NeurIPS 2025 论文列表

Despite recent advances on multi-modal models, 3D spatial reasoning remains a challenging task for state-of-the-art open-source and proprietary models. Recent studies explore data-driven approaches and achieve enhanced spatial reasoning performance by fine-tuning models on 3D-related visual question-answering data. However, these methods typically perform spatial reasoning in an implicit manner and often fail on questions that are trivial to humans, even with long chain-of-thought reasoning. In this work, we introduce SpatialReasoner, a novel large vision-language model (LVLM) that addresses 3D spatial reasoning with explicit 3D representations shared between multiple stages--3D perception, computation, and reasoning. Explicit 3D representations provide a coherent interface that supports advanced 3D spatial reasoning and improves the generalization ability to novel question types. Furthermore, by analyzing the explicit 3D representations in multi-step reasoning traces of SpatialReasoner, we study the factual errors and identify key shortcomings of current LVLMs. Results show that our SpatialReasoner achieves improved performance on a variety of spatial reasoning benchmarks, outperforming Gemini 2.0 by 9.2% on 3DSRBench, and generalizes better when evaluating on novel 3D spatial reasoning questions. Our study bridges the 3D parsing capabilities of prior visual foundation models with the powerful reasoning abilities of large language models, opening new directions for 3D spatial reasoning.

The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However, the cross-task generalization capabilities of existing VLA models remain significantly underexplored. To address this gap, we introduce **AGNOSTOS**, a novel simulation benchmark designed to rigorously evaluate cross-task zero-shot generalization in manipulation. AGNOSTOS comprises 23 unseen manipulation tasks for test—distinct from common training task distributions—and incorporates two levels of generalization difficulty to assess robustness. Our systematic evaluation reveals that current VLA models, despite being trained on diverse datasets, struggle to generalize effectively to these unseen tasks. To overcome this limitation, we propose **Cross-Task In-Context Manipulation (X-ICM)**, a method that conditions large language models (LLMs) on in-context demonstrations from seen tasks to predict action sequences for unseen tasks. Additionally, we introduce a **dynamics-guided sample selection** strategy that identifies relevant demonstrations by capturing cross-task dynamics. On AGNOSTOS, X-ICM significantly improves cross-task zero-shot generalization performance over leading VLAs, achieving improvements of 6.0\% over $\pi_0$ and 7.9\% over VoxPoser. We believe AGNOSTOS and X-ICM will serve as valuable tools for advancing general-purpose robotic manipulation.

Multimodal large language models (MLLMs) have shown promising capabilities in reasoning tasks, yet still struggle significantly with complex problems requiring explicit self-reflection and self-correction, especially compared to their unimodal text-based counterparts. Existing reflection methods are simplistic and struggle to generate meaningful, instructive feedback, as the reasoning ability and knowledge limits of pre-trained models are largely fixed during initial training. To overcome these challenges, we propose \textit{multimodal \textbf{S}elf-\textbf{R}eflection enhanced reasoning with Group Relative \textbf{P}olicy \textbf{O}ptimization} \textbf{SRPO}, a two-stage reflection-aware reinforcement learning (RL) framework explicitly designed to enhance multimodal LLM reasoning. In the first stage, we construct a high-quality, reflection-focused dataset under the guidance of an advanced MLLM, which generates reflections based on initial responses to help the policy model to learn both reasoning and self-reflection. In the second stage, we introduce a novel reward mechanism within the GRPO framework that encourages concise and cognitively meaningful reflection while avoiding redundancy. Extensive experiments across multiple multimodal reasoning benchmarks—including MathVista, MathVision, Mathverse, and MMMU-Pro—using Qwen-2.5-VL-7B and Qwen-2.5-VL-32B demonstrate that SRPO significantly outperforms state-of-the-art models, achieving notable improvements in both reasoning accuracy and reflection quality.

The task of Knowlegde-Based Visual Question Answering (KB-VQA) requires the model to understand visual features and retrieve external knowledge. Retrieval-Augmented Generation (RAG) have been employed to address this problem through knowledge base querying. However, existing work demonstrate two limitations: insufficient interactivity during knowledge retrieval and ineffective organization of retrieved information for Visual-Language Model (VLM). To address these challenges, we propose a three-stage visual language model with Process, Retrieve and Filter (VLM-PRF) framework. For interactive retrieval, VLM-PRF uses reinforcement learning (RL) to guide the model to strategically process information via tool-driven operations. For knowledge filtering, our method trains the VLM to transform the raw retrieved information into into task-specific knowledge. With a dual reward as supervisory signals, VLM-PRF successfully enable model to optimize retrieval strategies and answer generation capabilities simultaneously. Experiments on two datasets demonstrate the effectiveness of our framework.

