GenAI4ELab/papercli-papers huggingface dataset:
Efficient Hybrid SE(3)-Equivariant Visuomotor Flow Policy via Spherical Harmonics for Robot Manipulation
Authors: Qinglun Zhang; Shen Cheng; Tian Dan; Haoqiang Fan; Guanghui Liu; Shuaicheng Liu
Venue: CVPR 2026 (main)

Abstract: While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fast-sampling methods. In this work, we propose E3Flow, a novel framework that addresses the critical limitations of equivariant diffusion policies.  E3Flow overcomes these challenges, successfully unifying efficient rectified flow with stable, multi-modal equivariant learning for the first time. Our framework is built upon spherical harmonic representations to ensure rigorous SO(3) equivariance. We introduce a novel invariant Feature Enhancement Module (FEM) that dynamically fuses hybrid visual modalities (point clouds and images), injecting rich visual cues into the spherical harmonic features. We evaluate E3Flow on 8 manipulation tasks from the MimicGen and further conduct 4 real-world experiments to validate its effectiveness in physical environments. Simulation results show that E3Flow achieves a 3.12% improvement in average success rate over the state-of-the-art Spherical Diffusion Policy (SDP) while simultaneously delivering a 7x inference speedup. E3Flow thus demonstrates a new and highly effective trade-off between performance, efficiency, and data efficiency for robotic policy learning.  Code: https://github.com/zql-kk/E3Flow.
PAD-Hand: Physics-Aware Diffusion for Hand Motion Recovery
Authors: Elkhan Ismayilzada; Yufei Zhang; Zijun Cui
Venue: CVPR 2026 (main)

Abstract: Significant advancements made in reconstructing hands from images have delivered accurate single-frame estimates, yet they often lack physics consistency and provide no notion of how confidently the motion satisfies physics. In this paper, we propose a novel physics-aware conditional diffusion framework that refines noisy pose sequences into physically plausible hand motion while estimating the physics variance in motion estimates. Building on a MeshCNN-Transformer backbone, we formulate Euler-Lagrange dynamics for articulated hands. Unlike prior works that enforce zero residuals, we treat the resulting dynamic residuals as virtual observables to more effectively integrate physics. Through a last-layer Laplace approximation, our method produces per-joint, per-time variances that measure physics consistency and offers interpretable variance maps indicating where physical consistency weakens. Experiments on two well-known hand datasets show consistent gains over strong image-based initializations and competitive video-based methods. Qualitative results confirm that our variance estimations are aligned with the physical plausibility of the motion in image-based estimates.
SVBench: Evaluation of Video Generation Models on Social Reasoning
Authors: Wenshuo Peng; Gongxuan Wang; Tianmeng Yang; Chuanhao Li; Xiaojie Xu; Hui He; Kaipeng Zhang
Venue: CVPR 2026 (main)

Abstract: Recent text-to-video generation models have made remarkable progress in visual realism, motion fidelity, and text-video alignment, yet they still struggle to produce socially coherent behavior. Unlike humans, who readily infer intentions, beliefs, emotions, and social norms from brief visual cues, current models often generate literal scenes without capturing the underlying causal and psychological dynamics. To systematically assess this limitation, we introduce the first benchmark for social reasoning in video generation. Grounded in developmental and social psychology, the benchmark covers thirty classic social cognition paradigms spanning seven core dimensions: mental-state inference, goal-directed action, joint attention, social coordination, prosocial behavior, social norms, and multi-agent strategy. To operationalize these paradigms, we build a fully training-free agent-based pipeline that distills the reasoning structure of each paradigm, synthesizes diverse video-ready scenarios, enforces conceptual neutrality and difficulty control through cue-based critique, and evaluates generated videos with a high-capacity VLM judge along five interpretable dimensions of social reasoning. Using this framework, we conduct the first large-scale evaluation of seven state-of-the-art video generation systems. Results show a clear gap between surface-level plausibility and deeper social reasoning, suggesting that current models remain limited in their ability to generate socially grounded behavior. https://github.com/Gloria2tt/SVBench-Evaluation
GeoFlow: Real-Time Fine-Grained Cross-View Geolocalization via Iterative Flow Prediction
Authors: Ayesh Abu Lehyeh; Xiaohan Zhang; Ahmad Arrabi; Waqas Sultani; Chen Chen; Safwan Wshah
Venue: CVPR 2026 (main)

