GenAI4ELab/papercli-papers huggingface dataset:
MamV2XCalib: V2X-based Target-less Infrastructure Camera Calibration with State Space Model
Authors: Yaoye Zhu; Zhe Wang; Yan Wang
Venue: ICCV 2025 (main)

Abstract: As cooperative systems that leverage roadside cameras to assist autonomous vehicle perception become increasingly widespread, large-scale precise calibration of infrastructure cameras has become a critical issue. Traditional manual calibration methods are often time-consuming, labor-intensive, and may require road closures. This paper proposes MamV2XCalib, the first V2X-based infrastructure camera calibration method with the assistance of vehicle-side LiDAR. MamV2XCalib only requires autonomous vehicles equipped with LiDAR to drive near the cameras to be calibrated in the infrastructure, without the need for specific reference objects or manual intervention. We also introduce a new targetless LiDAR-camera calibration method, which combines multi-scale features and a 4D correlation volume to estimate the correlation between vehicle-side point clouds and roadside images. We model the temporal information and estimate the rotation angles with Mamba, effectively addressing calibration failures in V2X scenarios caused by defects in the vehicle-side data (such as occlusions) and large differences in viewpoint. We evaluate MamV2XCalib on the V2X-Seq and TUMTraf-V2X real-world datasets, demonstrating the effectiveness and robustness of our V2X-based automatic calibration approach. Compared to previous LiDAR-camera methods designed for calibration on one car, our approach achieves better and more stable calibration performance in V2X scenarios with fewer parameters. The code is available at https://github.com/zhuyaoye/MamV2XCalib.
Beyond the Destination: A Novel Benchmark for Exploration-Aware Embodied Question Answering
Authors: Kaixuan Jiang; Yang Liu; Weixing Chen; Jingzhou Luo; Ziliang Chen; Ling Pan; Guanbin Li; Liang Lin
Venue: ICCV 2025 (main)

Abstract: Embodied Question Answering (EQA) is a challenging task in embodied intelligence that requires agents to dynamically explore 3D environments, actively gather visual information, and perform multi-step reasoning to answer questions. However, current EQA approaches suffer from critical limitations in exploration efficiency, dataset design, and evaluation metrics. Moreover, existing datasets often introduce biases or prior knowledge, leading to disembodied reasoning, while frontier-based exploration strategies struggle in cluttered environments and fail to ensure fine-grained exploration of task-relevant areas. To address these challenges, we construct the EXPloration-awaRe Embodied queStion anSwering Benchmark (EXPRESS-Bench), the largest dataset designed specifically to evaluate both exploration and reasoning capabilities. EXPRESS-Bench consists of 777 exploration trajectories and 2,044 question-trajectory pairs. To improve exploration efficiency, we propose Fine-EQA, a hybrid exploration model that integrates frontier-based and goal-oriented navigation to guide agents toward task-relevant regions more effectively. Additionally, we introduce a novel evaluation metric, Exploration-Answer Consistency (EAC), which ensures faithful assessment by measuring the alignment between answer grounding and exploration reliability. Extensive experimental comparisons with state-of-the-art EQA models demonstrate the effectiveness of our EXPRESS-Bench in advancing embodied exploration and question reasoning.
Semantic Equitable Clustering: A Simple and Effective Strategy for Clustering Vision Tokens
Authors: Qihang Fan; Huaibo Huang; Mingrui Chen; Ran He
Venue: ICCV 2025 (main)

