OpenRaiser/Intern-Atlas huggingface dataset:
SAS: Segment Any 3D Scene with Integrated 2D Priors
Venue: Conference ICCV 2025
Year: 2025

The open vocabulary capability of 3D models is increasingly valued, as traditional methods with models trained with fixed categories fail to recognize unseen objects in complex dynamic 3D scenes. In this paper, we propose a simple yet effective approach, SAS, to integrate the open vocabulary capability of multiple 2D models and migrate it to 3D domain. Specifically, we first propose Model Alignment via Text to map different 2D models into the same embedding space using text as a bridge. Then, we propose Annotation-Free Model Capability Construction to explicitly quantify the 2D model's capability of recognizing different categories using diffusion models. Following this, point cloud features from different 2D models are fused with the guide of constructed model capabilities. Finally, the integrated 2D open vocabulary capability is transferred to 3D domain through feature distillation. SAS outperforms previous methods by a large margin across multiple datasets, including ScanNet v2, Matterport3D, and nuScenes, while its generalizability is further validated on downstream tasks, e.g., gaussian segmentation and instance segmentation.
OMNI-DC: Highly Robust Depth Completion with Multiresolution Depth Integration
Venue: Conference ICCV 2025
Year: 2025

Depth completion (DC) aims to predict a dense depth map from an RGB image and a sparse depth map. Existing DC methods generalize poorly to new datasets or unseen sparse depth patterns, limiting their real-world applications. We propose OMNI-DC, a highly robust DC model that generalizes well zero-shot to various datasets. The key design is a novel Multi-resolution Depth Integrator, allowing our model to deal with very sparse depth inputs. We also introduce a novel Laplacian loss to model the ambiguity in the training process. Moreover, we train OMNI-DC on a mixture of high-quality datasets with a scale normalization technique and synthetic depth patterns. Extensive experiments on 7 datasets show consistent improvements over baselines, reducing errors by as much as 43%. Codes and checkpoints are available at https://github.com/princeton-vl/OMNI-DC.
4D Gaussian Splatting SLAM
Venue: Conference ICCV 2025
Year: 2025

Simultaneously localizing camera poses and constructing Gaussian radiance fields in dynamic scenes establish a crucial bridge between 2D images and the 4D real world. Instead of removing dynamic objects as distractors and reconstructing only static environments, this paper proposes an efficient architecture that incrementally tracks camera poses and establishes the 4D Gaussian radiance fields in unknown scenarios by using a sequence of RGB-D images. First, by generating motion masks, we obtain static and dynamic priors for each pixel. To eliminate the influence of static scenes and improve the efficiency on learning the motion of dynamic objects, we classify the Gaussian primitives into static and dynamic Gaussian sets, while the sparse control points along with an MLP is utilized to model the transformation fields of the dynamic Gaussians. To more accurately learn the motion of dynamic Gaussians, a novel 2D optical flow map reconstruction algorithm is designed to render optical flows of dynamic objects between neighbor images, which are further used to supervise the 4D Gaussian radiance fields along with traditional photometric and geometric constraints. In experiments, qualitative and quantitative evaluation results show that the proposed method achieves robust tracking and high-quality view synthesis performance in real-world environments.
PHD: Personalized 3D Human Body Fitting with Point Diffusion
Venue: Conference ICCV 2025
Year: 2025

