing requiring simultaneous execution of multiple operations. Through an automated pipeline leveraging structured resource pools and GPT-4o, we generate 80k high-quality instruction-image pairs with controlled diversity, covering 11 major domains and 51 subtasks. Extensive experiments show that fine-tuning leading models on our dataset achieves significant performance gains across multiple benchmarks, with improvements of up to 18% on editing tasks UniWorld-V1 on ImgEdit-Bench and 13% on generation tasks Harmon on GenEval. Our work demonstrates that systematic data construction is key to advancing multimodal AI capabilities.

Video Diffusion Transformers (VDiTs) represent the state of the art in video generation but remain constrained by the quadratic complexity of dense self-attention. To address this attention bottleneck, we analyze the pre-softmax matrix ($QK^\top$) and reveal two key properties: (1) video attention exhibits an effective low-dimensional structure with rapid singular-value decay, and (2) real motion induces hybrid spatio-temporal patterns rather than rigid ``spatial vs. temporal'' layouts. Guided by these observations, we propose Video-SVD, a training-free and plug-and-play acceleration method that does not modify the original network parameters. Video-SVD learns checkpoint-adaptive orthogonal bases offline and, at inference time, replaces expensive dense attention computation with lightweight online subspace projection and basis composition. To preserve high fidelity, Video-SVD further employs layer-shared dual-stream residual modules to recover fine-grained content details and positional information. Across HunyuanVideo and Wan2.1 backbones, Video-SVD achieves significant end-to-end speedups while maintaining high visual quality, reaching 1.92$\times$ on HunyuanVideo, 1.75$\times$ on Wan2.1-1.3B, and 1.79$\times$ on Wan2.1-14B.

Video inpainting aims to restore missing regions while preserving spatial and temporal coherence. Diffusion-based methods achieve strong per-frame reconstruction, but their sampling implicitly generates temporally coupled latent trajectories whose long-horizon stability is not explicitly modeled, leading to a trade-off between temporal consistency and structural detail. We revisit video inpainting from the perspective of temporal trajectory stability, viewing temporal inconsistency as instability along time-indexed denoising trajectories rather than an output-level error. Based on this view, we propose an inference-time trajectory stabilization framework that monitors motion-aligned deviation and triggers risk-aware correction only when instability accumulates. It combines sparsely sampled trajectory anchors as stability references with neighborhood-consistent propagation to regulate trajectory evolution while preserving local generative freedom. Implemented as a lightweight control layer in the sampling loop, it selectively contracts unstable trajectories toward motion-consistent manifolds instead of enforcing uniform temporal constraints. Experiments show consistent improvements in temporal coherence and structural fidelity.

Detecting what has changed in an environment is essential for long-term autonomy, yet most change detection settings assume fixed viewpoints, mild misalignment, or only a few changed objects. We introduce Video-based Scene Change Detection (VSCD), which predicts a pixel-wise change mask for each query frame, given a reference and a query RGB video of the same indoor space recorded at different times under unconstrained camera motion. The two videos are not temporally synchronized, and many object instances may appear or disappear. To study this setting, we build a large-scale benchmark with over 1.1 million frames annotated with pixel-accurate change masks, together with a real-world test set for evaluating transfer beyond simulation. We propose a query-centric multi-reference model that learns temporal matching implicitly from change-mask supervision, aligns candidate reference features to the query via local patch correspondence, and fuses per-candidate change features using frame-level and patch-level confidence before decoding a high-resolution mask once per frame. Our approach achieves state-of-the-art performance against strong image- and video-based baselines, and we validate its real-world impact by deploying it on a mobile robot for two downstream applications—visual surveillance and object incremental learning.

We present Creat3r, an iterative next-best-view (NBV) selection framework for efficient, high-quality 3D reconstruction. Starting from a small seed set of image-pose pairs, Creat3r repeatedly selects the most informative next camera pose. After each pose is chosen, the corresponding image is acquired and added to the multi-view set to update a 3DGS reconstruction. To guide selection, Creat3r constructs an intermediate point cloud and estimates reconstruction reliability via a novel 3D confidence field, which is projected to candidate poses through Gaussian projection to produce 2D confidence and exploration maps. These maps balance exploitation of reliable regions and exploration of uncertain or unseen areas under computational constraints. Experiments with standard 3DGS show that Creat3r consistently outperforms baselines in novel view synthesis and surface reconstruction, achieving higher SSIM and F1 scores with fewer views.