Abstract: The Vision Transformer (ViT) has gained prominence for its superior relational modeling prowess. However, its global attention mechanism's quadratic complexity poses substantial computational burdens. A common remedy spatially groups tokens for self-attention, reducing computational requirements. Nonetheless, this strategy neglects semantic information in tokens, possibly scattering semantically-linked tokens across distinct groups, thus compromising the efficacy of self-attention intended for modeling inter-token dependencies. Motivated by these insights, we introduce a fast and balanced clustering method, named Semantic Equitable Clustering (SEC). SEC clusters tokens based on their global semantic relevance in an efficient, straightforward manner. In contrast to traditional clustering methods requiring multiple iterations, our method achieves token clustering in a single pass. Additionally, SEC regulates the number of tokens per cluster, ensuring a balanced distribution for effective parallel processing on current computational platforms without necessitating further optimization. Capitalizing on SEC, we propose a versatile vision backbone, SECViT. Comprehensive experiments in image classification, object detection, instance segmentation, and semantic segmentation validate to the effectiveness of SECViT. Remarkably, SECViT attains an impressive 84.3% image classification accuracy with only 27M parameters and 4.6G FLOPs, without the need for for additional supervision or data. Moreover, SEC can be conveniently and swiftly applied to multimodal large language models (MLLM), such as LLaVA, to serve as a vision language connector, effectively accelerating the model's efficiency while maintaining unchanged or better performance.
HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decoder
Authors: Yingqi Tang; Zhuoran Xu; Zhaotie Meng; Erkang Cheng
Venue: ICCV 2025 (main)

Abstract: Although end-to-end autonomous driving (E2E-AD) technologies have made significant progress in recent years, there remains an unsatisfactory performance on closed-loop evaluation. The potential of leveraging planning in query design and interaction has not yet been fully explored. In this paper, we introduce a multi-granularity planning query representation that integrates heterogeneous waypoints, including spatial, temporal, and driving-style waypoints across various sampling patterns. It provides additional supervision for trajectory prediction, enhancing precise closed-loop control for the ego vehicle. Additionally, we explicitly utilize the geometric properties of planning trajectories to effectively retrieve relevant image features based on physical locations using deformable attention. By combining these strategies, we propose a novel end-to-end autonomous driving framework, termed HiP-AD, which simultaneously performs perception, prediction, and planning within a unified decoder. HiP-AD enables comprehensive interaction by allowing planning queries to iteratively interact with perception queries in the BEV space while dynamically extracting image features from perspective views. Experiments demonstrate that HiP-AD outperforms all existing end-to-end autonomous driving methods on the closed-loop benchmark Bench2Drive and achieves competitive performance on the real-world dataset nuScenes.
Visual Textualization for Image Prompted Object Detection
Authors: Yongjian Wu; Yang Zhou; Jiya Saiyin; Bingzheng Wei; Yan Xu
Venue: ICCV 2025 (main)

Abstract: We propose VisTex-OVLM, a novel image prompted object detection method that introduces visual textualization ---- a process that projects a few visual exemplars into the text feature space to enhance Object-level Vision-Language Models' (OVLMs) capability in detecting rare categories that are difficult to describe textually and nearly absent from their pre-training data, while preserving their pre-trained object-text alignment. Specifically, VisTex-OVLM leverages multi-scale textualizing blocks and a multi-stage fusion strategy to integrate visual information from visual exemplars, generating textualized visual tokens that effectively guide OVLMs alongside text prompts. Unlike previous methods, our method maintains the original architecture of OVLM, maintaining its generalization capabilities while enhancing performance in few-shot settings. VisTex-OVLM demonstrates superior performance across open-set datasets which have minimal overlap with OVLM's pre-training data and achieves state-of-the-art results on few-shot benchmarks PASCAL VOC and MSCOCO . The code will be released at VisTex-OVLM.
Sliced Wasserstein Bridge for Open-Vocabulary Video Instance Segmentation
Authors: Zheyun Qin; Deng Yu; Chuanchen Luo; Zhumin Chen
Venue: ICCV 2025 (main)