We introduce PHD, a novel approach for personalized 3D human mesh recovery (HMR) and body fitting that leverages user-specific shape information to improve pose estimation accuracy from videos. Traditional HMR methods are designed to be user-agnostic and optimized for generalization. While these methods often refine poses using constraints derived from the 2D image to improve alignment, this process compromises 3D accuracy by failing to jointly account for person-specific body shapes and the plausibility of 3D poses. In contrast, our pipeline decouples this process by first calibrating the user's body shape and then employing a personalized pose fitting process conditioned on that shape. To achieve this, we develop a body shape-conditioned 3D pose prior, implemented as a Point Diffusion Transformer, which iteratively guides the pose fitting via a Point Distillation Sampling loss. This learned 3D pose prior effectively mitigates errors arising from an over-reliance on 2D constraints. Consequently, our approach improves not only pelvis-aligned pose accuracy but also absolute pose accuracy -- an important metric often overlooked by prior work. Furthermore, our method is highly data-efficient, requiring only synthetic data for training, and serves as a versatile plug-and-play module that can be seamlessly integrated with existing 3D pose estimators to enhance their performance. Project page: https://phd-pose.github.io/
SteerX: Creating Any Camera-Free 3D and 4D Scenes with Geometric Steering
Venue: Conference ICCV 2025
Year: 2025

Recent progress in 3D/4D scene generation emphasizes the importance of physical alignment throughout video generation and scene reconstruction. However, existing methods improve the alignment separately at each stage, making it difficult to manage subtle misalignments arising from another stage. Here, we present SteerX, a zero-shot inference-time steering method that unifies scene reconstruction into the generation process, tilting data distributions toward better geometric alignment. To this end, we introduce two geometric reward functions for 3D/4D scene generation by using pose-free feed-forward scene reconstruction models. Through extensive experiments, we demonstrate the effectiveness of SteerX in improving 3D/4D scene generation.
Hierarchical Material Recognition from Local Appearance
Venue: Conference ICCV 2025
Year: 2025

We introduce a taxonomy of materials for hierarchical recognition from local appearance. Our taxonomy is motivated by vision applications and is arranged according to the physical traits of materials. We contribute a diverse, in-the-wild dataset with images and depth maps of the taxonomy classes. Utilizing the taxonomy and dataset, we present a method for hierarchical material recognition based on graph attention networks. Our model leverages the taxonomic proximity between classes and achieves state-of-the-art performance. We demonstrate the model's potential to generalize to adverse, real-world imaging conditions, and that novel views rendered using the depth maps can enhance this capability. Finally, we show the model's capacity to rapidly learn new materials in a few-shot learning setting.
Unleashing the Temporal Potential of Stereo Event Cameras for Continuous-Time 3D Object Detection
Venue: Conference ICCV 2025
Year: 2025

3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event cameras, with their asynchronous nature and high temporal resolution, offer a solution by capturing motion continuously. The recent approach, which integrates event cameras with conventional sensors for continuous-time detection, struggles in fast-motion scenarios due to its dependency on synchronized sensors. We propose a novel stereo 3D object detection framework that relies solely on event cameras, eliminating the need for conventional 3D sensors. To compensate for the lack of semantic and geometric information in event data, we introduce a dual filter mechanism that extracts both. Additionally, we enhance regression by aligning bounding boxes with object-centric information. Experiments show that our method outperforms prior approaches in dynamic environments, demonstrating the potential of event cameras for robust, continuous-time 3D perception. The code is available at https://github.com/mickeykang16/Ev-Stereo3D.
SweetTok: Semantic-Aware Spatial-Temporal Tokenizer for Compact Video Discretization
Venue: Conference ICCV 2025
Year: 2025

This paper presents the \textbf{S}emantic-a\textbf{W}ar\textbf{E} spatial-t\textbf{E}mporal \textbf{T}okenizer (SweetTok), a novel video tokenizer to overcome the limitations in current video tokenization methods for compacted yet effective discretization. Unlike previous approaches that process flattened local visual patches via direct discretization or adaptive query tokenization, SweetTok proposes a decoupling framework, compressing visual inputs through distinct spatial and temporal queries via \textbf{D}ecoupled \textbf{Q}uery \textbf{A}uto\textbf{E}ncoder (DQAE). This design allows SweetTok to efficiently compress video token count while achieving superior fidelity by capturing essential information across spatial and temporal dimensions. Furthermore, we design a \textbf{M}otion-enhanced \textbf{L}anguage \textbf{C}odebook (MLC) tailored for spatial and temporal compression to address the differences in semantic representation between appearance and motion information. SweetTok significantly improves video reconstruction results by \textbf{42.8\%} w.r.t rFVD on UCF-101 dataset. With a better token compression strategy, it also boosts downstream video generation results by \textbf{15.1\%} w.r.t gFVD. Additionally, the compressed decoupled tokens are imbued with semantic information, enabling few-shot recognition capabilities powered by LLMs in downstream applications.
CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perception
Venue: Conference ICCV 2025
Year: 2025

