OpenRaiser/Intern-Atlas huggingface dataset:
STD-GS: Exploring Frame-Event Interaction for SpatioTemporal-Disentangled Gaussian Splatting to Reconstruct High-Dynamic Scene
Venue: Conference ICCV 2025
Year: 2025

High-dynamic scene reconstruction aims to represent static background with rigid spatial features and dynamic objects with deformed continuous spatiotemporal features. Typically, existing methods adopt unified representation model (e.g., Gaussian) to directly match the spatiotemporal features of dynamic scene from frame camera. However, this unified paradigm fails in the potential discontinuous temporal features of objects due to frame imaging and the heterogeneous spatial features between background and objects. To address this issue, we disentangle the spatiotemporal features into various latent representations to alleviate the spatiotemporal mismatching between background and objects. In this work, we introduce event camera to compensate for frame camera, and propose a spatiotemporal-disentangled Gaussian splatting framework for high-dynamic scene reconstruction. As for dynamic scene, we figure out that background and objects have appearance discrepancy in frame-based spatial features and motion discrepancy in event-based temporal features, which motivates us to distinguish the spatiotemporal features between background and objects via clustering. As for dynamic object, we discover that Gaussian representations and event data share the consistent spatiotemporal characteristic, which could serve as a prior to guide the spatiotemporal disentanglement of object Gaussians. Within Gaussian splatting framework, the cumulative scene-object disentanglement can improve the spatiotemporal discrimination between background and objects to render the time-continuous dynamic scene. Extensive experiments have been performed to verify the superiority of the proposed method.
Weakly-Supervised Learning of Dense Functional Correspondences
Venue: Conference ICCV 2025
Year: 2025

Establishing dense correspondences across image pairs is essential for tasks such as shape reconstruction and robot manipulation. In the challenging setting of matching across different categories, the function of an object, i.e., the effect that an object can cause on other objects, can guide how correspondences should be established. This is because object parts that enable specific functions often share similarities in shape and appearance. We derive the definition of dense functional correspondence based on this observation and propose a weakly-supervised learning paradigm to tackle the prediction task. The main insight behind our approach is that we can leverage vision-language models to pseudo-label multi-view images to obtain functional parts. We then integrate this with dense contrastive learning from pixel correspondences to distill both functional and spatial knowledge into a new model that can establish dense functional correspondence. Further, we curate synthetic and real evaluation datasets as task benchmarks. Our results demonstrate the advantages of our approach over baseline solutions consisting of off-the-shelf self-supervised image representations and grounded vision language models.
ReFlex: Text-Guided Editing of Real Images in Rectified Flow via Mid-Step Feature Extraction and Attention Adaptation
Venue: Conference ICCV 2025
Year: 2025

Rectified Flow text-to-image models surpass diffusion models in image quality and text alignment, but adapting ReFlow for real-image editing remains challenging. We propose a new real-image editing method for ReFlow by analyzing the intermediate representations of multimodal transformer blocks and identifying three key features. To extract these features from real images with sufficient structural preservation, we leverage mid-step latent, which is inverted only up to the mid-step. We then adapt attention during injection to improve editability and enhance alignment to the target text. Our method is training-free, requires no user-provided mask, and can be applied even without a source prompt. Extensive experiments on two benchmarks with nine baselines demonstrate its superior performance over prior methods, further validated by human evaluations confirming a strong user preference for our approach.
Object-level Correlation for Few-Shot Segmentation
Venue: Conference ICCV 2025
Year: 2025

Few-shot semantic segmentation (FSS) aims to segment objects of novel categories in the query images given only a few annotated support samples. Existing methods primarily build the image-level correlation between the support target object and the entire query image. However, this correlation contains the hard pixel noise, \textit{i.e.}, irrelevant background objects, that is intractable to trace and suppress, leading to the overfitting of the background. To address the limitation of this correlation, we imitate the biological vision process to identify novel objects in the object-level information. Target identification in the general objects is more valid than in the entire image, especially in the low-data regime. Inspired by this, we design an Object-level Correlation Network (OCNet) by establishing the object-level correlation between the support target object and query general objects, which is mainly composed of the General Object Mining Module (GOMM) and Correlation Construction Module (CCM). Specifically, GOMM constructs the query general object feature by learning saliency and high-level similarity cues, where the general objects include the irrelevant background objects and the target foreground object. Then, CCM establishes the object-level correlation by allocating the target prototypes to match the general object feature. The generated object-level correlation can mine the query target feature and suppress the hard pixel noise for the final prediction. Extensive experiments on PASCAL-${5}^{i}$ and COCO-${20}^{i}$ show that our model achieves the state-of-the-art performance.
SAMO: A Lightweight Sharpness-Aware Approach for Multi-Task Optimization with Joint Global-Local Perturbation
Venue: Conference ICCV 2025
Year: 2025