Pan-sharpening aims to generate a spatially and spectrally enriched multi-spectral image by integrating complementary cross-modality information from low-resolution multi-spectral image and texture-rich panchromatic counterpart. In this work, we propose a WKV-sharing embraced random shuffle RWKV high-order modeling paradigm for pan-sharpening from Bayesian perspective, coupled with random weight manifold distribution training strategy derived from Functional theory to regularize the solution space adhering to the following principles: 1) Random-shuffle RWKV. Recently, the Vision RWKV model, with its inherent linear complexity in global modeling, has inspired us to explore its untapped potential in pan-sharpening tasks. However, its attention mechanism, relying on a recurrent bidirectional scanning strategy, suffers from biased effects and demands significant processing time. To address this, we propose a novel Bayesian-inspired scanning strategy called Random Shuffle, complemented by a theoretically-sound inverse shuffle to preserve information coordination invariance, effectively eliminating biases associated with fixed sequence scanning. The Random Shuffle approach mitigates preconceptions in global 2D dependencies in mathematical expectation, providing the model with an unbiased prior. In line with similar spirit of Dropout, we introduce a testing methodology based on Monte Carlo averaging to ensure the model’s output aligns more closely with expected results. 2) WKV-sharing high-order. Regarding KV’s attention score calculation in spatial mixer of RWKV, we leverage WKV-sharing mechanism to transfer KV activations across RWKV layers, achieving lower latency and improved trainability, and revisit the channel mixer in RWKV, originally a first-order weighting function, and redevelop its high-order potential by sharing the gate mechanism across RWKV layer. Comprehensive experiments across pan-sharpening benchmarks demonstrate our model’s effectiveness, consistently outperforming state-of-the-art alternatives

Large language models (LLMs) have shown impressive performance on reasoning benchmarks like math and logic. While many works have largely assumed well-defined tasks, real-world queries are often underspecified and only solvable by acquiring missing information. We formalize this information-gathering problem as a constraint satisfaction problem (CSP) with missing variable assignments. Using a special case where only one necessary variable assignment is missing, we can evaluate an LLM's ability to identify the minimal necessary question to ask. We present QuestBench, a set of underspecified reasoning tasks solvable by asking at most one question, which includes: (1) Logic-Q: logical reasoning tasks with one missing proposition, (2) Planning-Q: PDDL planning problems with partially-observed initial states, (3) GSM-Q: human-annotated grade school math problems with one unknown variable, and (4) GSME-Q: equation-based version of GSM-Q. The LLM must select the correct clarification question from multiple options. While current models excel at GSM-Q and GSME-Q, they achieve only 40-50% accuracy on Logic-Q and Planning-Q. Analysis shows that the ability to solve well-specified reasoning problems is not sufficient for success on our benchmark: models struggle to identify the right question even when they can solve the fully specified version. This highlights the need for specifically optimizing models' information acquisition capabilities.

Given a task and a set of steps composing it, Video Step Grounding (VSG) aims to detect which steps are performed in a video. Standard approaches for this task require a labeled training set (e.g., with step-level annotations or narrations), which may be costly to collect. Moreover, they process the full video offline, limiting their applications for scenarios requiring online decisions. Thus, in this work, we explore how to perform VSG online and without training. We achieve this by exploiting the zero-shot capabilities of recent Large Multimodal Models (LMMs). In particular, we use LMMs to predict the step associated with a restricted set of frames, without access to the whole video. We show that this online strategy without task-specific tuning outperforms offline and training-based models. Motivated by this finding, we develop Bayesian Grounding with Large Multimodal Models (BaGLM), further injecting knowledge of past frames into the LMM-based predictions. BaGLM exploits Bayesian filtering principles, modeling step transitions via (i) a dependency matrix extracted through large language models and (ii) an estimation of step progress. Experiments on three datasets show superior performance of BaGLM over state-of-the-art training-based offline methods.

