OpenRaiser/Intern-Atlas huggingface dataset:
GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving
Venue: Conference CVPR 2025
Year: 2025

We propose GoalFlow, an end-to-end autonomous driving method for generating high-quality multimodal trajectories. In autonomous driving scenarios, there is rarely a single suitable trajectory. Recent methods have increasingly focused on modeling multimodal trajectory distributions. However, they suffer from trajectory selection complexity and reduced trajectory quality due to high trajectory divergence and inconsistencies between guidance and scene information. To address these issues, we introduce GoalFlow, a novel method that effectively constrains the generative process to produce high-quality, multimodal trajectories. To resolve the trajectory divergence problem inherent in diffusion-based methods, GoalFlow constrains the generated trajectories by introducing a goal point. GoalFlow establishes a novel scoring mechanism that selects the most appropriate goal point from the candidate points based on scene information. Furthermore, GoalFlow employs an efficient generative method, Flow Matching, to generate multimodal trajectories, and incorporates a refined scoring mechanism to select the optimal trajectory from the candidates. Our experimental results, validated on the Navsim\cite{Dauner2024_navsim}, demonstrate that GoalFlow achieves state-of-the-art performance, delivering robust multimodal trajectories for autonomous driving. GoalFlow achieved PDMS of 90.3, significantly surpassing other methods. Compared with other diffusion-policy-based methods, our approach requires only a single denoising step to obtain excellent performance. The code is available at https://github.com/YvanYin/GoalFlow.
DecoupledGaussian: Object-Scene Decoupling for Physics-Based Interaction
Venue: Conference CVPR 2025
Year: 2025

We present DecoupledGaussian, a novel system that decouples static objects from their contacted surfaces captured in-the-wild videos, a key prerequisite for realistic Newtonian-based physical simulations. Unlike prior methods focused on synthetic data or elastic jittering along the contact surface, which prevent objects from fully detaching or moving independently, DecoupledGaussian allows for significant positional changes without being constrained by the initial contacted surface. Recognizing the limitations of current 2D inpainting tools for restoring 3D locations, our approach proposes joint Poisson fields to repair and expand the Gaussians of both objects and contacted scenes after separation. This is complemented by a multi-carve strategy to refine the object's geometry. Our system enables realistic simulations of decoupling motions, collisions, and fractures driven by user-specified impulses, supporting complex interactions within and across multiple scenes. We validate DecoupledGaussian through a comprehensive user study and quantitative benchmarks. This system enhances digital interaction with objects and scenes in real-world environments, benefiting industries such as VR, robotics, and autonomous driving. Our project page is at: https://wangmiaowei.github.io/DecoupledGaussian.github.io/.
DashGaussian: Optimizing 3D Gaussian Splatting in 200 Seconds
Venue: Conference CVPR 2025
Year: 2025

3D Gaussian Splatting (3DGS) renders pixels by rasterizing Gaussian primitives, where the rendering resolution and the primitive number, concluded as the optimization complexity, dominate the time cost in primitive optimization. In this paper, we propose DashGaussian, a scheduling scheme over the optimization complexity of 3DGS that strips redundant complexity to accelerate 3DGS optimization. Specifically, we formulate 3DGS optimization as progressively fitting 3DGS to higher levels of frequency components in the training views, and propose a dynamic rendering resolution scheme that largely reduces the optimization complexity based on this formulation. Besides, we argue that a specific rendering resolution should cooperate with a proper primitive number for a better balance between computing redundancy and fitting quality, where we schedule the growth of the primitives to synchronize with the rendering resolution. Extensive experiments show that our method accelerates the optimization of various 3DGS backbones by 45.7% on average while preserving the rendering quality.
PACT: Pruning and Clustering-Based Token Reduction for Faster Visual Language Models
Venue: Conference CVPR 2025
Year: 2025

Visual Language Models require substantial computational resources for inference due to the additional input tokens needed to represent visual information. However, these visual tokens often contain redundant and unimportant information, resulting in an unnecessarily high number of tokens. To address this, we introduce PACT, a method that reduces inference time and memory usage by pruning irrelevant tokens and merging visually redundant ones at an early layer of the language model. Our approach uses a novel importance metric to identify unimportant tokens without relying on attention scores, making it compatible with FlashAttention. We also propose a novel clustering algorithm, called Distance Bounded Density Peak Clustering, which efficiently clusters visual tokens while constraining the distances between elements within a cluster by a predefined threshold. We demonstrate the effectiveness of PACT through extensive experiments.
R-SCoRe: Revisiting Scene Coordinate Regression for Robust Large-Scale Visual Localization
Venue: Conference CVPR 2025
Year: 2025

