Yikang Ding

Dihe Huang, Ying Chen, Shang Xu et al.

The detector-free feature matching approaches are currently attracting great attention thanks to their excellent performance. However, these methods still struggle at large-scale and viewpoint variations, due to the geometric inconsistency resulting from the application of the mutual nearest neighbour criterion (\ie, one-to-one assignment) in patch-level matching.Accordingly, we introduce AdaMatcher, which first accomplishes the feature correlation and co-visible area estimation through an elaborate feature interaction module, then performs adaptive assignment on patch-level matching while estimating the scales between images, and finally refines the co-visible matches through scale alignment and sub-pixel regression module.Extensive experiments show that AdaMatcher outperforms solid baselines and achieves state-of-the-art results on many downstream tasks. Additionally, the adaptive assignment and sub-pixel refinement module can be used as a refinement network for other matching methods, such as SuperGlue, to boost their performance further. The code will be publicly available at https://github.com/AbyssGaze/AdaMatcher.

Dihe Huang, Ying Chen, Yikang Ding et al.

Bird's eye view (BEV) is widely adopted by most of the current point cloud detectors due to the applicability of well-explored 2D detection techniques. However, existing methods obtain BEV features by simply collapsing voxel or point features along the height dimension, which causes the heavy loss of 3D spatial information. To alleviate the information loss, we propose a novel point cloud detection network based on a Multi-level feature dimensionality reduction strategy, called MDRNet. In MDRNet, the Spatial-aware Dimensionality Reduction (SDR) is designed to dynamically focus on the valuable parts of the object during voxel-to-BEV feature transformation. Furthermore, the Multi-level Spatial Residuals (MSR) is proposed to fuse the multi-level spatial information in the BEV feature maps. Extensive experiments on nuScenes show that the proposed method outperforms the state-of-the-art methods. The code will be available upon publication.

Wentao Yuan, Qingtian Zhu, Xiangyue Liu et al.

Recently, Implicit Neural Representations (INRs) parameterized by neural networks have emerged as a powerful and promising tool to represent different kinds of signals due to its continuous, differentiable properties, showing superiorities to classical discretized representations. However, the training of neural networks for INRs only utilizes input-output pairs, and the derivatives of the target output with respect to the input, which can be accessed in some cases, are usually ignored. In this paper, we propose a training paradigm for INRs whose target output is image pixels, to encode image derivatives in addition to image values in the neural network. Specifically, we use finite differences to approximate image derivatives. We show how the training paradigm can be leveraged to solve typical INRs problems, i.e., image regression and inverse rendering, and demonstrate this training paradigm can improve the data-efficiency and generalization capabilities of INRs. The code of our method is available at \url{https://github.com/megvii-research/Sobolev_INRs}.

Kling Team, Jialu Chen, Yikang Ding et al.

Character animation aims to generate lifelike videos by transferring motion dynamics from a driving video to a reference image. Recent strides in generative models have paved the way for high-fidelity character animation. In this work, we present Kling-MotionControl, a unified DiT-based framework engineered specifically for robust, precise, and expressive holistic character animation. Leveraging a divide-and-conquer strategy within a cohesive system, the model orchestrates heterogeneous motion representations tailored to the distinct characteristics of body, face, and hands, effectively reconciling large-scale structural stability with fine-grained articulatory expressiveness. To ensure robust cross-identity generalization, we incorporate adaptive identity-agnostic learning, facilitating natural motion retargeting for diverse characters ranging from realistic humans to stylized cartoons. Simultaneously, we guarantee faithful appearance preservation through meticulous identity injection and fusion designs, further supported by a subject library mechanism that leverages comprehensive reference contexts. To ensure practical utility, we implement an advanced acceleration framework utilizing multi-stage distillation, boosting inference speed by over 10x. Kling-MotionControl distinguishes itself through intelligent semantic motion understanding and precise text responsiveness, allowing for flexible control beyond visual inputs. Human preference evaluations demonstrate that Kling-MotionControl delivers superior performance compared to leading commercial and open-source solutions, achieving exceptional fidelity in holistic motion control, open domain generalization, and visual quality and coherence. These results establish Kling-MotionControl as a robust solution for high-quality, controllable, and lifelike character animation.