The field of Computer-Aided Design (CAD) generation has made significant progress in recent years. Existing methods typically fall into two separate categories: parametric CAD modeling and direct boundary representation (B-Rep) synthesis. In modern feature-based CAD systems, parametric modeling and B-Rep are inherently intertwined, as advanced parametric operations (e.g., *fillet* and *chamfer*) require explicit selection of B-Rep geometric primitives, and the B-Rep itself is derived from parametric operations. Consequently, this paradigm gap remains a critical factor limiting AI-driven CAD modeling for complex industrial product design. This paper presents *FutureCAD*, a novel text-to-CAD framework that leverages large language models (LLMs) and a B-Rep grounding transformer (*BRepGround*) for high-fidelity CAD generation. Our method generates executable CadQuery scripts, and introduces a text-based query mechanism that enables the LLM to specify geometric selections via natural language, which *BRepGround* then grounds to the target primitives. To train our framework, we construct a new dataset comprising real-world CAD models. For the LLM, we apply supervised fine-tuning (SFT) to establish fundamental CAD generation capabilities, followed by reinforcement learning (RL) to improve generalization. Experiments show that *FutureCAD* achieves state-of-the-art CAD generation performance. Code and dataset are available at https://github.com/JohanStackk/FutureCAD.

Early-exit neural networks (EENNs) accelerate inference by allowing intermediate classifiers to stop computation once predictions are confident enough. Most methods rely on confidence thresholds for exiting, and consequently, improving classifier calibration is widely assumed to improve performance. In this work, we challenge this assumption and show that calibration alone is not sufficient for EENNs to exploit adaptive computation. To address this insufficiency, we introduce Early-Exit Failure Prediction (EEFP), which accounts for both prediction correctness and the cost of further computation. We also propose a lightweight, EEFP-motivated procedure to improve the intermediate classifiers, which can directly replace calibration in EENNs. Extensive experiments demonstrate that our approach achieves superior cost-accuracy trade-offs compared to calibration, and EEFP more reliably reflects overall EENN performance. Our code is available at [https://github.com/gmum/rethinking-calibration-for-eenns](https://github.com/gmum/rethinking-calibration-for-eenns).

Most video reasoning models only generate textual reasoning traces without indicating when and where key evidence appears. Recent models such as OpenAI-o3 have sparked wide interest in evidence-centered reasoning for images, yet extending this ability to videos is more challenging due to the need for joint temporal tracking and spatial localization across dynamic scenes. We introduce Open-o3-Video, a non-agent framework that integrates explicit spatio-temporal evidence into video reasoning by highlighting key timestamps, objects, and bounding boxes, making the reasoning process traceable and verifiable. To enable this capability, we first construct high-quality datasets STGR that provide unified spatio-temporal supervision, which is absent in existing resources. We further adopt a cold-start reinforcement learning strategy with specially designed rewards that jointly encourage answer accuracy, temporal alignment, and spatial precision. On the V-STAR benchmark, Open-o3-Video achieves state-of-the-art performance, improving mAM by 14.4% and mLGM by 24.2% over the Qwen2.5-VL baseline, and shows consistent gains across a range of video understanding benchmarks. Beyond accuracy, the grounded reasoning traces produced by Open-o3-Video support confidence-aware test-time scaling, improving answer reliability. The code, model and datasets are publicly available at https://marinero4972.github.io/projects/Open-o3-Video/.

While recent Multimodal Large Language Models (MLLMs) have attained significant strides in multimodal reasoning, their reasoning processes remain predominantly text-centric and fail to visualize and track intermediate visual states during the reasoning process, leading to suboptimal performance in complex long-horizon, vision-centric tasks. Moving beyond the constraints of text-centric reasoning, we establish Generative Multimodal Reasoning as a novel paradigm and introduce DiffThinker, a diffusion-based reasoning framework. Conceptually, DiffThinker reformulates multimodal reasoning as a native generative image-to-image task, where the iterative denoising trajectory naturally serves as a visual reasoning path. This enables the model to track the evolution of visual information throughout the reasoning process. We perform a systematic comparison between DiffThinker and MLLMs, providing the first in-depth investigation into the intrinsic characteristics of this paradigm, revealing four core properties: efficiency, controllability, native parallelism, and collaboration. Extensive experiments across seven tasks demonstrate that DiffThinker significantly outperforms leading closed-source models, including GPT-5 (+314.2%) and Gemini-3-Flash (+111.6%), as well as the fine-tuned Qwen3-VL-32B baseline (+39.0%), highlighting Generative Multimodal Reasoning as a promising approach for vision-centric reasoning.