Abstract: Accurate and fast localization is vital for safe autonomous navigation in GPS-denied areas. Fine-Grained Cross-View Geolocalization (FG-CVG) aims to estimate the precise 2-Degree-of-Freedom (2-DoF) location of a ground image relative to a satellite image. However, current methods force a difficult trade-off, with high-accuracy models being slow for real-time use. In this paper, we introduce GeoFlow, a new approach that offers a lightweight and highly efficient framework that breaks this accuracy-speed trade-off. Our technique learns a direct probabilistic mapping, predicting the displacement (in distance and direction) required to correct any given location hypothesis. This is complemented by our novel inference algorithm, Iterative Refinement Sampling (IRS). Instead of trusting a single prediction, IRS refines a population of hypotheses, allowing them to iteratively 'flow' from random starting points to a robust, converged consensus. Even its iterative nature, this approach offers flexible inference-time scaling, allowing a direct trade-off between performance and computation without any re-training. Experiments on the KITTI and VIGOR datasets show that GeoFlow achieves state-of-the-art efficiency, running at real-time speeds of 29 FPS while maintaining competitive localization accuracy. This work opens a new path for the development of practical real-time geolocalization systems.
Scaling Agentic Reinforcement Learning for Tool-Integrated Reasoning in VLMs
Authors: Meng Lu; Ran Xu; Yi Fang; Wenxuan Zhang; Yue Yu; Gaurav Srivastava; Yuchen Zhuang; Mohamed Elhoseiny; Charles Fleming; Carl Yang; Zhengzhong Tu; Yang Xie; Guanghua Xiao; Di Jin; Wenqi Shi; Xuan Wang
Venue: CVPR 2026 (main)

Abstract: While recent vision-language models (VLMs) demonstrate strong image understanding, their ability to "think with images," i.e., to reason through multi-step visual interactions, remains limited. We introduce VISTA-Gym, a scalable training environment for incentivizing tool-integrated visual reasoning capabilities in VLMs. VISTA-Gym unifies diverse real-world multimodal reasoning tasks (7 tasks from 13 datasets in total) with a standardized interface for visual tools (e.g., grounding, parsing), executable interaction loops, verifiable feedback signals, and efficient trajectory logging, enabling visual agentic reinforcement learning at scale. While recent VLMs exhibit strong text-only reasoning, both proprietary and open-source models still struggle with tool selection, invocation, and coordination. With VISTA-Gym, we train VISTA-R1 to interleave tool-use with agentic reasoning via multi-turn trajectory sampling and end-to-end reinforcement learning. Extensive experiments across 11 public reasoning-intensive VQA benchmarks show that VISTA-R1-8B outperforms state-of-the-art baselines with similar sizes by 9.51%-18.72%, demonstrating VISTA-Gym as an effective training ground to unlock the tool-integrated reasoning capabilities for VLMs.
TESO: Online Tracking of Essential Matrix by Stochastic Optimization
Authors: Jaroslav Moravec; Radim Sara; Akihiro Sugimoto
Venue: CVPR 2026 (main)

Abstract: Maintaining long-term accuracy of stereo camera calibration parameters is important for autonomous systems' perception. This work proposes Online Tracking of Essential Matrix by Stochastic Optimization (TESO). The core mechanisms of TESO are: 1) a robust loss function based on kernel correlation over tentative correspondences, 2) an adaptive online stochastic optimization on the essential manifold. TESO has low CPU and memory requirements, relies on a few hyperparameters, and eliminates the need for data-driven training, enabling the usage in resource-constrained online perception systems. We evaluated the influence of TESO on geometric precision, rectification quality, and stereo depth consistency. On the large-scale MAN TruckScenes dataset, TESO tracks rotational calibration drift with 0.12 deg precision in the Y-axis-critical for stereo accuracy-while the X- and Z-axes are five times more precise. Tracking applied to sequences with simulated drift shows similar precision with respect to the reference as tracking applied to no-drift sequences, indicating the tracker is unbiased. On the KITTI dataset, TESO revealed systematic inconsistencies in extrinsic parameters across stereo pairs, confirming previous published findings. We verified that intrinsic decalibration affected these errors, as evidenced by the conflicting behavior of the rectification and depth metrics. After correcting the reference calibration, TESO improved its rotation precision around the Y-axis 20 times to 0.025 deg and its depth accuracy 50 times. Despite its lightweight design, direct optimization of the proposed TESO loss function alone achieves accuracy comparable to that of neural network-based single-frame methods.
AGENTSAFE: Benchmarking the Safety of Embodied Agents on Hazardous Instructions
Authors: Zonghao Ying; Le Wang; Yisong Xiao; Jiakai Wang; Yuqing Ma; Jinyang Guo; Zhenfei Yin; Mingchuan Zhang; Aishan Liu; Xianglong Liu
Venue: CVPR 2026 (main)

