pwc-archive/papers-with-abstracts huggingface dataset:
A distributed motion planning approach to cooperative underwater acoustic source tracking and pursuit
Authors: Andrea Tiranti, Francesco Wanderlingh, Enrico Simetti, Marco Baglietto, Giovanni Indiveri, Antonio Pascoal
Date: 2025-06-09 00:00:00
Tasks: Motion Planning

This paper addresses the problem of underwater acoustic source tracking and pursuit with a team of autonomous underwater vehicles. Producing distributed control strategies in an underwater sensor network is not trivial since communication is primarily acoustic, which makes it intermittent and often plagued with major difficulties. For this reason, we propose an optimization scheme based on a Partially Observable Markov Decision Process for improving the performance of underwater mobile sensor networks, in which autonomous underwater vehicles (agents) play the role of moving nodes of a network. The key idea is to adjust the agents' guidance strategies to achieve coordinated motion planning, enabling optimal geometric configurations between the agents and the target to enhance tracking performance. Such a problem is cast as a multi-objective optimization problem that is solved through a receding horizon lookahead optimization scheme since we are interested in long-term tracking accuracy. The planning strategy is distributed using the sequential multi-agent decision-making paradigm to make the solving tractable since the optimization depends on the joint action domain. A distributed control framework has been implemented in a simulation environment to validate the proposed approach, which explicitly accounts for the major limitations imposed by acoustic communications.
A Temporal FRBR/FRBRoo-Based Model for Component-Level Versioning of Legal Norms
Authors: Hudson de Martim
Date: 2025-06-09 00:00:00
Tasks: Articles, Knowledge Graphs

Effectively representing legal norms for automated processing is a critical challenge, particularly in tracking the diachronic evolution of their hierarchical components (e.g., articles, paragraphs). While foundational frameworks like FRBR/FRBRoo and standards like Akoma Ntoso model legal documents at a macro level, they lack native mechanisms for granular, component-level versioning. This limitation hinders the deterministic point-in-time reconstruction of legal texts, a fundamental capability for reliable Legal Tech and AI applications. This paper proposes a structured, temporal model that extends the FRBRoo framework to address this gap. It introduces specialized subclasses of Expressio - Temporal Version (TV) and Language Version (LV - to represent the state of a legal norm and its linguistic variations at specific points in time. The model applies this same paradigm hierarchically, introducing Component Work (CW), Component Temporal Version (CTV), and Component Language Version (CLV) to track the lifecycle of individual articles, paragraphs, and clauses. Using the Brazilian Federal Constitution as a case study, the paper demonstrates how each amendment creates new Component Temporal Versions for affected provisions, while unaffected components retain their existing versions. This fine-grained, time-aware architecture enables the precise, deterministic retrieval and reconstruction of any part of a legal text as it existed on a specific date. The model provides a robust foundation for developing advanced legal information systems, knowledge graphs, and AI tools capable of accurate historical analysis and impact assessment, overcoming the limitations of current generative models.
Vision Transformers Don't Need Trained Registers
Authors: Nick Jiang, Amil Dravid, Alexei Efros, Yossi Gandelsman
Date: 2025-06-09 00:00:00

We investigate the mechanism underlying a previously identified phenomenon in Vision Transformers -- the emergence of high-norm tokens that lead to noisy attention maps. We observe that in multiple models (e.g., CLIP, DINOv2), a sparse set of neurons is responsible for concentrating high-norm activations on outlier tokens, leading to irregular attention patterns and degrading downstream visual processing. While the existing solution for removing these outliers involves retraining models from scratch with additional learned register tokens, we use our findings to create a training-free approach to mitigate these artifacts. By shifting the high-norm activations from our discovered register neurons into an additional untrained token, we can mimic the effect of register tokens on a model already trained without registers. We demonstrate that our method produces cleaner attention and feature maps, enhances performance over base models across multiple downstream visual tasks, and achieves results comparable to models explicitly trained with register tokens. We then extend test-time registers to off-the-shelf vision-language models to improve their interpretability. Our results suggest that test-time registers effectively take on the role of register tokens at test-time, offering a training-free solution for any pre-trained model released without them.
Hidden in plain sight: VLMs overlook their visual representations
Authors: Stephanie Fu, Tyler Bonnen, Devin Guillory, Trevor Darrell
Date: 2025-06-09 00:00:00
Tasks: Depth Estimation

