GenAI4ELab/papercli-papers huggingface dataset:
Obstruction Reasoning for Robotic Grasping
Authors: Runyu Jiao; Matteo Bortolon; Francesco Giuliari; Alice Fasoli; Sergio Povoli; Guofeng Mei; Yiming Wang; Fabio Poiesi
Venue: CVPR 2026 (main)

Abstract: Successful robotic grasping in cluttered environments not only requires a model to visually ground a target object but also to reason about obstructions that must be cleared beforehand. While current vision-language embodied reasoning models show emergent spatial understanding, they remain limited in terms of obstruction reasoning and accessibility planning. To bridge this gap, we present UNOGrasp, a learning-based vision-language model capable of performing visually-grounded obstruction reasoning to infer the sequence of actions needed to unobstruct the path and grasp the target object. We devise a novel multi-step reasoning process based on obstruction paths originated by the target object. We anchor each reasoning step with obstruction-aware visual cues to incentivize reasoning capability. UNOGrasp combines supervised and reinforcement finetuning through verifiable reasoning rewards. Moreover, we construct UNOBench, a large-scale dataset for both training and benchmarking, based on MetaGraspNetV2, with over 100k obstruction paths annotated by humans with obstruction ratios, contact points, and natural-language instructions. Extensive experiments and real-robot evaluations show that UNOGrasp significantly improves obstruction reasoning and grasp success across both synthetic and real-world environments, outperforming generalist and proprietary alternatives.
Beyond Multiple Choice: Verifiable OpenQA for Robust Vision-Language RFT
Authors: Yesheng Liu; Hao Li; Haiyu Xu; Baoqi Pei; Jiahao Wang; Mingxuan Zhao; Jing-Shu Zheng; Zheqi He; JG Yao; Xi Yang; Bowen Qin; Jiajun Zhang
Venue: CVPR 2026 (main)

Abstract: Multiple-choice question answering (MCQA) has been a popular format for evaluating and reinforcement fine-tuning (RFT) of modern multimodal language models. Its constrained output format allows for simplified, deterministic automatic verification.However, we find that the options may leak exploitable signals, which makes the accuracy metrics unreliable for indicating real capabilities and encourages explicit or implicit answer guessing behaviors during RFT. We propose ReVeL (Rewrite and Verify by LLM), a framework that rewrites multiple-choice questions into open-form questions while keeping answers verifiable whenever possible. The framework categorizes questions according to different answer types, apply different rewriting and verification schemes, respectively. When applied for RFT, we converted 20k MCQA examples and use GRPO to finetune Qwen2.5-VL models. Models trained on ReVeL-OpenQA match MCQA accuracy on multiple-choice benchmarks and improve OpenQA accuracy by about six percentage points, indicating better data efficiency and more robust reward signals than MCQA-based training. When used for evaluation, ReVeL also reveals up to 20 percentage points of score inflation in MCQA benchmarks (relative to OpenQA), improves judging accuracy, and reduces both cost and latency. We will release code and data publicly.
PartDiffuser: Part-wise 3D Mesh Generation via Discrete Diffusion
Authors: Yichen Yang; Hong Li; Haodong Zhu; Linin Yang; Guojun Lei; Sheng Xu; Baochang Zhang
Venue: CVPR 2026 (main)

Abstract: Existing autoregressive (AR) methods for generating artist-designed meshes struggle to balance global structural consistency with high-fidelity local details, and are susceptible to error accumulation. To address this, we propose PartDiffuser, a novel semi-autoregressive diffusion framework for point-cloud-to-mesh generation. The method first performs semantic segmentation on the mesh and then operates in a "part-wise" manner: it employs autoregression between parts to ensure global topology, while utilizing a parallel discrete diffusion process within each semantic part to precisely reconstruct high-frequency geometric features. PartDiffuser is based on the DiT architecture and introduces a part-aware cross-attention mechanism, using point clouds as hierarchical geometric conditioning to dynamically control the generation process, thereby effectively decoupling the global and local generation tasks. Experiments demonstrate that this method significantly outperforms state-of-the-art (SOTA) models in generating 3D meshes with rich detail, exhibiting exceptional detail representation suitable for real-world applications.
Sampling-Aware Quantization for Diffusion Models
Authors: Qian Zeng; Jie Song; Yuanyu Wan; Huiqiong Wang; Mingli Song
Venue: CVPR 2026 (main)