Abstract: The integration of vision-language models (VLMs) is driving a new generation of embodied agents capable of operating in human-centered environments. However, as deployment expands, these systems face growing safety risks, particularly when executing hazardous instructions. Current safety evaluation benchmarks remain limited: they cover only narrow scopes of hazards and focus primarily on final outcomes, neglecting the agent's full perception-planning-execution process and thereby obscuring critical failure modes. Therefore, we present SAFE, a benchmark for systematically assessing the safety of embodied VLM agents on hazardous instructions. SAFE comprises three components: SAFE-THOR, an extensible adversarial simulation sandbox with a universal adapter that maps high-level VLM outputs to low-level embodied controls, supporting diverse agent workflow integration; SAFE-VERSE, a risk-aware task suite inspired by Asimov's Three Laws of Robotics, comprising 45 adversarial scenarios, 1,350 hazardous tasks, and 9,900 instructions that span risks to humans, environments, and agents; and SAFE-DIAGNOSE, a multi-level and fine-grained evaluation protocol measuring agent performance across perception, planning, and execution. Applying SAFE to nine state-of-the-art VLMs and two embodied agent workflows, we uncover systematic failures in translating hazard recognition into safe planning and execution. Our findings reveal fundamental limitations in current safety alignment and demonstrate the necessity of a comprehensive, multi-stage evaluation for developing safer embodied intelligence.
RealBirdID: Benchmarking Bird Species Identification in the Era of MLLMs
Authors: Logan Lawrence; Oindrila Saha; Rangel Daroya; Mustafa Chasmai; Wuao Liu; Max Hamilton; Aaron Sun; Seoyun Jeong; Fabien Delattre; Subhransu Maji; Grant Van Horn
Venue: CVPR 2026 (main)

Abstract: Fine-grained bird species identification in the wild is frequently unanswerable from a single image: key cues may be non-visual (e.g. vocalization), or obscured due to occlusion, camera angle, or low resolution. Yet today's multimodal systems are typically judged on answerable, in-schema cases, encouraging confident guesses rather than principled abstention. We propose the RealBirdID benchmark: given an image of a bird, a system should either answer with a species or abstain with a concrete, evidence-based rationale: "requires vocalization," "low quality image," or "view obstructed". For each genus, the dataset includes a validation split composed of curated unanswerable examples with labeled rationales, paired with a companion set of clearly answerable instances. We find that (1) the species identification on the answerable set is challenging for a variety of open-source and proprietary models (\leq13% accuracy for MLLMs including GPT-5 and Gemini-2.5 Pro), (2) models with greater classification ability are not necessarily more calibrated to abstain from unanswerable examples, and (3) that MLLMs generally fail at providing correct reasons even when they do abstain. RealBirdID establishes a focused target for abstention-aware fine-grained recognition and a recipe for measuring progress.
Diff4Splat: Repurposing Video Diffusion Models for Dynamic Scene Generation
Authors: Panwang Pan; Chenguo Lin; Chenxin Li; Jingjing Zhao; Yuchen Lin; Haopeng Li; Yunlong Lin; Kairun Wen; Yixuan Yuan; Yadong MU
Venue: CVPR 2026 (main)