Language provides a natural interface to specify and evaluate performance on visual tasks. To realize this possibility, vision language models (VLMs) must successfully integrate visual and linguistic information. Our work compares VLMs to a direct readout of their visual encoders to understand their ability to integrate across these modalities. Across a series of vision-centric benchmarks (e.g., depth estimation, correspondence), we find that VLMs perform substantially worse than their visual encoders, dropping to near-chance performance. We investigate these results through a series of analyses across the entire VLM: namely 1) the degradation of vision representations, 2) brittleness to task prompt, and 3) the language model's role in solving the task. We find that the bottleneck in performing these vision-centric tasks lies in this third category; VLMs are not effectively using visual information easily accessible throughout the entire model, and they inherit the language priors present in the LLM. Our work helps diagnose the failure modes of open-source VLMs, and presents a series of evaluations useful for future investigations into visual understanding within VLMs.
ZeroVO: Visual Odometry with Minimal Assumptions
Authors: Lei Lai, Zekai Yin, Eshed Ohn-Bar
Date: 2025-06-09 00:00:00
Proceeding: CVPR 2025 1
Tasks: Autonomous Driving, Camera Calibration, Visual Odometry, Zero-shot Generalization

We introduce ZeroVO, a novel visual odometry (VO) algorithm that achieves zero-shot generalization across diverse cameras and environments, overcoming limitations in existing methods that depend on predefined or static camera calibration setups. Our approach incorporates three main innovations. First, we design a calibration-free, geometry-aware network structure capable of handling noise in estimated depth and camera parameters. Second, we introduce a language-based prior that infuses semantic information to enhance robust feature extraction and generalization to previously unseen domains. Third, we develop a flexible, semi-supervised training paradigm that iteratively adapts to new scenes using unlabeled data, further boosting the models' ability to generalize across diverse real-world scenarios. We analyze complex autonomous driving contexts, demonstrating over 30% improvement against prior methods on three standard benchmarks, KITTI, nuScenes, and Argoverse 2, as well as a newly introduced, high-fidelity synthetic dataset derived from Grand Theft Auto (GTA). By not requiring fine-tuning or camera calibration, our work broadens the applicability of VO, providing a versatile solution for real-world deployment at scale.
MADFormer: Mixed Autoregressive and Diffusion Transformers for Continuous Image Generation
Authors: JunHao Chen, Yulia Tsvetkov, Xiaochuang Han
Date: 2025-06-09 00:00:00
Tasks: Image Generation, multimodal generation

Recent progress in multimodal generation has increasingly combined autoregressive (AR) and diffusion-based approaches, leveraging their complementary strengths: AR models capture long-range dependencies and produce fluent, context-aware outputs, while diffusion models operate in continuous latent spaces to refine high-fidelity visual details. However, existing hybrids often lack systematic guidance on how and why to allocate model capacity between these paradigms. In this work, we introduce MADFormer, a Mixed Autoregressive and Diffusion Transformer that serves as a testbed for analyzing AR-diffusion trade-offs. MADFormer partitions image generation into spatial blocks, using AR layers for one-pass global conditioning across blocks and diffusion layers for iterative local refinement within each block. Through controlled experiments on FFHQ-1024 and ImageNet, we identify two key insights: (1) block-wise partitioning significantly improves performance on high-resolution images, and (2) vertically mixing AR and diffusion layers yields better quality-efficiency balances--improving FID by up to 75% under constrained inference compute. Our findings offer practical design principles for future hybrid generative models.
PairEdit: Learning Semantic Variations for Exemplar-based Image Editing
Authors: Haoguang Lu, Jiacheng Chen, Zhenguo Yang, Aurele Tohokantche Gnanha, Fu Lee Wang, Li Qing, Xudong Mao
Date: 2025-06-09 00:00:00
Tasks: text-guided-image-editing