Abstract: Diffusion models have recently emerged as the dominant approach in visual generation tasks. However, the lengthy denoising chains and the computationally intensive noise estimation networks hinder their applicability in low-latency and resource-limited environments. Previous research has endeavored to address these limitations in a decoupled manner, utilizing either advanced samplers or efficient model quantization techniques. In this study, we uncover that quantization-induced noise disrupts directional estimation at each sampling step, further distorting the precise directional estimations of higher-order samplers when solving the sampling equations through discretized numerical methods, thereby altering the optimal sampling trajectory. To attain dual acceleration with high fidelity, we propose a sampling-aware quantization strategy, wherein a Mixed-Order Trajectory Alignment technique is devised to impose a more stringent constraint on the error bounds at each sampling step, facilitating a more linear probability flow. Extensive experiments on sparse-step fast sampling across multiple datasets demonstrate that our approach preserves the rapid convergence characteristics of high-speed samplers while maintaining superior generation quality. Code is publicly available at: https://github.com/TaylorJocelyn/Sampling-aware-Quantization.
AdvFM: Lookahead Flow-Matching Velocity-Field Attacks for Imperceptible and Transferable Adversarial Examples
Authors: Runze Liu; Zeyue Wang; Fanghui Sun; Rui Liu; Yihan Yan; Shen Wang; Zhaoyang Zhang
Venue: CVPR 2026 (main)

Abstract: Unrestricted adversarial attacks based on generative models typically operate either directly in image space or through diffusion-style denoising and re-noising, which limits transferability and robustness against defenses. We revisit this problem through the lens of flow matching and continuous-time velocity fields, and propose AdvFM, a velocity-field attack that injects adversarial signals into the flow-matching dynamics instead of the pixel space. Given a noisy state x_t, AdvFM perturbs the reconstruction at t = 1 and converts this perturbation into a change of the velocity field, yielding a state update that amplifies the inner PGD step in the noisy space. We further introduce a lookahead variant that optimizes a two-point objective over the current and rolled-out reconstructions, reducing temporal mismatch along the ODE trajectory. From a theoretical perspective, we show that compared to diffusion-based attacks, AdvFM enjoys: (i) larger single-step increases in the black-box loss via step amplification, (ii) reduced gradient variance and stronger surrogate-target alignment due to Gaussian smoothing, enhancing its transferability, and (iii) perturbations that concentrate in robust-tangent directions, thereby aligning with robust gradients of adversarially trained models and surviving purification more effectively; the lookahead variant further lowers gradient noise for a two-point robust objective. Extensive experiments demonstrate that AdvFM achieves promising performance in both black-box transferability and a suite of adversarial training and purification defenses.
MLLMSplat: A 2D MLLM-Powered Framework for 3D Gaussian Splatting Understanding, Generation, and Editing
Authors: Jingqiao Xiu; Can Wang; Dong Xu
Venue: CVPR 2026 (main)

Abstract: 3D Gaussian Splatting (3DGS) has emerged as a mainstream representation for 3D scenes, drawing increasing research attention to its understanding, generation, and editing. However, existing studies remain limited to low-level perception, low-quality generation, and low-efficiency editing, lagging far behind their image counterparts in the era of Multimodal Large Language Models (MLLMs). To bridge this gap, we propose MLLMSplat, a novel framework that adapts 2D MLLMs to achieve high-level understanding, high-quality generation, and high-efficiency editing of 3DGS scenes. Specifically, our comprehensive framework consists of three core designs: (1) a 3DGS tokenizer that can be seamlessly integrated into MLLMs in a training-free manner; (2) a 3DGS de-tokenizer that non-intrusively extends the 2D latent diffusion model in MLLMs using a dual rotary positional encoding space, while augmenting it with a jointly trained and sampled 3DGS decoder; and (3) a surrogate task that enhances feed-forward editing capabilities. Extensive experiments demonstrate that MLLMSplat delivers state-of-the-art performance across 3DGS understanding, generation, and editing.
Plenoptic Video Generation
Authors: Xiao Fu; Shitao Tang; Min Shi; Xian Liu; Jinwei Gu; Ming-Yu Liu; Dahua Lin; Chen-Hsuan Lin
Venue: CVPR 2026 (main)