Abstract: In recent years, researchers have explored the task of open-vocabulary video instance segmentation, which aims to identify, track, and segment any instance within an open set of categories. The core challenge of Open-Vocabulary VIS lies in solving the cross-domain alignment problem, including spatial-temporal and text-visual domain alignments. Existing methods have made progress but still face shortcomings in addressing these alignments, especially due to data heterogeneity. Inspired by metric learning, we propose an innovative Sliced Wasserstein Bridging Learning Framework. This framework utilizes the Sliced Wasserstein distance as the core tool for metric learning, effectively bridging the four domains involved in the task. Our innovations are threefold: (1) Domain Alignment: By mapping features from different domains into a unified metric space, our method maintains temporal consistency and learns intrinsic consistent features between modalities, improving the fusion of text and visual information. (2) Weighting Mechanism: We introduce an importance weighting mechanism to enhance the discriminative ability of our method when dealing with imbalanced or significantly different data. (3) High Efficiency: Our method inherits the computational efficiency of the Sliced Wasserstein distance, allowing for online processing of large-scale video data while maintaining segmentation accuracy. Through extensive experimental evaluations, we have validated the robustness of our concept and the effectiveness of our framework.
Moderating the Generalization of Score-based Generative Model
Authors: Wan Jiang; He Wang; Xin Zhang; Dan Guo; Zhaoxin Fan; Yunfeng Diao; Richang Hong
Venue: ICCV 2025 (main)

Abstract: Score-based Generative Models (SGMs) have demonstrated remarkable generalization capabilities, e.g. generating unseen, but natural data. However, the greater the generalization power, the more likely the unintended generalization, and the more dangerous the abuse. Despite these concerns, research on unlearning SGMs has not been explored. To fill this gap, we first examine the current `gold standard' in Machine Unlearning (MU), i.e., re-training the model after removing the undesirable training data, and find it does not work in SGMs. Further analysis of score functions reveals that the MU 'gold standard' does not alter the original score function, which explains its ineffectiveness. Building on this insight, we propose the first Moderated Score-based Generative Model (MSGM), which introduces a novel score adjustment strategy that redirects the score function away from undesirable data during the continuous-time stochastic differential equation process. Albeit designed for SGMs, MSGM is a general and flexible MU framework compatible with diverse diffusion architectures, training strategies and downstream tasks. Code is available at https://github.com/yunfengdiao/Moderated-Score-based-Generative-Model.
A Token-level Text Image Foundation Model for Document Understanding
Authors: Tongkun Guan; Zining Wang; Pei Fu; Zhengtao Guo; Wei Shen; Kai Zhou; Tiezhu Yue; Chen Duan; Hao Sun; Qianyi Jiang; Junfeng Luo; Xiaokang Yang
Venue: ICCV 2025 (main)

Abstract: In recent years, general visual foundation models (VFMs) have witnessed increasing adoption, particularly as image encoders for popular multi-modal large language models (MLLMs). However, without semantically fine-grained supervision, these models still encounter fundamental prediction errors in the context of downstream text-image-related tasks, i.e., perception, understanding and reasoning with images containing small and dense texts. To bridge this gap, we develop TokenFD, the first token-level visual foundation model specifically tailored for text-image-related tasks, designed to support a variety of traditional downstream applications. To facilitate the pretraining of TokenFD, we also devise a high-quality data production pipeline that constructs the first token-level image text dataset, TokenIT, comprising 20 million images and 1.8 billion token-mask pairs. Furthermore, leveraging this foundation with exceptional image-as-text capability, we seamlessly replace previous VFMs with TokenFD to construct a token-level visual-language MLLM, TokenVL, for VQA-based document understanding tasks. Finally, extensive experiments demonstrate the effectiveness of TokenFD and TokenVL. Code, demo, datasets, and weights are available at https://github.com/Token-family/TokenFD.
Riemannian-Geometric Fingerprints of Generative Models
Authors: Hae Jin Song; Laurent Itti
Venue: ICCV 2025 (main)