Recent advancements in text-guided image editing have achieved notable success by leveraging natural language prompts for fine-grained semantic control. However, certain editing semantics are challenging to specify precisely using textual descriptions alone. A practical alternative involves learning editing semantics from paired source-target examples. Existing exemplar-based editing methods still rely on text prompts describing the change within paired examples or learning implicit text-based editing instructions. In this paper, we introduce PairEdit, a novel visual editing method designed to effectively learn complex editing semantics from a limited number of image pairs or even a single image pair, without using any textual guidance. We propose a target noise prediction that explicitly models semantic variations within paired images through a guidance direction term. Moreover, we introduce a content-preserving noise schedule to facilitate more effective semantic learning. We also propose optimizing distinct LoRAs to disentangle the learning of semantic variations from content. Extensive qualitative and quantitative evaluations demonstrate that PairEdit successfully learns intricate semantics while significantly improving content consistency compared to baseline methods. Code will be available at https://github.com/xudonmao/PairEdit.
Reinforcing Multimodal Understanding and Generation with Dual Self-rewards
Authors: Jixiang Hong, Yiran Zhang, Guanzhong Wang, Yi Liu, Ji-Rong Wen, Rui Yan
Date: 2025-06-09 00:00:00

Building upon large language models (LLMs), recent large multimodal models (LMMs) unify cross-model understanding and generation into a single framework. However, LMMs still struggle to achieve accurate image-text alignment, prone to generating text responses contradicting the visual input or failing to follow the text-to-image prompts. Current solutions require external supervision (e.g., human feedback or reward models) and only address unidirectional tasks-either understanding or generation. In this work, based on the observation that understanding and generation are inverse dual tasks, we introduce a self-supervised dual reward mechanism to reinforce the understanding and generation capabilities of LMMs. Specifically, we sample multiple outputs for a given input in one task domain, then reverse the input-output pairs to compute the dual likelihood of the model as self-rewards for optimization. Extensive experimental results on visual understanding and generation benchmarks demonstrate that our method can effectively enhance the performance of the model without any external supervision, especially achieving remarkable improvements in text-to-image tasks.
BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models
Authors: Peiyan Li, Yixiang Chen, Hongtao Wu, Xiao Ma, Xiangnan Wu, Yan Huang, Liang Wang, Tao Kong, Tieniu Tan
Date: 2025-06-09 00:00:00
Tasks: Robot Manipulation, Vision-Language-Action

Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning. However, only few methods incorporate 3D signals into VLMs for action prediction, and they do not fully leverage the spatial structure inherent in 3D data, leading to low sample efficiency. In this paper, we introduce BridgeVLA, a novel 3D VLA model that (1) projects 3D inputs to multiple 2D images, ensuring input alignment with the VLM backbone, and (2) utilizes 2D heatmaps for action prediction, unifying the input and output spaces within a consistent 2D image space. In addition, we propose a scalable pre-training method that equips the VLM backbone with the capability to predict 2D heatmaps before downstream policy learning. Extensive experiments show the proposed method is able to learn 3D manipulation efficiently and effectively. BridgeVLA outperforms state-of-the-art baseline methods across three simulation benchmarks. In RLBench, it improves the average success rate from 81.4% to 88.2%. In COLOSSEUM, it demonstrates significantly better performance in challenging generalization settings, boosting the average success rate from 56.7% to 64.0%. In GemBench, it surpasses all the comparing baseline methods in terms of average success rate. In real-robot experiments, BridgeVLA outperforms a state-of-the-art baseline method by 32% on average. It generalizes robustly in multiple out-of-distribution settings, including visual disturbances and unseen instructions. Remarkably, it is able to achieve a success rate of 96.8% on 10+ tasks with only 3 trajectories per task, highlighting its extraordinary sample efficiency. Project Website:https://bridgevla.github.io/
OpenDance: Multimodal Controllable 3D Dance Generation Using Large-scale Internet Data
Authors: Jinlu Zhang, Zixi Kang, Yizhou Wang
Date: 2025-06-09 00:00:00
Tasks: Diversity