Abstract: Camera-controlled generative video re-rendering methods, such as ReCamMaster, have achieved remarkable progress. However, despite their success in single-view setting, these works often struggle to maintain consistency across multi-view scenarios. Ensuring spatio-temporal coherence in hallucinated regions remains challenging due to the inherent stochasticity of generative models. To address it, we introduce PlenopticDreamer, a framework that synchronizes generative hallucinations to maintain spatio-temporal memory. The core idea is to train a multi-in-single-out video-conditioned model in an autoregressive manner, aided by a camera-guided video retrieval strategy that adaptively selects salient videos from previous generations as conditional inputs. In addition, Our training incorporates progressive context-scaling to improve convergence, self-conditioning to enhance robustness against long-range visual degradation caused by error accumulation, and a long-video conditioning mechanism to support extended video generation. Extensive experiments on the Basic and Agibot benchmarks demonstrate that PlenopticDreamer achieves state-of-the-art video re-rendering, delivering superior view synchronization, high-fidelity visuals, accurate camera estimation, and diverse view transformations (e.g., third-person - third-person, and head-view - gripper-view in robotic manipulation).
CraftMesh: High-Fidelity Generative Mesh Manipulation via Poisson Seamless Fusion
Authors: James Jincheng Hu; Yuxiao Wu; Youcheng Cai; Ligang Liu
Venue: CVPR 2026 (main)

Abstract: Controllable, high-fidelity mesh editing remains a significant challenge in the domain of 3D content creation. Existing generative methods often struggle with complex geometries and fail to preserve fine-scale details. We propose CraftMesh, a novel framework for high-fidelity generative mesh manipulation based on Poisson Seamless Fusion. We decompose mesh editing into a pipeline that leverages the strengths of 2D image editing and 3D generation models: we first edit a 2D reference image, then generate a 3D mesh corresponding to the edited region, and fuse it seamlessly into the original mesh through a Geometry and Texture Fusion method. We introduce two core techniques: Poisson Geometric Fusion, which utilizes a hybrid SDF/Mesh representation with normal blending to achieve harmonious geometric integration, and Poisson Texture Harmonization for visually consistent texture blending. We demonstrate state-of-the-art structural consistency, geometric fidelity, and texture quality in challenging editing scenarios.
Label What Matters: Modality-Balanced and Difficulty-Aware Multimodal Active Learning
Authors: Yuqiao Zeng; Xu Wang; Tengfei Liang; Yiqing Hao; Yi Jin; Hui Yu
Venue: CVPR 2026 (main)

Abstract: Multimodal learning integrates complementary information from different modalities such as image, text, and audio to improve model performance, but its success relies on large-scale labeled data, which is costly to obtain. Active learning (AL) mitigates this challenge by selectively annotating informative samples. In multimodal settings, many approaches implicitly assume that modality importance is stable across rounds and keep selection rules fixed at the fusion stage, which leaves them insensitive to the dynamic nature of multimodal learning, where the relative value of modalities and the difficulty of instances shift as training proceeds. To address this issue, we propose RL-MBA, a reinforcement-learning framework for modality-balanced, difficulty-aware multimodal active learning. RL-MBA models sample selection as a Markov Decision Process, where the policy adapts to modality contributions, uncertainty, and diversity, and the reward encourages accuracy gains and balance. Two key components drive this adaptability: (1) Adaptive Modality Contribution Balancing (AMCB), which dynamically adjusts modality weights via reinforcement feedback, and (2) Evidential Fusion for Difficulty-Aware Policy Adjustment (EFDA), which estimates sample difficulty via uncertainty-based evidential fusion to prioritize informative samples. Experiments on Food101, KineticsSound, and VGGSound demonstrate that RL-MBA consistently outperforms strong baselines, improving both classification accuracy and modality fairness under limited labeling budgets.
D-Convexity: A Unified Differentiable Convex Shape Prior via Quasi-Concavity for Data-driven Image Segmentation
Authors: Shengzhe Chen; Hao Yan
Venue: CVPR 2026 (main)