Multi-task learning (MTL) enables a joint model to capture commonalities across multiple tasks, reducing computation costs and improving data efficiency. However, a major challenge in MTL optimization is task conflicts, where the task gradients differ in direction or magnitude, limiting model performance compared to single-task counterparts. Sharpness-aware minimization (SAM) minimizes task loss while simultaneously reducing the sharpness of the loss landscape. Our empirical observations show that SAM effectively mitigates task conflicts in MTL. Motivated by these findings, we explore integrating SAM into MTL but face two key challenges. While both the average loss gradient and individual task gradients-referred to as global and local information-contribute to SAM, how to combine them remains unclear. Moreover, directly computing each task gradient introduces significant computational and memory overheads. To address these challenges, we propose SAMO, a lightweight \textbf{S}harpness-\textbf{A}ware \textbf{M}ulti-task \textbf{O}ptimization approach, that leverages a joint global-local perturbation. The local perturbations are approximated using only forward passes and are layerwise normalized to improve efficiency. Extensive experiments on a suite of multi-task benchmarks demonstrate both the effectiveness and efficiency of our method. Code is available at https://github.com/OptMN-Lab/SAMO.
CharaConsist: Fine-Grained Consistent Character Generation
Venue: Conference ICCV 2025
Year: 2025

In text-to-image generation, producing a series of consistent contents that preserve the same identity is highly valuable for real-world applications. Although a few works have explored training-free methods to enhance the consistency of generated subjects, we observe that they suffer from the following problems. First, they fail to maintain consistent background details, which limits their applicability. Furthermore, when the foreground character undergoes large motion variations, inconsistencies in identity and clothing details become evident. To address these problems, we propose CharaConsist, which employs point-tracking attention and adaptive token merge along with decoupled control of the foreground and background. CharaConsist enables fine-grained consistency for both foreground and background, supporting the generation of one character in continuous shots within a fixed scene or in discrete shots across different scenes. Moreover, CharaConsist is the first consistent generation method tailored for text-to-image DiT model. Its ability to maintain fine-grained consistency, combined with the larger capacity of latest base model, enables it to produce high-quality visual outputs, broadening its applicability to a wider range of real-world scenarios. The source code has been released at https://github.com/Murray-Wang/CharaConsist
RoboTron-Mani: All-in-One Multimodal Large Model for Robotic Manipulation
Venue: Conference ICCV 2025
Year: 2025

Recently, robotics has advanced significantly through the integration of larger models and large-scale datasets. However, challenges remain in applying these models to 3D spatial interactions and managing data collection costs. To address these issues, we propose the multimodal robotic manipulation model RoboTron-Mani and the comprehensive dataset RoboData. RoboTron-Mani, on one hand, enhances 3D perception through camera parameters and occupancy supervision. On the other hand, it further incorporates Modality-Isolation-Mask and multimodal decoder blocks based on OpenFlamingo, improving modality fusion and fine-grained perception. RoboData integrats several publicly-available datasets, achieving the first fusion of multi-view images, camera parameters, depth maps, actions, and space alignment, which facilitates comprehensive learning from diverse robotic datasets and offers one complete evaluation system. Trained on RoboData, RoboTron-Mani is the first generalist policy that surpasses expert models, enabling simultaneous evaluation of all tasks across multiple datasets, rather than being limited to specific data or task selections. Specifically, RoboTron-Mani boosts manipulation performance by increasing the average sequence length on CALVIN from 1.7 to 3.5, enabling cross-embodiment generalization, and achieving state-of-the-art results on both simulated and real-world datasets.
TAR3D: Creating High-Quality 3D Assets via Next-Part Prediction
Venue: Conference ICCV 2025
Year: 2025

We present TAR3D, a novel framework that consists of a 3D-aware Vector Quantized-Variational AutoEncoder (VQ-VAE) and a Generative Pre-trained Transformer (GPT) to generate high-quality 3D assets. The core insight of this work is to migrate the multimodal unification and promising learning capabilities of the next-token prediction paradigm to conditional 3D object generation. To achieve this, the 3D VQ-VAE first encodes a wide range of 3D shapes into a compact triplane latent space and utilizes a set of discrete representations from a trainable codebook to reconstruct fine-grained geometries under the supervision of query point occupancy. Then, the 3D GPT, equipped with a custom triplane position embedding called TriPE, predicts the codebook index sequence with prefilling prompt tokens in an autoregressive manner so that the composition of 3D geometries can be modeled part by part. Extensive experiments on ShapeNet and Objaverse demonstrate that TAR3D can achieve superior generation quality over existing methods in text-to-3D and image-to-3D tasks
CVFusion: Cross-View Fusion of 4D Radar and Camera for 3D Object Detection
Venue: Conference ICCV 2025
Year: 2025