Jinli Liao, Yikang Ding, Yoli Shavit et al.

Recently, Transformers were shown to enhance the performance of multi-view stereo by enabling long-range feature interaction. In this work, we propose Window-based Transformers (WT) for local feature matching and global feature aggregation in multi-view stereo. We introduce a Window-based Epipolar Transformer (WET) which reduces matching redundancy by using epipolar constraints. Since point-to-line matching is sensitive to erroneous camera pose and calibration, we match windows near the epipolar lines. A second Shifted WT is employed for aggregating global information within cost volume. We present a novel Cost Transformer (CT) to replace 3D convolutions for cost volume regularization. In order to better constrain the estimated depth maps from multiple views, we further design a novel geometric consistency loss (Geo Loss) which punishes unreliable areas where multi-view consistency is not satisfied. Our WT multi-view stereo method (WT-MVSNet) achieves state-of-the-art performance across multiple datasets and ranks $1^{st}$ on Tanks and Temples benchmark.

Zhuo Zhang, Yonghui Liu, Meijie Zhang et al.

In this paper, we unleash the potential of the powerful monodepth model in camera-LiDAR calibration and propose CLAIM, a novel method of aligning data from the camera and LiDAR. Given the initial guess and pairs of images and LiDAR point clouds, CLAIM utilizes a coarse-to-fine searching method to find the optimal transformation minimizing a patched Pearson correlation-based structure loss and a mutual information-based texture loss. These two losses serve as good metrics for camera-LiDAR alignment results and require no complicated steps of data processing, feature extraction, or feature matching like most methods, rendering our method simple and adaptive to most scenes. We validate CLAIM on public KITTI, Waymo, and MIAS-LCEC datasets, and the experimental results demonstrate its superior performance compared with the state-of-the-art methods. The code is available at https://github.com/Tompson11/claim.

Yikang Ding, Qingtian Zhu, Xiangyue Liu et al.

Supervised multi-view stereo (MVS) methods have achieved remarkable progress in terms of reconstruction quality, but suffer from the challenge of collecting large-scale ground-truth depth. In this paper, we propose a novel self-supervised training pipeline for MVS based on knowledge distillation, termed KD-MVS, which mainly consists of self-supervised teacher training and distillation-based student training. Specifically, the teacher model is trained in a self-supervised fashion using both photometric and featuremetric consistency. Then we distill the knowledge of the teacher model to the student model through probabilistic knowledge transferring. With the supervision of validated knowledge, the student model is able to outperform its teacher by a large margin. Extensive experiments performed on multiple datasets show our method can even outperform supervised methods.

Kaijin Chen, Dingkang Liang, Xin Zhou et al.

Video world models have shown immense potential in simulating the physical world, yet existing memory mechanisms primarily treat environments as static canvases. When dynamic subjects hide out of sight and later re-emerge, current methods often struggle, leading to frozen, distorted, or vanishing subjects. To address this, we introduce Hybrid Memory, a novel paradigm requiring models to simultaneously act as precise archivists for static backgrounds and vigilant trackers for dynamic subjects, ensuring motion continuity during out-of-view intervals. To facilitate research in this direction, we construct HM-World, the first large-scale video dataset dedicated to hybrid memory. It features 59K high-fidelity clips with decoupled camera and subject trajectories, encompassing 17 diverse scenes, 49 distinct subjects, and meticulously designed exit-entry events to rigorously evaluate hybrid coherence. Furthermore, we propose HyDRA, a specialized memory architecture that compresses memory into tokens and utilizes a spatiotemporal relevance-driven retrieval mechanism. By selectively attending to relevant motion cues, HyDRA effectively preserves the identity and motion of hidden subjects. Extensive experiments on HM-World demonstrate that our method significantly outperforms state-of-the-art approaches in both dynamic subject consistency and overall generation quality.

Yikang Ding, Zhenyang Li, Dihe Huang et al.