Vision-language models heavily rely on visual representations, yet ensuring its efficiency remains a critical challenge. Most existing approaches focus on reducing visual tokens either at the visual encoder phase or during the LLM decoder stage. Inspired by human visual cognition, where an initial global glance precedes focused attention on semantically salient regions, we introduce Glance2Gaze, a cognitively inspired framework that mimics the human two-stage attention process. The framework consists of two key components: the Glance Fusion module, which integrates multi-layer vision transformer features with text-aware attention to generate a semantically enriched global representation, and the Gaze Compression module, which utilizes a novel query-guided mechanism to selectively compress visual tokens based on their semantic relevance. Experimental results on widely adopted benchmarks demonstrate that Glance2Gaze outperforms existing methods, achieving superior performance with equal or lower computational cost. Furthermore, it generalizes well to high-resolution and video scenarios, showcasing robust and scalable efficiency improvements in VLMs.

Multi-modal Large Language Models (MLLMs) excel at single-image tasks but struggle with multi-image understanding due to cross-modal misalignment, leading to hallucinations (context omission, conflation, and misinterpretation). Existing methods using Direct Preference Optimization (DPO) constrain optimization to a solitary image reference within the input sequence, neglecting holistic context modeling. To address this, we propose Context-to-Cue Direct Preference Optimization (CcDPO), a multi-level preference optimization framework that enhances per-image perception in multi-image settings by zooming into visual clues—from sequential context to local details. Our approach features two sequentially dependent components: (i) Context-Level Optimization: By introducing low-cost sequence preference pairs, we optimize the model to distinguish between complete and disrupted multi-image contexts, thereby correcting cognitive biases in MLLMs’ multi-image understanding. (ii) Needle-Level Optimization: By integrating region-specific visual prompts with multimodal preference supervision, we direct the model’s attention to critical visual details, effectively suppressing perceptual biases toward fine-grained visual information. To support scalable optimization, we also construct MultiScope-42k, an automatically generated multi-image dataset with hierarchical preference pairs. Experiments show that CcDPO significantly reduces hallucinations and yields consistent performance gains across general single- and multi-image tasks. Codes are available at https://github.com/LXDxmu/CcDPO.

We introduce *OpenVLThinker*, one of the first open-source large vision–language models (LVLMs) to exhibit sophisticated chain-of-thought reasoning, achieving notable performance gains on challenging visual reasoning tasks. While text-based reasoning models (e.g., Deepseek R1) show promising results in text-only tasks, distilling their reasoning into LVLMs via supervised fine-tuning (SFT) often results in performance degradation due to imprecise visual grounding. Conversely, purely reinforcement learning (RL)-based methods face a large search space, hindering the emergence of reflective behaviors in smaller models (e.g., 7B LVLMs). Surprisingly, alternating between SFT and RL ultimately results in significant performance improvements after a few iterations. Our analysis reveals that the base model rarely exhibits reasoning behaviors initially, but SFT effectively surfaces these latent actions and narrows the RL search space, accelerating the development of reasoning capabilities. Each subsequent RL stage further refines the model's reasoning skills, producing higher-quality SFT data for continued self-improvement. OpenVLThinker-7B consistently advances performance across six benchmarks demanding mathematical and general reasoning, notably improving MathVista by 3.2\%, EMMA by 1.4\%, and HallusionBench by 2.7\%. Beyond demonstrating the synergy between SFT and RL for complex reasoning tasks, our findings provide early evidence towards achieving R1-style reasoning in multimodal contexts.

In this work, we propose using a unified representation, termed **Factorized Features**, for low-level vision tasks, where we test on **Single Image Super-Resolution (SISR)** and **Image Compression**. Motivated by the shared principles between these tasks, they require recovering and preserving fine image details, whether by enhancing resolution for SISR or reconstructing compressed data for Image Compression. Unlike previous methods that mainly focus on network architecture, our proposed approach utilizes a basis-coefficient decomposition as well as an explicit formulation of frequencies to capture structural components and multi-scale visual features in images, which addresses the core challenges of both tasks. We replace the representation of prior models from simple feature maps with Factorized Features to validate the potential for broad generalizability. In addition, we further optimize the compression pipeline by leveraging the mergeable-basis property of our Factorized Features, which consolidates shared structures on multi-frame compression. Extensive experiments show that our unified representation delivers state-of-the-art performance, achieving an average relative improvement of 204.4\% in PSNR over the baseline in Super-Resolution (SR) and 9.35\% BD-rate reduction in Image Compression compared to the previous SOTA.