4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by integrating images from camera and perform modality fusion in BEV space. However, the potential of the radar and the fusion mechanism is still largely unexplored, hindering the performance improvement. In this study, we propose a cross-view two-stage fusion network called CVFusion. In the first stage, we design a radar guided iterative (RGIter) BEV fusion module to generate high-recall 3D proposal boxes. In the second stage, we aggregate features from multiple heterogeneous views including points, image, and BEV for each proposal. These comprehensive instance level features greatly help refine the proposals and generate high-quality predictions. Extensive experiments on public datasets show that our method outperforms the previous state-of-the-art methods by a large margin, with 9.10% and 3.68% mAP improvements on View-of-Delft (VoD) and TJ4DRadSet, respectively. Our code will be made publicly available.
Efficient Input-level Backdoor Defense on Text-to-Image Synthesis via Neuron Activation Variation
Venue: Conference ICCV 2025
Year: 2025

In recent years, text-to-image (T2I) diffusion models have gained significant attention for their ability to generate high quality images reflecting text prompts. However, their growing popularity has also led to the emergence of backdoor threats, posing substantial risks. Currently, effective defense strategies against such threats are lacking due to the diversity of backdoor targets in T2I synthesis. In this paper, we propose NaviT2I, an efficient input-level backdoor defense framework against diverse T2I backdoors. Our approach is based on the new observation that trigger tokens tend to induce significant neuron activation variation in the early stage of the diffusion generation process, a phenomenon we term Early-step Activation Variation. Leveraging this insight, NaviT2I navigates T2I models to prevent malicious inputs by analyzing Neuron activation variations caused by input tokens. Extensive experiments show that NaviT2I significantly outperforms the baselines in both effectiveness and efficiency across diverse datasets, various T2I backdoors, and different model architectures including UNet and DiT. Furthermore, we show that our method remains effective under potential adaptive attacks.
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
Venue: Conference ICCV 2025
Year: 2025

In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it effectively. Many navigation approaches primarily define success by proximity to the target, often overlooking the necessity for optimal positioning that facilitates subsequent manipulation. To address this, we introduce MoMa-Kitchen, a benchmark dataset comprising over 100k samples that provide training data for models to learn optimal final navigation positions for seamless transition to manipulation. Our dataset includes affordance-grounded floor labels collected from diverse kitchen environments, in which robotic mobile manipulators of different models attempt to grasp target objects amidst clutter. Using a fully automated pipeline, we simulate diverse real-world scenarios and generate affordance labels for optimal manipulation positions. Visual data are collected from RGB-D inputs captured by a first-person view camera mounted on the robotic arm, ensuring consistency in viewpoint during data collection. We also develop a lightweight baseline model, NavAff, for navigation affordance grounding that demonstrates promising performance on the MoMa-Kitchen benchmark. Our approach enables models to learn affordance-based final positioning that accommodates different arm types and platform heights, thereby paving the way for more robust and generalizable integration of navigation and manipulation in embodied AI. Project page: \href{https://momakitchen.github.io/}{https://momakitchen.github.io/}.
RobustSplat: Decoupling Densification and Dynamics for Transient-Free 3DGS
Venue: Conference ICCV 2025
Year: 2025

3D Gaussian Splatting (3DGS) has gained significant attention for its real-time, photo-realistic rendering in novel-view synthesis and 3D modeling. However, existing methods struggle with accurately modeling scenes affected by transient objects, leading to artifacts in the rendered images. We identify that the Gaussian densification process, while enhancing scene detail capture, unintentionally contributes to these artifacts by growing additional Gaussians that model transient disturbances. To address this, we propose RobustSplat, a robust solution based on two critical designs. First, we introduce a delayed Gaussian growth strategy that prioritizes optimizing static scene structure before allowing Gaussian splitting/cloning, mitigating overfitting to transient objects in early optimization. Second, we design a scale-cascaded mask bootstrapping approach that first leverages lower-resolution feature similarity supervision for reliable initial transient mask estimation, taking advantage of its stronger semantic consistency and robustness to noise, and then progresses to high-resolution supervision to achieve more precise mask prediction. Extensive experiments on multiple challenging datasets show that our method outperforms existing methods, clearly demonstrating the robustness and effectiveness of our method. Our project page is https://fcyycf.github.io/RobustSplat/.
Generalized Deep Multi-view Clustering via Causal Learning with Partially Aligned Cross-view Correspondence
Venue: Conference ICCV 2025
Year: 2025