Music-driven dance generation offers significant creative potential yet faces considerable challenges. The absence of fine-grained multimodal data and the difficulty of flexible multi-conditional generation limit previous works on generation controllability and diversity in practice. In this paper, we build OpenDance5D, an extensive human dance dataset comprising over 101 hours across 14 distinct genres. Each sample has five modalities to facilitate robust cross-modal learning: RGB video, audio, 2D keypoints, 3D motion, and fine-grained textual descriptions from human arts. Furthermore, we propose OpenDanceNet, a unified masked modeling framework for controllable dance generation conditioned on music and arbitrary combinations of text prompts, keypoints, or character positioning. Comprehensive experiments demonstrate that OpenDanceNet achieves high-fidelity and flexible controllability.
Task-driven real-world super-resolution of document scans
Authors: Maciej Zyrek, Tomasz Tarasiewicz, Jakub Sadel, Aleksandra Krzywon, Michal Kawulok
Date: 2025-06-08 00:00:00
Tasks: Image Super-Resolution, Multi-Task Learning, Optical Character Recognition, Super-Resolution, Text Detection

Single-image super-resolution refers to the reconstruction of a high-resolution image from a single low-resolution observation. Although recent deep learning-based methods have demonstrated notable success on simulated datasets -- with low-resolution images obtained by degrading and downsampling high-resolution ones -- they frequently fail to generalize to real-world settings, such as document scans, which are affected by complex degradations and semantic variability. In this study, we introduce a task-driven, multi-task learning framework for training a super-resolution network specifically optimized for optical character recognition tasks. We propose to incorporate auxiliary loss functions derived from high-level vision tasks, including text detection using the connectionist text proposal network, text recognition via a convolutional recurrent neural network, keypoints localization using Key.Net, and hue consistency. To balance these diverse objectives, we employ dynamic weight averaging mechanism, which adaptively adjusts the relative importance of each loss term based on its convergence behavior. We validate our approach upon the SRResNet architecture, which is a well-established technique for single-image super-resolution. Experimental evaluations on both simulated and real-world scanned document datasets demonstrate that the proposed approach improves text detection, measured with intersection over union, while preserving overall image fidelity. These findings underscore the value of multi-objective optimization in super-resolution models for bridging the gap between simulated training regimes and practical deployment in real-world scenarios.
SAR2Struct: Extracting 3D Semantic Structural Representation of Aircraft Targets from Single-View SAR Image
Authors: Ziyu Yue, Ruixi You, Feng Xu
Date: 2025-06-07 00:00:00
Tasks: Information Retrieval, Surface Reconstruction

To translate synthetic aperture radar (SAR) image into interpretable forms for human understanding is the ultimate goal of SAR advanced information retrieval. Existing methods mainly focus on 3D surface reconstruction or local geometric feature extraction of targets, neglecting the role of structural modeling in capturing semantic information. This paper proposes a novel task: SAR target structure recovery, which aims to infer the components of a target and the structural relationships between its components, specifically symmetry and adjacency, from a single-view SAR image. Through learning the structural consistency and geometric diversity across the same type of targets as observed in different SAR images, it aims to derive the semantic representation of target directly from its 2D SAR image. To solve this challenging task, a two-step algorithmic framework based on structural descriptors is developed. Specifically, in the training phase, it first detects 2D keypoints from real SAR images, and then learns the mapping from these keypoints to 3D hierarchical structures using simulated data. During the testing phase, these two steps are integrated to infer the 3D structure from real SAR images. Experimental results validated the effectiveness of each step and demonstrated, for the first time, that 3D semantic structural representation of aircraft targets can be directly derived from a single-view SAR image.
Graph Persistence goes Spectral
Authors: Mattie Ji, Amauri H. Souza, Vikas Garg
Date: 2025-06-06 00:00:00
Tasks: Graph Representation Learning, Representation Learning