Multimodal large language models (MLLMs) have begun to demonstrate robust reasoning capabilities on general tasks, yet their application in the medical domain remains in its early stages. Constructing chain-of-thought (CoT) training data is essential for bolstering the reasoning abilities of medical MLLMs. However, existing approaches exhibit a deficiency in offering a comprehensive framework for searching and evaluating effective reasoning paths towards critical diagnosis. To address this challenge, we propose Mentor-Intern Collaborative Search (MICS), a novel reasoning-path searching scheme to generate rigorous and effective medical CoT data. MICS first leverages mentor models to initialize the reasoning, one step at a time, then prompts each intern model to continue the thinking along those initiated paths, and finally selects the optimal reasoning path according to the overall reasoning performance of multiple intern models. The reasoning performance is determined by an MICS-Score, which assesses the quality of generated reasoning paths. Eventually, we construct MMRP, a multi-task medical reasoning dataset with ranked difficulty, and Chiron-o1, a new medical MLLM devised via a curriculum learning strategy, with robust visual question-answering and generalizable reasoning capabilities. Extensive experiments demonstrate that Chiron-o1, trained on our CoT dataset constructed using MICS, achieves state-of-the-art performance across a list of medical visual question answering and reasoning benchmarks. Codes are available at https://github.com/Yankai96/Chiron-o1

Hallucinations in large language models (LLMs) pose significant safety concerns that impede their broader deployment. Recent research in hallucination detection has demonstrated that LLMs' internal representations contain truthfulness hints, which can be harnessed for detector training. However, the performance of these detectors is heavily dependent on the internal representations of predetermined tokens, fluctuating considerably when working on free-form generations with varying lengths and sparse distributions of hallucinated entities. To address this, we propose HaMI, a novel approach that enables robust detection of hallucinations through adaptive selection and learning of critical tokens that are most indicative of hallucinations. We achieve this robustness by an innovative formulation of the Hallucination detection task as Multiple Instance (HaMI) learning over token-level representations within a sequence, thereby facilitating a joint optimisation of token selection and hallucination detection on generation sequences of diverse forms. Comprehensive experimental results on four hallucination benchmarks show that HaMI significantly outperforms existing state-of-the-art approaches.

Personalized models have demonstrated remarkable success in understanding and generating concepts provided by users. However, existing methods use separate concept tokens for understanding and generation, treating these tasks in isolation. This may result in limitations for generating images with complex prompts. For example, given the concept $\langle bo\rangle$, generating "$\langle bo\rangle$ wearing its hat" without additional textual descriptions of its hat. We call this kind of generation personalized knowledge-driven generation. To address the limitation, we present UniCTokens, a novel framework that effectively integrates personalized information into a unified vision language model (VLM) for understanding and generation. UniCTokens trains a set of unified concept tokens to leverage complementary semantics, boosting two personalized tasks. Moreover, we propose a progressive training strategy with three stages: understanding warm-up, bootstrapping generation from understanding, and deepening understanding from generation to enhance mutual benefits between both tasks. To quantitatively evaluate the unified VLM personalization, we present UnifyBench, the first benchmark for assessing concept understanding, concept generation, and knowledge-driven generation. Experimental results on UnifyBench indicate that UniCTokens shows competitive performance compared to leading methods in concept understanding, concept generation, and achieving state-of-the-art results in personalized knowledge-driven generation. Our research demonstrates that enhanced understanding improves generation, and the generation process can yield valuable insights into understanding. Our code and dataset will be released.

Accurately locating key moments within long videos is crucial for solving long video understanding (LVU) tasks. However, existing benchmarks are either severely limited in terms of video length and task diversity, or they focus solely on the end-to-end LVU performance, making them inappropriate for evaluating whether key moments can be accurately accessed. To address this challenge, we propose MomentSeeker, a novel benchmark for long-video moment retrieval (LVMR), distinguished by the following features. First, it is created based on long and diverse videos, averaging over 1,200 seconds in duration, and collected from various domains, e.g., movie, anomaly, egocentric, and sports. Second, it covers a variety of real-world scenarios in three levels: global-level, event-level, and object-level, covering common tasks like action recognition, object localization, causal reasoning, etc. Third, it incorporates rich forms of queries, including text-only queries, image-conditioned queries, and video-conditioned queries. On top of MomentSeeker, we conduct comprehensive experiments for both generation-based approaches (directly using MLLMs) and retrieval-based approaches (leveraging video retrievers). Our results reveal the significant challenges in long-video moment retrieval in terms of accuracy and efficiency, despite improvements from the latest long-video MLLMs and task-specific fine-tuning. We have publicly released MomentSeeker to facilitate future research in this area.