Cooperative perception aims to address the inherent limitations of single-vehicle autonomous driving systems through information exchange among multiple agents. Previous research has primarily focused on single-frame perception tasks. However, the more challenging cooperative sequential perception tasks, such as cooperative 3D multi-object tracking, have not been thoroughly investigated. Therefore, we propose CoopTrack, a fully instance-level end-to-end framework for cooperative tracking, featuring learnable instance association, which fundamentally differs from existing approaches. CoopTrack transmits sparse instance-level features that significantly enhance perception capabilities while maintaining low transmission costs. Furthermore, the framework comprises two key components: Multi-Dimensional Feature Extraction, and Cross-Agent Association and Aggregation, which collectively enable comprehensive instance representation with semantic and motion features, and adaptive cross-agent association and fusion based on a feature graph. Experiments on both the V2X-Seq and Griffin datasets demonstrate that CoopTrack achieves excellent performance. Specifically, it attains state-of-the-art results on V2X-Seq, with 39.0\% mAP and 32.8\% AMOTA. The project is available at https://github.com/zhongjiaru/CoopTrack.
R1-VL: Learning to Reason with Multimodal Large Language Models via Step-wise Group Relative Policy Optimization
Venue: Conference ICCV 2025
Year: 2025

Recent studies generally enhance MLLMs' reasoning capabilities via supervised fine-tuning on high-quality chain-of-thought reasoning data, which often leads models to merely imitate successful reasoning paths without understanding what the wrong reasoning paths are. In this work, we aim to enhance the MLLMs' reasoning ability beyond passively imitating positive reasoning paths. To this end, we design Step-wise Group Relative Policy Optimization (StepGRPO), a new online reinforcement learning framework that enables MLLMs to self-improve reasoning ability via simple, effective and dense step-wise rewarding. Specifically, StepGRPO introduces two novel rule-based reasoning rewards: Step-wise Reasoning Accuracy Reward (StepRAR) and Step-wise Reasoning Validity Reward (StepRVR). StepRAR rewards the reasoning paths that contain necessary intermediate reasoning steps via a soft key-step matching technique, while StepRAR rewards reasoning paths that follow a well-structured and logically consistent reasoning process through a reasoning completeness and logic evaluation strategy. With the proposed StepGRPO, we introduce R1-VL, a series of MLLMs with outstanding capabilities in step-by-step reasoning. Extensive experiments over 8 benchmarks demonstrate the superiority of our methods.
Not All Degradations Are Equal: A Targeted Feature Denoising Framework for Generalizable Image Super-Resolution
Venue: Conference ICCV 2025
Year: 2025

Generalizable Image Super-Resolution aims to enhance model generalization capabilities under unknown degradations. To achieve this goal, the models are expected to focus only on image content-related features instead of overfitting degradations. Recently, numerous approaches such as Dropout and Feature Alignment have been proposed to suppress models' natural tendency to overfit degradations and yield promising results. Nevertheless, these works have assumed that models overfit to all degradation types (e.g., blur, noise, JPEG), while through careful investigations in this paper, we discover that models predominantly overfit to noise, largely attributable to its distinct degradation pattern compared to other degradation types. In this paper, we propose a targeted feature denoising framework, comprising noise detection and denoising modules. Our approach presents a general solution that can be seamlessly integrated with existing super-resolution models without requiring architectural modifications. Our framework demonstrates superior performance compared to previous regularization-based methods across five traditional benchmarks and datasets, encompassing both synthetic and real-world scenarios.
Rep-MTL: Unleashing the Power of Representation-level Task Saliency for Multi-Task Learning
Venue: Conference ICCV 2025
Year: 2025