Including intricate topological information (e.g., cycles) provably enhances the expressivity of message-passing graph neural networks (GNNs) beyond the Weisfeiler-Leman (WL) hierarchy. Consequently, Persistent Homology (PH) methods are increasingly employed for graph representation learning. In this context, recent works have proposed decorating classical PH diagrams with vertex and edge features for improved expressivity. However, due to their dependence on features, these methods still fail to capture basic graph structural information. In this paper, we propose SpectRe -- a new topological descriptor for graphs that integrates spectral information into PH diagrams. Notably, SpectRe is strictly more expressive than existing descriptors on graphs. We also introduce notions of global and local stability to analyze existing descriptors and establish that SpectRe is locally stable. Finally, experiments on synthetic and real-world datasets demonstrate the effectiveness of SpectRe and its potential to enhance the capabilities of graph models in relevant learning tasks.
NeurNCD: Novel Class Discovery via Implicit Neural Representation
Authors: Junming Wang, Yi Shi
Date: 2025-06-06 00:00:00
Tasks: NeRF, Novel Class Discovery, Segmentation, Semantic Segmentation

Discovering novel classes in open-world settings is crucial for real-world applications. Traditional explicit representations, such as object descriptors or 3D segmentation maps, are constrained by their discrete, hole-prone, and noisy nature, which hinders accurate novel class discovery. To address these challenges, we introduce NeurNCD, the first versatile and data-efficient framework for novel class discovery that employs the meticulously designed Embedding-NeRF model combined with KL divergence as a substitute for traditional explicit 3D segmentation maps to aggregate semantic embedding and entropy in visual embedding space. NeurNCD also integrates several key components, including feature query, feature modulation and clustering, facilitating efficient feature augmentation and information exchange between the pre-trained semantic segmentation network and implicit neural representations. As a result, our framework achieves superior segmentation performance in both open and closed-world settings without relying on densely labelled datasets for supervised training or human interaction to generate sparse label supervision. Extensive experiments demonstrate that our method significantly outperforms state-of-the-art approaches on the NYUv2 and Replica datasets.
AutoQD: Automatic Discovery of Diverse Behaviors with Quality-Diversity Optimization
Authors: Saeed Hedayatian, Stefanos Nikolaidis
Date: 2025-06-05 00:00:00
Tasks: continuous-control, Continuous Control, Diversity, Sequential Decision Making, Unsupervised Reinforcement Learning

Quality-Diversity (QD) algorithms have shown remarkable success in discovering diverse, high-performing solutions, but rely heavily on hand-crafted behavioral descriptors that constrain exploration to predefined notions of diversity. Leveraging the equivalence between policies and occupancy measures, we present a theoretically grounded approach to automatically generate behavioral descriptors by embedding the occupancy measures of policies in Markov Decision Processes. Our method, AutoQD, leverages random Fourier features to approximate the Maximum Mean Discrepancy (MMD) between policy occupancy measures, creating embeddings whose distances reflect meaningful behavioral differences. A low-dimensional projection of these embeddings that captures the most behaviorally significant dimensions is then used as behavioral descriptors for off-the-shelf QD methods. We prove that our embeddings converge to true MMD distances between occupancy measures as the number of sampled trajectories and embedding dimensions increase. Through experiments in multiple continuous control tasks we demonstrate AutoQD's ability in discovering diverse policies without predefined behavioral descriptors, presenting a well-motivated alternative to prior methods in unsupervised Reinforcement Learning and QD optimization. Our approach opens new possibilities for open-ended learning and automated behavior discovery in sequential decision making settings without requiring domain-specific knowledge.