Abstract: Recent breakthroughs and rapid integration of generative models (GMs) have sparked interest in the problem of model attribution and their fingerprints. For instance, service providers need reliable methods of authenticating their models to protect their IP, while users and law enforcement seek to verify the source of generated content for accountability and trust. In addition, a growing threat of model collapse is arising, as more model-generated data are being fed back into sources (e.g., YouTube) that are often harvested for training ("regurgitative training"), heightening the need to differentiate synthetic from human data. Yet, a gap still exists in understanding generative models' fingerprints, we believe, stemming from the lack of a formal framework that can define, represent, and analyze the fingerprints in a principled way. To address this gap, we take a geometric approach and propose a new definition of artifact and fingerprint of generative models using Riemannian geometry, which allows us to leverage the rich theory of differential geometry. Our new definition generalizes previous work (Song et al, 2024) to non-Euclidean manifolds by learning Riemannian metrics from data and replacing the Euclidean distances and nearest-neighbor search with geodesic distances and kNN-based Riemannian center of mass. We apply our theory to a new gradient-based algorithm for computing the fingerprints in practice. Results show that it is more effective in distinguishing a large array of generative models, spanning across 4 different datasets in 2 different resolutions (64x64, 256x256), 27 model architectures, and 2 modalities (Vision, Vision-Language). Using our proposed definition can significantly improve the performance on model attribution, as well as a generalization to unseen datasets, model types, and modalities, suggesting its efficacy in practice.
NeRF Is a Valuable Assistant for 3D Gaussian Splatting
Authors: Shuangkang Fang; I-Chao Shen; Takeo Igarashi; Yufeng Wang; ZeSheng Wang; Yi Yang; Wenrui Ding; Shuchang Zhou
Venue: ICCV 2025 (main)

Abstract: We introduce NeRF-GS, a novel framework that jointly optimizes Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS). This framework leverages the inherent continuous spatial representation of NeRF to mitigate several limitations of 3DGS, including sensitivity to Gaussian initialization, limited spatial awareness, and weak inter-Gaussian correlations, thereby enhancing its performance. In NeRF-GS, we revisit the design of 3DGS and progressively align its spatial features with NeRF, enabling both representations to be optimized within the same scene through shared 3D spatial information. We further address the formal distinctions between the two approaches by optimizing residual vectors for both implicit features and Gaussian positions to enhance the personalized capabilities of 3DGS. Experimental results on benchmark datasets show that NeRF-GS surpasses existing methods and achieves state-of-the-art performance. This outcome confirms that NeRF and 3DGS are complementary rather than competing, offering new insights into hybrid approaches that combine 3DGS and NeRF for efficient 3D scene representation.
Towards Visual Localization Interoperability: Cross-Feature for Collaborative Visual Localization and Mapping
Authors: Alberto Jaenal; Paula Carbó Cubero; José Araújo; André Mateus
Venue: ICCV 2025 (main)

Abstract: The growing presence of vision-based systems in the physical world comes with a major requirement: highly accurate estimation of the pose, a task typically addressed through methods based on local features. The totality of the available feature-based localization solutions are designed under the assumption of using the same feature for mapping and localization. However, as the implementation provided by each vendor is based on heterogeneous feature extraction algorithms, collaboration between different devices is not straightforward or even not possible. Although there are some alternatives, such as re-extracting the features or reconstructing the image from them, these are impractical or costly to implement in a real pipeline. To overcome this, and inspired in the seminal work Cross-Descriptor [12], we propose Cross-Feature, a method that applies a patch-based training strategy to a simple MLP which projects features to a common embedded space. As a consequence, our proposal allows to establish suitable correspondences between features computed through heterogeneous algorithms, e.g., SIFT [23] and SuperPoint [9]. We experimentally demonstrate the validity of Cross-Feature by evaluating it in tasks as Image Matching, Visual Localization and a new Collaborative Visual Localization and Mapping scenario. We believe this is the first step towards full Visual Localization interoperability. Code and data will be made available.
EasyControl: Adding Efficient and Flexible Control for Diffusion Transformer
Authors: Yuxuan Zhang; Yirui Yuan; Yiren Song; Haofan Wang; Jiaming Liu
Venue: ICCV 2025 (main)