Learning-based visual localization methods that use scene coordinate regression (SCR) offer the advantage of smaller map sizes. However, on datasets with complex illumination changes or image-level ambiguities, it remains a less robust alternative to feature matching methods. This work aims to close the gap. We introduce a covisibility graph-based global encoding learning and data augmentation strategy, along with a depth-adjusted reprojection loss to facilitate implicit triangulation. Additionally, we revisit the network architecture and local feature extraction module. Our method achieves state-of-the-art on challenging large-scale datasets without relying on network ensembles or 3D supervision. On Aachen Day-Night, we are 10$\times$ more accurate than previous SCR methods with similar map sizes and require at least 5$\times$ smaller map sizes than any other SCR method while still delivering superior accuracy. Code is available at: https://github.com/cvg/scrstudio .
Style Evolving along Chain-of-Thought for Unknown-Domain Object Detection
Venue: Conference CVPR 2025
Year: 2025

Recently, a task of Single-Domain Generalized Object Detection (Single-DGOD) is proposed, aiming to generalize a detector to multiple unknown domains never seen before during training. Due to the unavailability of target-domain data, some methods leverage the multimodal capabilities of vision-language models, using textual prompts to estimate cross-domain information, enhancing the model's generalization capability. These methods typically use a single textual prompt, often referred to as the one-step prompt method. However, when dealing with complex styles such as the combination of rain and night, we observe that the performance of the one-step prompt method tends to be relatively weak. The reason may be that many scenes incorporate not just a single style but a combination of multiple styles. The one-step prompt method may not effectively synthesize combined information involving various styles. To address this limitation, we propose a new method, i.e., Style Evolving along Chain-of-Thought, which aims to progressively integrate and expand style information along the chain of thought, enabling the continual evolution of styles. Specifically, by progressively refining style descriptions and guiding the diverse evolution of styles, this approach enables more accurate simulation of various style characteristics and helps the model gradually learn and adapt to subtle differences between styles. Additionally, it exposes the model to a broader range of style features with different data distributions, thereby enhancing its generalization capability in unseen domains. The significant performance gains over five adverse-weather scenarios and the Real to Art benchmark demonstrate the superiorities of our method.
OmniSplat: Taming Feed-Forward 3D Gaussian Splatting for Omnidirectional Images with Editable Capabilities
Venue: Conference CVPR 2025
Year: 2025

Feed-forward 3D Gaussian splatting (3DGS) models have gained significant popularity due to their ability to generate scenes immediately without needing per-scene optimization. Although omnidirectional images are becoming more popular since they reduce the computation required for image stitching to composite a holistic scene, existing feed-forward models are only designed for perspective images. The unique optical properties of omnidirectional images make it difficult for feature encoders to correctly understand the context of the image and make the Gaussian non-uniform in space, which hinders the image quality synthesized from novel views. We propose OmniSplat, a training-free fast feed-forward 3DGS generation framework for omnidirectional images. We adopt a Yin-Yang grid and decompose images based on it to reduce the domain gap between omnidirectional and perspective images. The Yin-Yang grid can use the existing CNN structure as it is, but its quasi-uniform characteristic allows the decomposed image to be similar to a perspective image, so it can exploit the strong prior knowledge of the learned feed-forward network. OmniSplat demonstrates higher reconstruction accuracy than existing feed-forward networks trained on perspective images. Our project page is available on: https://robot0321.github.io/omnisplat/index.html.
UniVAD: A Training-free Unified Model for Few-shot Visual Anomaly Detection
Venue: Conference CVPR 2025
Year: 2025

Visual Anomaly Detection (VAD) aims to identify abnormal samples in images that deviate from normal patterns, covering multiple domains, including industrial, logical, and medical fields. Due to the domain gaps between these fields, existing VAD methods are typically tailored to each domain, with specialized detection techniques and model architectures that are difficult to generalize across different domains. Moreover, even within the same domain, current VAD approaches often follow a "one-category-one-model" paradigm, requiring large amounts of normal samples to train class-specific models, resulting in poor generalizability and hindering unified evaluation across domains. To address this issue, we propose a generalized few-shot VAD method, UniVAD, capable of detecting anomalies across various domains, such as industrial, logical, and medical anomalies, with a training-free unified model. UniVAD only needs few normal samples as references during testing to detect anomalies in previously unseen objects, without training on the specific domain. Specifically, UniVAD employs a Contextual Component Clustering ($C^3$) module based on clustering and vision foundation models to segment components within the image accurately, and leverages Component-Aware Patch Matching (CAPM) and Graph-Enhanced Component Modeling (GECM) modules to detect anomalies at different semantic levels, which are aggregated to produce the final detection result. We conduct experiments on nine datasets spanning industrial, logical, and medical fields, and the results demonstrate that UniVAD achieves state-of-the-art performance in few-shot anomaly detection tasks across multiple domains, outperforming domain-specific anomaly detection models. Code is available at https://github.com/FantasticGNU/UniVAD.
Remote Photoplethysmography in Real-World and Extreme Lighting Scenarios
Venue: Conference CVPR 2025
Year: 2025