Despite the promise of Multi-Task Learning in leveraging complementary knowledge across tasks, existing multi-task optimization (MTO) techniques remain fixated on resolving conflicts via optimizer-centric loss scaling and gradient manipulation strategies, yet fail to deliver consistent gains. In this paper, we argue that the shared representation space, where task interactions naturally occur, offers rich information and potential for operations complementary to existing optimizers, especially for facilitating the inter-task complementarity, which is rarely explored in MTO. This intuition leads to Rep-MTL, which exploits the representation-level task saliency to quantify interactions between task-specific optimization and shared representation learning. By steering these saliencies through entropy-based penalization and sample-wise cross-task alignment, Rep-MTL aims to mitigate negative transfer by maintaining the effective training of individual tasks instead pure conflict-solving, while explicitly promoting complementary information sharing. Experiments are conducted on four challenging MTL benchmarks covering both task-shift and domain-shift scenarios. The results show that Rep-MTL, even paired with the basic equal weighting policy, achieves competitive performance gains with favorable efficiency. Beyond standard performance metrics, Power Law exponent analysis demonstrates Rep-MTL's efficacy in balancing task-specific learning and cross-task sharing. The project page is available at HERE.
TLB-VFI: Temporal-Aware Latent Brownian Bridge Diffusion for Video Frame Interpolation
Venue: Conference ICCV 2025
Year: 2025

Video Frame Interpolation (VFI) aims to predict the intermediate frame $I_n$ (we use n to denote time in videos to avoid notation overload with the timestep $t$ in diffusion models) based on two consecutive neighboring frames $I_0$ and $I_1$. Recent approaches apply diffusion models (both image-based and video-based) in this task and achieve strong performance. However, image-based diffusion models are unable to extract temporal information and are relatively inefficient compared to non-diffusion methods. Video-based diffusion models can extract temporal information, but they are too large in terms of training scale, model size, and inference time. To mitigate the above issues, we propose Temporal-Aware Latent Brownian Bridge Diffusion for Video Frame Interpolation (TLB-VFI), an efficient video-based diffusion model. By extracting rich temporal information from video inputs through our proposed 3D-wavelet gating and temporal-aware autoencoder, our method achieves 20% improvement in FID on the most challenging datasets over recent SOTA of image-based diffusion models. Meanwhile, due to the existence of rich temporal information, our method achieves strong performance while having 3times fewer parameters. Such a parameter reduction results in 2.3x speed up. By incorporating optical flow guidance, our method requires 9000x less training data and achieves over 20x fewer parameters than video-based diffusion models. Codes and results are available at our project page: https://zonglinl.github.io/tlbvfi_page.
Gaussian Splatting with Discretized SDF for Relightable Assets
Venue: Conference ICCV 2025
Year: 2025

3D Gaussian splatting (3DGS) has shown its detailed expressive ability and highly efficient rendering speed in the novel view synthesis (NVS) task. The application to inverse rendering still faces several challenges, as the discrete nature of Gaussian primitives makes it difficult to apply geometry constraints. Recent works introduce the signed distance field (SDF) as an extra continuous representation to regularize the geometry defined by Gaussian primitives. It improves the decomposition quality, at the cost of increasing memory usage and complicating training. Unlike these works, we introduce a discretized SDF to represent the continuous SDF in a discrete manner by encoding it within each Gaussian using a sampled value. This approach allows us to link the SDF with the Gaussian opacity through an SDF-to-opacity transformation, enabling rendering the SDF via splatting and avoiding the computational cost of ray marching.The key challenge is to regularize the discrete samples to be consistent with the underlying SDF, as the discrete representation can hardly apply the gradient-based constraints (\eg Eikonal loss). For this, we project Gaussians onto the zero-level set of SDF and enforce alignment with the surface from splatting, namely a projection-based consistency loss. Thanks to the discretized SDF, our method achieves higher relighting quality, while requiring no extra memory beyond GS and avoiding complex manually designed optimization. The experiments reveal that our method outperforms existing Gaussian-based inverse rendering methods. Our code is available at https://github.com/NK-CS-ZZL/DiscretizedSDF.
Region-based Cluster Discrimination for Visual Representation Learning
Venue: Conference ICCV 2025
Year: 2025