Abstract: Recent advancements in Unet-based diffusion models, such as ControlNet and IP-Adapter, have introduced effective spatial and subject control mechanisms. However, the DiT (Diffusion Transformer) architecture still struggles with efficient and flexible control. To tackle this issue, we propose EasyControl, a novel framework designed to unify condition-guided diffusion transformers with high efficiency and flexibility. Our framework is built on three key innovations. First, we introduce a lightweight Condition Injection LoRA Module. This module processes conditional signals in isolation, acting as a plug-and-play solution. It avoids modifying the base model's weights, ensuring compatibility with customized models and enabling the flexible injection of diverse conditions. Notably, this module also supports harmonious and robust zero-shot multi-condition generalization, even when trained only on single-condition data. Second, we propose a Position-Aware Training Paradigm. This approach standardizes input conditions to fixed resolutions, allowing the generation of images with arbitrary aspect ratios and flexible resolutions. At the same time, it optimizes computational efficiency, making the framework more practical for real-world applications. Third, we develop a Causal Attention Mechanism combined with the KV Cache technique, adapted for conditional generation tasks. This innovation significantly reduces the latency of image synthesis, improving the overall efficiency of the framework. Through extensive experiments, we demonstrate that EasyControl achieves exceptional performance across various application scenarios. These innovations collectively make our framework highly efficient, flexible, and suitable for a wide range of tasks.
PerLDiff: Controllable Street View Synthesis Using Perspective-Layout Diffusion Model
Authors: Jinhua Zhang; Hualian Sheng; Sijia Cai; Bing Deng; Qiao Liang; Wen Li; Ying Fu; Jieping Ye; Shuhang Gu
Venue: ICCV 2025 (main)

Abstract: Controllable generation is considered a potentially vital approach to address the challenge of annotating 3D data, and the precision of such controllable generation becomes particularly imperative in the context of data production for autonomous driving. Existing methods focus on the integration of diverse generative information into controlling inputs, utilizing frameworks such as GLIGEN or ControlNet, to produce commendable outcomes in controllable generation. However, such approaches intrinsically restrict generation performance to the learning capacities of predefined network architectures. In this paper, we explore the innovative integration of controlling information and introduce PerLDiff (Perspective-Layout Diffusion Models), a novel method for effective street view image generation that fully leverages perspective 3D geometric information. Our PerLDiff employs 3D geometric priors to guide the generation of street view images with precise object-level control within the network learning process, resulting in a more robust and controllable output. Moreover, it demonstrates superior controllability compared to alternative layout control methods. Empirical results justify that our PerLDiff markedly enhances the precision of controllable generation on the NuScenes and KITTI datasets.
DocThinker: Explainable Multimodal Large Language Models with Rule-based Reinforcement Learning for Document Understanding
Authors: Wenwen Yu; Zhibo Yang; Yuliang Liu; Xiang Bai
Venue: ICCV 2025 (main)

Abstract: Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities in document understanding. However, their reasoning processes remain largely black-box, making it difficult to ensure reliability and trustworthiness, especially in high-stakes domains such as legal, financial, and medical document analysis. Existing methods use fixed Chain-of-Thought (CoT) reasoning with supervised fine-tuning (SFT) but suffer from catastrophic forgetting, poor adaptability, and limited generalization across domain tasks. In this paper, we propose DocThinker, a rule-based Reinforcement Learning (RL) framework for dynamic inference-time reasoning. Instead of relying on static CoT templates, DocThinker autonomously refines reasoning strategies via policy learning, generating explainable intermediate results, including structured reasoning processes, rephrased questions, regions of interest (RoI) supporting the answer, and the final answer. By integrating multi-objective rule-based rewards and KL-constrained optimization, our method mitigates catastrophic forgetting and enhances both adaptability and transparency. Extensive experiments on multiple benchmarks demonstrate that DocThinker significantly improves generalization while producing more explainable and human-understandable reasoning steps. Our findings highlight RL as a powerful alternative for enhancing explainability and adaptability in MLLM-based document understanding. Code will be available at https://github.com/wenwenyu/DocThinker.