Physiological activities can be manifested by the sensitive changes in facial imaging. While they are barely observable to our eyes, computer vision manners can, and the derived remote photoplethysmography (rPPG) has shown considerable promise. However, existing studies mainly rely on spatial skin recognition and temporal rhythmic interactions, so they focus on identifying explicit features under ideal light conditions, but perform poorly in-the-wild with intricate obstacles and extreme illumination exposure. In this paper, we propose an end-to-end video transformer model for rPPG. It strives to eliminate complex and unknown external time-varying interferences, whether they are sufficient to occupy subtle biosignal amplitudes or exist as periodic perturbations that hinder network training. In the specific implementation, we utilize global interference sharing, subject background reference, and self-supervised disentanglement to eliminate interference, and further guide learning based on spatiotemporal filtering, reconstruction guidance, and frequency domain and biological prior constraints to achieve effective rPPG. To the best of our knowledge, this is the first robust rPPG model for real outdoor scenarios based on natural face videos, and is lightweight to deploy. Extensive experiments show the competitiveness and performance of our model in rPPG prediction across datasets and scenes.
ColabSfM: Collaborative Structure-from-Motion by Point Cloud Registration
Venue: Conference CVPR 2025
Year: 2025

Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame, which is typically referred to as registration. However, there is a lack of scalable methods and training datasets for registering SfM reconstructions. In this paper, we tackle this challenge by proposing the scalable task of point cloud registration for SfM reconstructions. We find that current registration methods cannot register SfM point clouds when trained on existing datasets. To this end, we propose a SfM registration dataset generation pipeline, leveraging partial reconstructions from synthetically generated camera trajectories for each scene. Finally, we propose a simple but impactful neural refiner on top of the SotA registration method RoITr that yields significant improvements, which we call RefineRoITr. Our extensive experimental evaluation shows that our proposed pipeline and model enables ColabSfM. Code is available at https://github.com/EricssonResearch/ColabSfM
Cross-Modal and Uncertainty-Aware Agglomeration for Open-Vocabulary 3D Scene Understanding
Venue: Conference CVPR 2025
Year: 2025

The lack of a large-scale 3D-text corpus has led recent works to distill open-vocabulary knowledge from vision-language models (VLMs). However, these methods typically rely on a single VLM to align the feature spaces of 3D models within a common language space, which limits the potential of 3D models to leverage the diverse spatial and semantic capabilities encapsulated in various foundation models. In this paper, we propose Cross-modal and Uncertainty-aware Agglomeration for Open-vocabulary 3D Scene Understanding dubbed CUA-O3D, the first model to integrate multiple foundation models-such as CLIP, DINOv2, and Stable Diffusion-into 3D scene understanding. We further introduce a deterministic uncertainty estimation to adaptively distill and harmonize the heterogeneous 2D feature embeddings from these models. Our method addresses two key challenges: (1) incorporating semantic priors from VLMs alongside the geometric knowledge of spatially-aware vision foundation models, and (2) using a novel deterministic uncertainty estimation to capture model-specific uncertainties across diverse semantic and geometric sensitivities, helping to reconcile heterogeneous representations during training. Extensive experiments on ScanNetV2 and Matterport3D demonstrate that our method not only advances open-vocabulary segmentation but also achieves robust cross-domain alignment and competitive spatial perception capabilities. The code will be available at: https://github.com/TyroneLi/CUA_O3D.
SVLTA: Benchmarking Vision-Language Temporal Alignment via Synthetic Video Situation
Venue: Conference CVPR 2025
Year: 2025

Vision-language temporal alignment is a crucial capability for human dynamic recognition and cognition in real-world scenarios. While existing research focuses on capturing vision-language relevance, it faces limitations due to biased temporal distributions, imprecise annotations, and insufficient compositionally. To achieve fair evaluation and comprehensive exploration, our objective is to investigate and evaluate the ability of models to achieve alignment from a temporal perspective, specifically focusing on their capacity to synchronize visual scenarios with linguistic context in a temporally coherent manner. As a preliminary step, we present the statistical analysis of existing benchmarks and reveal the existing challenges from a decomposed perspective. To this end, we introduce SVLTA, the Synthetic Vision-Language Temporal Alignment derived via a well-designed and feasible control generation method within a simulation environment. The approach considers commonsense knowledge, manipulable action, and constrained filtering, which generates reasonable, diverse, and balanced data distributions for diagnostic evaluations. Our experiments reveal diagnostic insights through the evaluations in temporal question answering, distributional shift sensitiveness, and temporal alignment adaptation.
Seeing A 3D World in A Grain of Sand
Venue: Conference CVPR 2025
Year: 2025