Abstract: We introduce Diff4Splat, a feed-forward framework for dynamic scene generation from a single image. Our method synergizes the powerful generative priors of video diffusion models with geometric and motion constraints learned from a large-scale 4D dataset. Given a single image, a camera trajectory, and an optional text prompt, our model directly predicts a dynamic scene represented by a deformable 3D Gaussian field. This approach captures appearance, geometry, and motion in a single pass, eliminating the need for test-time optimization or post-hoc processing. At the core of our framework is a video latent transformer that enhances existing video diffusion models, enabling them to jointly model spatio-temporal dependencies and predict 3D Gaussian Primitives over time. Supervised by objectives targeting appearance fidelity, geometric accuracy, and motion consistency, Diff4Splat generates high-fidelity dynamic scenes within 30 seconds. We demonstrate the effectiveness of Diff4Splat across video generation, novel view synthesis, and geometry extraction, where it matches or surpasses optimization-based methods for dynamic scene synthesis while being significantly more efficient.
DiT-Distill: Open-Set Fine-Grained Retrieval via Generative Curriculum Knowledge
Authors: Xin Jiang; Hao Tang; Meiqi Cao; Junyao Gao; Fei Shen; Zechao Li
Venue: CVPR 2026 (main)

Abstract: Open-set fine-grained retrieval (OSFR) is a challenging task where models must generalize to unseen subcategories. Existing methods often fail this, as they embed category-specific semantics from closed-set training labels. Recently, diffusion transformers (DiT) have shown promise by encoding attribute-centric, generative curriculum knowledge that is agnostic to these labels. However, the vanilla DiT is not optimized for fine-grained visual discrepancies and its massive size makes deployment infeasible. To solve this, we propose DiT-Distill, a framework to first refine and then distill this knowledge. We introduce a conditional discrepancy refinement strategy to fine-tune the DiT, forcing it to focus on discrepancy-aware, attribute-centric details rather than holistic context. Subsequently, a generative curriculum distillation mechanism transfers this refined, hierarchical knowledge from multiple diffusion timesteps of the DiT into a lightweight backbone using a generative infusion module and a curriculum alignment loss. This process results in an efficient retrieval model that enables DiT-free inference. Extensive experiments show DiT-Distill achieves state-of-the-art performance on open-set fine-grained datasets.
Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failures
Authors: Yuechen Luo; Fang Li; Qimao Chen; Shaoqing Xu; Jiaxin Liu; Ziying Song; Zhi-xin Yang; Fuxi Wen
Venue: CVPR 2026 (main)

Abstract: Vision-Language-Action (VLA) models for autonomous driving often hit a performance plateau during Reinforcement Learning (RL) optimization. This stagnation arises from exploration capabilities constrained by previous Supervised Fine-Tuning (SFT), leading to "persistent failures" in long-tail scenarios. In these critical situations, all explored actions yield a zero-value driving score. This information-sparse reward signals a failure, yet fails to identify its root cause--whether it is due to incorrect planning, flawed reasoning, or poor trajectory execution. To address this limitation, we propose **VLA** with **E**xplicit **L**earning from **F**ailures (**ELF-VLA**), a framework that augments RL with structured diagnostic feedback. Instead of relying on a vague scalar reward, our method produces detailed, interpretable reports that identify the specific failure mode. The VLA policy then leverages this explicit feedback to generate a **Feedback-Guided Refinement**. By injecting these corrected, high-reward samples back into the RL training batch, our approach provides a targeted gradient, which enables the policy to solve critical scenarios that unguided exploration cannot. Extensive experiments demonstrate that our method unlocks the latent capabilities of VLA models, achieving state-of-the-art (SOTA) performance on the public Navsim benchmark for overall PDMS, EPDMS score and high-level planning accuracy.
X-WIN: Building Chest Radiograph World Model via Predictive Sensing
Authors: Zefan Yang; Ge Wang; James Hendler; Mannudeep K. Kalra; Pingkun Yan
Venue: CVPR 2026 (main)