Abstract: Convexity is a fundamental geometric prior that underlies many natural and man-made structures, yet remains challenging to impose effectively in end-to-end trainable segmentation networks. We revisit convexity from a functional perspective and propose a unified, threshold-free convexity prior based on the quasi-concavity of the network's output mask function u. Instead of constraining a single binary segmentation, we require all super-level sets of u to be convex, transforming global shape constraints into local, differentiable inequalities on u and its derivatives. From this principle, we derive zero, first, and second-order characterizations, yielding respectively a local midpoint convexification algorithm, a gradient-based condition linked to supporting hyperplanes, and a sufficient second-order inequality expressed as a quadratic form on the tangent plane. The first and second-order formulations produce a compact convolutional loss that can be densely applied across the image without thresholding.  Our quasi-concavity losses integrate seamlessly with modern segmentation networks via the proposed convex gradient projection module (CGPM). They consistently enforce convexity and improve shape regularity across multiple datasets, outperforming networks tailored for retinal segmentation and surpassing previous shape-aware methods. Remarkably, our analysis unifies a wide spectrum of previous convex shape models, from discrete 1-0-1 line constraints and graph-cuts convexity formulations to curvature or signed distance Laplacian based level-set priors, within a single continuous and differentiable framework.
ACPV-Net: All-Class Polygonal Vectorization for Seamless Vector Map Generation from Aerial Imagery
Authors: Weiqin Jiao; Hao Cheng; George Vosselman; Claudio Persello
Venue: CVPR 2026 (main)

Abstract: We tackle the problem of generating a complete vector map representation from aerial imagery in a single run: producing polygons for all land-cover classes with shared boundaries and without gaps or overlaps. Existing polygonization methods are typically class-specific; extending them to multiple classes via per-class runs commonly leads to topological inconsistencies, such as duplicated edges, gaps, and overlaps. We formalize this new task as All-Class Polygonal Vectorization (ACPV) and release the first public benchmark, Deventer-512, with standardized metrics jointly evaluating semantic fidelity, geometric accuracy, vertex efficiency, per-class topological fidelity and global topological consistency. To realize ACPV, we propose ACPV-Net, a unified framework introducing a novel Semantically Supervised Conditioning (SSC) mechanism coupling semantic perception with geometric primitive generation, along with a topological reconstruction that enforces shared-edge consistency by design. While enforcing such strict topological constraints, ACPV-Net surpasses all class-specific baselines in polygon quality across classes on Deventer-512. It also applies to single-class polygonal vectorization without any architectural modification, achieving the best-reported results on WHU-Building. Data, code, and models will be released at: https://github.com/HeinzJiao/ACPV-Net.
Fighting Hallucinations with Counterfactuals: Diffusion-Guided Perturbations for LVLM Hallucination Suppression
Authors: Hamidreza Dastmalchi; Aijun An; Ali Cheraghian; Hamed Barzamini
Venue: CVPR 2026 (main)

Abstract: While large vision-language models (LVLMs) achieve strong performance on multimodal tasks, they frequently generate hallucinations--unfaithful outputs misaligned with the visual input. To address this issue, we introduce CIPHER (Counterfactual Image Perturbations for Hallucination Extraction and Removal), a training-free method that suppresses vision-induced hallucinations via lightweight feature-level correction. Unlike prior training-free approaches that primarily focus on text-induced hallucinations, CIPHER explicitly targets hallucinations arising from the visual modality. CIPHER operates in two phases. In the offline phase, we construct OHC-25K (Object-Hallucinated Counterfactuals, 25,000 samples), a counterfactual dataset consisting of diffusion-edited images that intentionally contradict the original ground-truth captions. We pair these edited images with the unchanged ground-truth captions and process them through an LVLM to extract hallucination-related representations. Contrasting these representations with those from authentic (image, caption) pairs reveals structured, systematic shifts spanning a low-rank subspace characterizing vision-induced hallucination. In the inference phase, CIPHER suppresses hallucinations by projecting intermediate hidden states away from this subspace. Experiments across multiple benchmarks show that CIPHER significantly reduces hallucination rates while preserving task performance, demonstrating the effectiveness of counterfactual visual perturbations for improving LVLM faithfulness.
PromptStereo: Zero-Shot Stereo Matching via Structure and Motion Prompts
Authors: Xianqi Wang; Hao Yang; Hangtian Wang; Junda Cheng; Gangwei Xu; Min Lin; Xin Yang
Venue: CVPR 2026 (main)