We present a snapshot imaging technique for recovering 3D surrounding views of miniature scenes. Due to their intricacy, miniature scenes with objects sized in millimeters are difficult to reconstruct, yet miniatures are common in life and their 3D digitalization is desirable. We design a catadioptric imaging system with a single camera and eight pairs of planar mirrors for snapshot 3D reconstruction from a dollhouse perspective. We place paired mirrors on nested pyramid surfaces for capturing surrounding multi-view images in a single shot. Our mirror design is customizable based on the size of the scene for optimized view coverage. We use the 3D Gaussian Splatting (3DGS) representation for scene reconstruction and novel view synthesis. We overcome the challenge posed by our sparse view input by integrating visual hull-derived depth constraint. Our method demonstrates state-of-the-art performance on a variety of synthetic and real miniature scenes.
MoFlow: One-Step Flow Matching for Human Trajectory Forecasting via Implicit Maximum Likelihood Estimation based Distillation
Venue: Conference CVPR 2025
Year: 2025

In this paper, we address the problem of human trajectory forecasting, which aims to predict the inherently multi-modal future movements of humans based on their past trajectories and other contextual cues. We propose a novel motion prediction conditional flow matching model, termed MoFlow, to predict K-shot future trajectories for all agents in a given scene. We design a novel flow matching loss function that not only ensures at least one of the $K$ sets of future trajectories is accurate but also encourages all $K$ sets of future trajectories to be diverse and plausible. Furthermore, by leveraging the implicit maximum likelihood estimation (IMLE), we propose a novel distillation method for flow models that only requires samples from the teacher model. Extensive experiments on the real-world datasets, including SportVU NBA games, ETH-UCY, and SDD, demonstrate that both our teacher flow model and the IMLE-distilled student model achieve state-of-the-art performance. These models can generate diverse trajectories that are physically and socially plausible. Moreover, our one-step student model is $\textbf{100}$ times faster than the teacher flow model during sampling. The code, model, and data are available at our project page: https://moflow-imle.github.io
UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping
Venue: Conference CVPR 2025
Year: 2025

We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex, multi-step training pipelines, UniGraspTransformer follows a streamlined process: first, dedicated policy networks are trained for individual objects using reinforcement learning to generate successful grasp trajectories; then, these trajectories are distilled into a single, universal network. Our approach enables UniGraspTransformer to scale effectively, incorporating up to 12 self-attention blocks for handling thousands of objects with diverse poses. Additionally, it generalizes well to both idealized and real-world inputs, evaluated in state-based and vision-based settings. Notably, UniGraspTransformer generates a broader range of grasping poses for objects in various shapes and orientations, resulting in more diverse grasp strategies. Experimental results demonstrate significant improvements over state-of-the-art, UniDexGrasp++, across various object categories, achieving success rate gains of 3.5%, 7.7%, and 10.1% on seen objects, unseen objects within seen categories, and completely unseen objects, respectively, in the vision-based setting. Project page: https://dexhand.github.io/UniGraspTransformer.
MangaNinja: Line Art Colorization with Precise Reference Following
Venue: Conference CVPR 2025
Year: 2025

Derived from diffusion models, MangaNinjia specializes in the task of reference-guided line art colorization. We incorporate two thoughtful designs to ensure precise character detail transcription, including a patch shuffling module to facilitate correspondence learning between the reference color image and the target line art, and a point-driven control scheme to enable fine-grained color matching. Experiments on a self-collected benchmark demonstrate the superiority of our model over current solutions in terms of precise colorization. We further showcase the potential of the proposed interactive point control in handling challenging cases, cross-character colorization, multi-reference harmonization, beyond the reach of existing algorithms.
Skip Tuning: Pre-trained Vision-Language Models are Effective and Efficient Adapters Themselves
Venue: Conference CVPR 2025
Year: 2025

Prompt tuning (PT) has long been recognized as an effective and efficient paradigm for transferring large pre-trained vision-language models (VLMs) to downstream tasks by learning a tiny set of context vectors. Nevertheless, in this work, we reveal that freezing the parameters of VLMs during learning the context vectors neither facilitates the transferability of pre-trained knowledge nor improves the memory and time efficiency significantly. Upon further investigation, we find that reducing both the length and width of the feature-gradient propagation flows of the full fine-tuning (FT) baseline is key to achieving effective and efficient knowledge transfer. Motivated by this, we propose Skip Tuning, a novel paradigm for adapting VLMs to downstream tasks. Unlike existing PT or adapter-based methods, Skip Tuning applies Layer-wise Skipping (LSkip) and Class-wise Skipping (CSkip) upon the FT baseline without introducing extra context vectors or adapter modules. Extensive experiments across a wide spectrum of benchmarks demonstrate the superior effectiveness and efficiency of our Skip Tuning over both PT and adapter-based methods. Code: https://github.com/Koorye/SkipTuning.