Abstract: Chest X-ray radiography (CXR) is an essential medical imaging technique for disease diagnosis. However, as 2D projectional images, CXRs are limited by structural superposition and hence fail to capture 3D anatomies. This limitation makes representation learning and disease diagnosis challenging. To address this challenge, we propose a novel CXR world model named X-WIN, which distills volumetric knowledge from chest computed tomography (CT) by learning to predict its 2D projections in latent space. The core idea is that a world model with internalized knowledge of 3D anatomical structure can predict CXRs under various transformations in 3D space. During projection prediction, we introduce an affinity-guided contrastive alignment loss that leverages mutual similarities to capture rich, correlated information across projections from the same volume. To improve model adaptability, we incorporate real CXRs into training through masked image modeling and employ a domain classifier to encourage statistically similar representations for real and simulated CXRs. Comprehensive experiments show that X-WIN outperforms existing foundation models on diverse downstream tasks using linear probing and few-shot fine-tuning. X-WIN also demonstrates the ability to render 2D projections for reconstructing a 3D CT volume.
OPRO: Orthogonal Panel-Relative Operators for Panel-Aware In-Context Image Generation
Authors: Sanghyeon Lee; Minwoo Lee; Euijin Shin; Kangyeol Kim; Seunghwan Choi; Jaegul Choo
Venue: CVPR 2026 (main)

Abstract: We introduce a parameter-efficient adaptation method for panel-aware in-context image generation with pre-trained diffusion transformers. The key idea is to compose learnable, panel-specific orthogonal operators onto the backbone's frozen positional encodings. This design provides two desirable properties: (1) isometry, which preserves the geometry of internal features, and (2) same-panel invariance, which maintains the model's pre-trained intra-panel synthesis behavior. Through controlled experiments, we demonstrate that the effectiveness of our adaptation method is not tied to a specific positional encoding design but generalizes across diverse positional encoding regimes. By enabling effective panel-relative conditioning, the proposed method consistently improves in-context image-based instructional editing pipelines, including state-of-the-art approaches.
Submodel Extraction for Efficient and Personalized Federated Learning via Optimal Transport
Authors: Zheng Jiang; Nan He; Yiming Chen; Lifeng Sun
Venue: CVPR 2026 (main)

Abstract: Federated Learning (FL) enables collaborative model training while preserving data privacy, but its practical deployment is hampered by system and statistical heterogeneity. While federated network pruning offers a path to mitigate these issues, existing methods face a critical dilemma: server-side pruning lacks personalization, whereas client-side pruning is computationally prohibitive for resource-constrained devices. Furthermore, the pruning process itself induces significant parametric divergence among heterogeneous submodels, destabilizing training and hindering global convergence. To address these challenges, we propose SubFLOT, a novel framework for server-side personalized federated pruning. SubFLOT introduces an Optimal Transport-enhanced Pruning (OTP) module that treats historical client models as proxies for local data distributions, formulating the pruning task as a Wasserstein distance minimization problem to generate customized submodels without accessing raw data. Concurrently, to counteract parametric divergence, our Scaling-based Adaptive Regularization (SAR) module adaptively penalizes a submodel's deviation from the global model, with the penalty's strength scaled by the client's pruning rate. Comprehensive experiments demonstrate that SubFLOT consistently and substantially outperforms state-of-the-art methods, underscoring its potential for deploying efficient and personalized models on resource-constrained edge devices.
Improving Controllable Generation: Faster Training and Better Performance via x0-Supervision
Authors: Amadou S. Sangare; Adrien Maglo; Mohamed Chaouch; Bertrand Luvison
Venue: CVPR 2026 (main)

Abstract: Text-to-Image (T2I) diffusion/flow models have recently achieved remarkable progress in visual fidelity and text alignment. However, they remain limited when users need to precisely control image layouts, something that natural language alone cannot reliably express. Controllable generation methods augment the initial T2I model with additional conditions that more easily describe the scene. Prior works straightforwardly train the augmented network with the same loss as the initial network. Although natural at first glance, this can lead to very long training times in some cases before convergence. In this work, we revisit the training objective of controllable diffusion models through a detailed analysis of their denoising dynamics. We show that direct supervision on the clean target image, dubbed x_0-supervision, or an equivalent re-weighting of the diffusion loss, yields faster convergence. Experiments on multiple control settings demonstrate that our formulation accelerates convergence by up to 2xaccording to our novel metric (mean Area Under the Convergence Curve - mAUCC), while also improving both visual quality and conditioning accuracy. Our code is available at https://github.com/CEA-LIST/x0-supervision.