Multi-view clustering (MVC) aims to explore the common clustering structure across multiple views. Many existing MVC methods heavily rely on the assumption of view consistency, where alignments for corresponding samples across different views are ordered in advance. However, real-world scenarios often present a challenge as only partial data is consistently aligned across different views, restricting the overall clustering performance. In this work, we consider the model performance decreasing phenomenon caused by data order shift (i.e., from fully to partially aligned) as a generalized multi-view clustering problem. To tackle this problem, we design a causal multi-view clustering network, termed CauMVC. We adopt a causal modeling approach to understand multi-view clustering procedure. To be specific, we formulate the partially aligned data as an intervention and multi-view clustering with partially aligned data as an post-intervention inference. However, obtaining invariant features directly can be challenging. Thus, we design a Variational Auto-Encoder for causal learning by incorporating an encoder from existing information to estimate the invariant features. Moreover, a decoder is designed to perform the post-intervention inference. Lastly, we design a contrastive regularizer to capture sample correlations. To the best of our knowledge, this paper is the first work to deal generalized multi-view clustering via causal learning. Empirical experiments on both fully and partially aligned data illustrate the strong generalization and effectiveness of CauMVC.
FedMeNF: Privacy-Preserving Federated Meta-Learning for Neural Fields
Venue: Conference ICCV 2025
Year: 2025

Neural fields provide a memory-efficient representation of data, which can effectively handle diverse modalities and large-scale data. However, learning to map neural fields often requires large amounts of training data and computations, which can be limited to resource-constrained edge devices. One approach to tackle this limitation is to leverage Federated Meta-Learning (FML), but traditional FML approaches suffer from privacy leakage. To address these issues, we introduce a novel FML approach called FedMeNF. FedMeNF utilizes a new privacy-preserving loss function that regulates privacy leakage in the local meta-optimization. This enables the local meta-learner to optimize quickly and efficiently without retaining the client's private data. Our experiments demonstrate that FedMeNF achieves fast optimization speed and robust reconstruction performance, even with few-shot or non-IID data across diverse data modalities, while preserving client data privacy.
MeshLLM: Empowering Large Language Models to Progressively Understand and Generate 3D Mesh
Venue: Conference ICCV 2025
Year: 2025

We present MeshLLM, a novel framework that leverages large language models (LLMs) to understand and generate text-serialized 3D meshes. Our approach addresses key limitations in existing methods, including the limited dataset scale when catering to LLMs' token length and the loss of 3D structural information during mesh serialization. We introduce a Primitive-Mesh decomposition strategy, which divides 3D meshes into structurally meaningful subunits. This enables the creation of a large-scale dataset with 1500k+ samples, almost 50 times larger than previous methods, which aligns better with the LLM scaling law principles. Furthermore, we propose inferring face connectivity from vertices and local mesh assembly training strategies, significantly enhancing the LLMs' ability to capture mesh topology and spatial structures. Experiments show that MeshLLM outperforms the state-of-the-art LLaMA-Mesh in both mesh generation quality and shape understanding, highlighting its great potential in processing text-serialized 3D meshes.
FOLDER: Accelerating Multi-Modal Large Language Models with Enhanced Performance
Venue: Conference ICCV 2025
Year: 2025

Recently, Multi-modal Large Language Models (MLLMs) have shown remarkable effectiveness for multi-modal tasks due to their abilities to generate and understand cross-modal data. However, processing long sequences of visual tokens extracted from visual backbones poses a challenge for deployment in real-time applications. To address this issue, we introduce FOLDER, a simple yet effective plug-and-play module designed to reduce the length of the visual token sequence, mitigating both computational and memory demands during training and inference. Through a comprehensive analysis of the token reduction process, we analyze the information loss introduced by different reduction strategies and develop FOLDER to preserve key information while removing visual redundancy. We showcase the effectiveness of FOLDER by integrating it into the visual backbone of several MLLMs, significantly accelerating the inference phase. Furthermore, we evaluate its utility as a training accelerator or even performance booster for MLLMs. In both contexts, FOLDER achieves comparable or even better performance than the original models, while dramatically reducing complexity by removing up to 70% of visual tokens.
A Hyperdimensional One Place Signature to Represent Them All: Stackable Descriptors For Visual Place Recognition
Venue: Conference ICCV 2025
Year: 2025

Visual Place Recognition (VPR) enables coarse localization by comparing query images to a reference database of geo-tagged images. Recent breakthroughs in deep learning architectures and training regimes have led to methods with improved robustness to factors like environment appearance change, but with the downside that the required training and/or matching compute scales with the number of distinct environmental conditions encountered. Here, we propose Hyperdimensional One Place Signatures (HOPS) to simultaneously improve the performance, compute and scalability of these state-of-the-art approaches by fusing the descriptors from multiple reference sets captured under different conditions. HOPS scales to any number of environmental conditions by leveraging the Hyperdimensional Computing framework. Extensive evaluations demonstrate that our approach is highly generalizable and consistently improves recall performance across all evaluated VPR methods and datasets by large margins. Arbitrarily fusing reference images without compute penalty enables numerous other useful possibilities, three of which we demonstrate here: descriptor dimensionality reduction with no performance penalty, stacking synthetic images, and coarse localization to an entire traverse or environmental section.