Learning visual representations is foundational for a broad spectrum of downstream tasks. Although recent vision-language contrastive models, such as CLIP and SigLIP, have achieved impressive zero-shot performance via large-scale vision-language alignment, their reliance on global representations constrains their effectiveness for dense prediction tasks, such as grounding, OCR, and segmentation. To address this gap, we introduce Region-Aware Cluster Discrimination (RICE), a novel method that enhances region-level visual and OCR capabilities. We first construct a billion-scale candidate region dataset and propose a Region Transformer layer to extract rich regional semantics. We further design a unified region cluster discrimination loss that jointly supports object and OCR learning within a single classification framework, enabling efficient and scalable distributed training on large-scale data. Extensive experiments show that RICE consistently outperforms previous methods on tasks, including segmentation, dense detection, and visual perception for Multimodal Large Language Models (MLLMs). The pre-trained models have been released at https://github.com/deepglint/MVT.
AAA-Gaussians: Anti-Aliased and Artifact-Free 3D Gaussian Rendering
Venue: Conference ICCV 2025
Year: 2025

Although 3D Gaussian Splatting (3DGS) has revolutionized 3D reconstruction, it still faces challenges such as aliasing, projection artifacts, and view inconsistencies, primarily due to the simplification of treating splats as 2D entities. We argue that incorporating full 3D evaluation of Gaussians throughout the 3DGS pipeline can effectively address these issues while preserving rasterization efficiency. Specifically, we introduce an adaptive 3D smoothing filter to mitigate aliasing and present a stable view-space bounding method that eliminates popping artifacts when Gaussians extend beyond the view frustum. Furthermore, we promote tile-based culling to 3D with screen-space planes, accelerating rendering and reducing sorting costs for hierarchical rasterization. Our method achieves state-of-the-art quality on in-distribution evaluation sets and significantly outperforms other approaches for out-of-distribution views. Our qualitative evaluations further demonstrate the effective removal of aliasing, distortions, and popping artifacts, ensuring real-time, artifact-free rendering.
EvRT-DETR: Latent Space Adaptation of Image Detectors for Event-based Vision
Venue: Conference ICCV 2025
Year: 2025

Event-based cameras (EBCs) have emerged as a bio-inspired alternative to traditional cameras, offering advantages in power efficiency, temporal resolution, and high dynamic range. However, the development of image analysis methods for EBCs is challenging due to the sparse and asynchronous nature of the data. This work addresses the problem of object detection for EBC cameras. The current approaches to EBC object detection focus on constructing complex data representations and rely on specialized architectures. We introduce I2EvDet (Image-to-Event Detection), a novel adaptation framework that bridges mainstream object detection with temporal event data processing. First, we demonstrate that a Real-Time DEtection TRansformer, or RT-DETR, a state-of-the-art natural image detector, trained on a simple image-like representation of the EBC data achieves performance comparable to specialized EBC methods. Next, as part of our framework, we develop an efficient adaptation technique that transforms image-based detectors into event-based detection models by modifying their frozen latent representation space through minimal architectural additions. The resulting EvRT-DETR model reaches state-of-the-art performance on the standard benchmark datasets Gen1 (mAP $+2.3$) and 1Mpx/Gen4 (mAP $+1.4$). These results demonstrate a fundamentally new approach to EBC object detection through principled adaptation of mainstream architectures, offering an efficient alternative with potential applications to other temporal visual domains. The code is available at: https://github.com/realtime-intelligence/evrt-detr