Abstract: Modern stereo matching methods have leveraged monocular depth foundation models to achieve superior zero-shot generalization performance. However, most existing methods primarily focus on extracting robust features for cost volume construction or disparity initialization. At the same time, the iterative refinement stage, which is also crucial for zero-shot generalization, remains underexplored. Some methods treat monocular depth priors as guidance for iteration, but conventional GRU-based architectures struggle to exploit them due to the limited representation capacity. In this paper, we propose Prompt Recurrent Unit (PRU), a novel iterative refinement module based on the decoder of monocular depth foundation models. By integrating monocular structure and stereo motion cues as prompts into the decoder, PRU enriches the latent representations of monocular depth foundation models with absolute stereo-scale information while preserving their inherent monocular depth priors. Experiments demonstrate that our PromptStereo achieves state-of-the-art zero-shot generalization performance across multiple datasets, while maintaining comparable or faster inference speed. Our findings highlight prompt-guided iterative refinement as a promising direction for zero-shot stereo matching.
Uncertainty-Aware Exploratory Direct Preference Optimization for Multimodal Large Language Models
Authors: Huatian Zhang; Zhendong Mao; Lei Zhang; Yongdong Zhang
Venue: CVPR 2026 (main)

Abstract: Direct Preference Optimization (DPO) has proven to be an effective solution for mitigating hallucination in Multimodal Large Language Models (MLLMs) by learning from preference pairs. One of its key challenges lies in how to transfer the sequence-level preference into fine-grained supervision on visual fidelity. To safeguard vision-related tokens that are prone to hallucination, existing methods typically allocate training emphasis according to the model's self-assessed visual sensitivity signals. However, such sensitivity, estimated by a model still under training, introduces self-referential bias: reinforcing already well-learned visual cues while neglecting hard-to-perceive but critical details, thereby limiting deeper alignment. In this work, we propose an Uncertainty-aware Exploratory Direct Preference Optimization (UE-DPO) method for MLLMs, which enables the model to uncover its cognitive deficiencies and actively explore for self-correction, guided by token-level epistemic uncertainty. Specifically, we first quantify the uncertainty from the model's failure to ground token predictions in the given image.  Then, based on an uncertainty-aware exploration intensity, we encourage more learning pressure on visually deficient tokens in preferred samples, and alleviate the over-penalization of beneficial knowledge in dispreferred samples. Further, we provide a theoretical justification for our method, and extensive experiments demonstrate its effectiveness and robustness.
AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
Authors: Xiaoqi Li; Muhe Cai; Jiadong Xu; Juan Zhu; Hongwei Fan; Yan Shen; Guangrui Ren; Hao Dong
Venue: CVPR 2026 (main)

Abstract: Vision-Language-Action (VLA) models have significantly advanced robotic agents capable of executing diverse tasks; however, they remain limited in contact-rich manipulation scenarios that require precise physical interactions. To address this limitation, recent studies have attempted to incorporate tactile signals during downstream tasks, enabling pretrained VLAs to interpret tactile feedback. Nevertheless, introducing new modalities during finetuning, which are rarely present in the pretrain stage, may disrupt the pretrained capabilities of VLAs. In addition, the inherently slow inference speed of VLAs hampers real-time responsiveness and limits the effective utilization of tactile feedback for action adjustment.To overcome these challenges, we propose Adaptive Tactile Vision-Language-Action (AT-VLA), which introduces a novel Adaptive Tactile Injection mechanism. This mechanism dynamically determines the appropriate timing and locations for tactile injection, incorporating only when it significantly contributes to action generation, thereby minimizing interference with pretrained representations.Furthermore, to enable rapid and accurate tactile responses, we propose a Tactile Reaction Dual-Stream mechanism, which decouples sensory processing into a slow visual-language stream for low-frequency perceptual reasoning and a fast tactile control stream for high-frequency physical interaction understanding, achieving real-time close-loop responses within 0.04 s.Real-world experiments thoroughly validate the effectiveness of AT-VLA in contact-rich manipulation tasks.