Multimodal image fusion aims to integrate complementary information from different modalities, but cross-modal discrepancies and local conflicts often make modality allocation uncertain, causing information loss or artifact propagation. We address this problem by formulating fusion as an observation-conditioned probabilistic decision-learning problem, where local modality contribution is explicitly modeled as a decision variable. Based on this view, we propose a dIfference-aware Decision-lEArning muLtimodal image fusion paradigm (IDEAL). IDEAL uses cross-modal differences as decision triggers and constructs spatial and spectral decision conditions from multi-scale difference attention, power-spectrum energy, complementary spectra, and spectral-entropy reliability. These conditions are mapped to interpretable contribution policies through a symmetric Beta prior, while uncertainty modulation pulls unreliable decisions toward conservative mixing when evidence is insufficient. Extensive experiments on multiple fusion tasks demonstrate stable and competitive performance against state-of-the-art methods. Code is available at: https://github.com/Pon915/IDEAL-main.

Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-dimensional geometric transformations. Here, we introduce GeoMoLa (Geometry-Aware Motion Latents), which learns discrete motion latent codes by predicting how point clouds evolve during manipulation rather than reconstructing visual observations. This four-dimensional objective – spatial geometry changing through time – forces latent representations to encode actual physical motion rather than appearance patterns. GeoMoLa achieves state-of-the-art performance using only single-view RGB-D input, while existing methods require multi-view reconstruction, succeeding across diverse manipulation benchmarks. Our ablations reveal that geometric prediction is the key to driving performance, quantitatively validating that manipulation depends on spatial understanding. Furthermore, the learned codes exhibit effective motion abstraction: applying them to novel scenes produces physically consistent transformations regardless of visual context. Our real-world experiments also confirm this robustness capability, achieving robust manipulation with minimal demonstrations in cluttered environments where geometric reasoning determines success. Thus, we demonstrate that effective motion latents for robot control can better emerge from understanding motion through its three-dimensional effects rather than pixel-level patterns.

Existing video object removal methods predominantly rely on diffusion models following a noise-to-data paradigm, where generation starts from uninformative Gaussian noise. This approach discards the rich structural and contextual priors present in the original input video. Consequently, such methods often lack sufficient guidance, leading to incomplete object erasure or the synthesis of implausible content that conflicts with the scene's physical logic. In this paper, we reformulate video object removal as a video-to-video translation task via a stochastic bridge model. Unlike noise-initialized methods, our framework establishes a direct stochastic path from the source video (with objects) to the target video (objects removed). This bridge formulation effectively leverages the input video as a strong structural prior, guiding the model to perform precise removal while ensuring that the filled regions are logically consistent with the surrounding environment. To address the trade-off where strong bridge priors hinder the removal of large objects, we propose a novel adaptive mask modulation strategy. This mechanism dynamically modulates input embeddings based on mask characteristics, balancing background fidelity with generative flexibility. Extensive experiments demonstrate that our approach significantly outperforms existing methods in both visual quality and temporal consistency. The project page is https://bridgeremoval.github.io/.

The generation of immersive and navigable 3D environments is increasingly prevalent with the growing adoption of virtual reality and 3D content. However, recent methods face a fundamental limitation: they cannot produce 3D worlds that simultaneously (i) are navigable over long-range spatial extents and (ii) cover the complete omnidirectional field of view ($360^\circ$ horizontally and $180^\circ$ vertically). To address this challenge, we introduce SphericalDreamer, a method for generating fully immersive and long-range 3D outdoor environments from textual prompts. Our approach is built on the generation of multiple panoramic images, which are subsequently lifted into 3D and fused together while maintaining visual and geometric consistency. SphericalDreamer produces highly detailed, fully immersive 3D environments, while substantially improving scale and navigability compared to prior approaches.