Temporal Video Grounding (TVG), the task of locating specific video segments based on language queries, is a core challenge in long-form video understanding. While recent Large Vision-Language Models (LVLMs) have shown early promise in tackling TVG through supervised fine-tuning (SFT), their ability to generalize remains limited. To address this, we propose a novel post-training framework that enhances the generalization capabilities of LVLMs via reinforcement learning (RL). Specifically, our contributions span three key directions: (1) Time-R1: we introduce a reasoning-guided post-training framework via RL with verifiable reward to enhance capabilities of LVLMs on the TVG task. (2) TimeRFT: we explore post-training strategies on our curated RL-friendly dataset, which trains the model to progressively comprehend more difficult samples, leading to better generalization. (3) TVGBench: we carefully construct a small but comprehensive and balanced benchmark suitable for LVLM evaluation, which is sourced from available public benchmarks. Extensive experiments demonstrate that Time-R1 achieves state-of-the-art performance across multiple downstream datasets using significantly less training data than prior LVLM approaches, while improving its general video understanding capabilities. Project Page: https://xuboshen.github.io/Time-R1/.

While an image is worth more than a thousand words, only a few provide crucial information for a given task and thus should be focused on. In light of this, ideal text-to-image (T2I) retrievers should prioritize specific visual attributes relevant to queries. To evaluate current retrievers on handling attribute-focused queries, we build COCO-Facet, a COCO-based benchmark with 9,112 queries about diverse attributes of interest. We find that CLIP-like retrievers, which are widely adopted due to their efficiency and zero-shot ability, have poor and imbalanced performance, possibly because their image embeddings focus on global semantics and subjects while leaving out other details. Notably, we reveal that even recent Multimodal Large Language Model (MLLM)-based, stronger retrievers with a larger output dimension struggle with this limitation. Hence, we hypothesize that retrieving with *general* image embeddings is suboptimal for performing such queries. As a solution, we propose to use *promptable* image embeddings enabled by these multimodal retrievers, which boost performance by highlighting required attributes. Our pipeline for deriving such embeddings generalizes across query types, image pools, and base retriever architectures. To enhance real-world applicability, we offer two acceleration strategies: Pre-processing promptable embeddings and using linear approximations. We show that the former yields a 15\% improvement in Recall@5 when prompts are predefined, while the latter achieves an 8\% improvement when prompts are only available during inference.

Sequence models such as transformers require inputs to be represented as one-dimensional sequences. In vision, this typically involves flattening images using a fixed row-major (raster-scan) order. While full self-attention is permutation-equivariant, modern long-sequence transformers increasingly rely on architectural approximations that break this invariance and introduce sensitivity to patch ordering. We show that patch order significantly affects model performance in such settings, with simple alternatives like column-major or Hilbert curves yielding notable accuracy shifts. Motivated by this, we propose _REOrder_, a two-stage framework for discovering task-optimal patch orderings. First, we derive an information-theoretic prior by evaluating the compressibility of various patch sequences. Then, we learn a policy over permutations by optimizing a Plackett-Luce policy using REINFORCE. This approach enables efficient learning in a combinatorial permutation space. _REOrder_ improves top-1 accuracy over row-major ordering on ImageNet-1K by up to 3.01% and Functional Map of the World by 13.35%.

Constructing accurate digital twins of articulated objects is essential for robotic simulation training and embodied AI world model building, yet historically requires painstaking manual modeling or multi-stage pipelines. In this work, we propose \textbf{URDF-Anything}, an end-to-end automatic reconstruction framework based on a 3D multimodal large language model (MLLM). URDF-Anything utilizes an autoregressive prediction framework based on point-cloud and text multimodal input to jointly optimize geometric segmentation and kinematic parameter prediction. It implements a specialized [SEG] token mechanism that interacts directly with point cloud features, enabling fine-grained part-level segmentation while maintaining consistency with the kinematic parameter predictions. Experiments on both simulated and real-world datasets demonstrate that our method significantly outperforms existing approaches regarding geometric segmentation (mIoU 17\% improvement), kinematic parameter prediction (average error reduction of 29\%), and physical executability (surpassing baselines by 50\%). Notably, our method exhibits excellent generalization ability, performing well even on objects outside the training set. This work provides an efficient solution for constructing digital twins for robotic simulation, significantly enhancing the sim-to-real transfer capability.