Learning-based multi-view stereo (MVS) methods have made impressive progress and surpassed traditional methods in recent years. However, their accuracy and completeness are still struggling. In this paper, we propose a new method to enhance the performance of existing networks inspired by contrastive learning and feature matching. First, we propose a Contrast Matching Loss (CML), which treats the correct matching points in depth-dimension as positive sample and other points as negative samples, and computes the contrastive loss based on the similarity of features. We further propose a Weighted Focal Loss (WFL) for better classification capability, which weakens the contribution of low-confidence pixels in unimportant areas to the loss according to predicted confidence. Extensive experiments performed on DTU, Tanks and Temples and BlendedMVS datasets show our method achieves state-of-the-art performance and significant improvement over baseline network.

Xin Zhou, Dingkang Liang, Sifan Tu et al.

Driving World Models (DWMs) have become essential for autonomous driving by enabling future scene prediction. However, existing DWMs are limited to scene generation and fail to incorporate scene understanding, which involves interpreting and reasoning about the driving environment. In this paper, we present a unified Driving World Model named HERMES. We seamlessly integrate 3D scene understanding and future scene evolution (generation) through a unified framework in driving scenarios. Specifically, HERMES leverages a Bird's-Eye View (BEV) representation to consolidate multi-view spatial information while preserving geometric relationships and interactions. We also introduce world queries, which incorporate world knowledge into BEV features via causal attention in the Large Language Model, enabling contextual enrichment for understanding and generation tasks. We conduct comprehensive studies on nuScenes and OmniDrive-nuScenes datasets to validate the effectiveness of our method. HERMES achieves state-of-the-art performance, reducing generation error by 32.4% and improving understanding metrics such as CIDEr by 8.0%. The model and code will be publicly released at https://github.com/LMD0311/HERMES.

Xin Zhou, Dingkang Liang, Kaijin Chen et al.

Video generation models have demonstrated remarkable performance, yet their broader adoption remains constrained by slow inference speeds and substantial computational costs, primarily due to the iterative nature of the denoising process. Addressing this bottleneck is essential for democratizing advanced video synthesis technologies and enabling their integration into real-world applications. This work proposes EasyCache, a training-free acceleration framework for video diffusion models. EasyCache introduces a lightweight, runtime-adaptive caching mechanism that dynamically reuses previously computed transformation vectors, avoiding redundant computations during inference. Unlike prior approaches, EasyCache requires no offline profiling, pre-computation, or extensive parameter tuning. We conduct comprehensive studies on various large-scale video generation models, including OpenSora, Wan2.1, and HunyuanVideo. Our method achieves leading acceleration performance, reducing inference time by up to 2.1-3.3$\times$ compared to the original baselines while maintaining high visual fidelity with a significant up to 36% PSNR improvement compared to the previous SOTA method. This improvement makes our EasyCache a efficient and highly accessible solution for high-quality video generation in both research and practical applications. The code is available at https://github.com/H-EmbodVis/EasyCache.

Kling Team, Jialu Chen, Yikang Ding et al.

Avatar video generation models have achieved remarkable progress in recent years. However, prior work exhibits limited efficiency in generating long-duration high-resolution videos, suffering from temporal drifting, quality degradation, and weak prompt following as video length increases. To address these challenges, we propose KlingAvatar 2.0, a spatio-temporal cascade framework that performs upscaling in both spatial resolution and temporal dimension. The framework first generates low-resolution blueprint video keyframes that capture global semantics and motion, and then refines them into high-resolution, temporally coherent sub-clips using a first-last frame strategy, while retaining smooth temporal transitions in long-form videos. To enhance cross-modal instruction fusion and alignment in extended videos, we introduce a Co-Reasoning Director composed of three modality-specific large language model (LLM) experts. These experts reason about modality priorities and infer underlying user intent, converting inputs into detailed storylines through multi-turn dialogue. A Negative Director further refines negative prompts to improve instruction alignment. Building on these components, we extend the framework to support ID-specific multi-character control. Extensive experiments demonstrate that our model effectively addresses the challenges of efficient, multimodally aligned long-form high-resolution video generation, delivering enhanced visual clarity, realistic lip-teeth rendering with accurate lip synchronization, strong identity preservation, and coherent multimodal instruction following.

Yikang Ding, Wentao Yuan, Qingtian Zhu et al.

In this paper, we present TransMVSNet, based on our exploration of feature matching in multi-view stereo (MVS). We analogize MVS back to its nature of a feature matching task and therefore propose a powerful Feature Matching Transformer (FMT) to leverage intra- (self-) and inter- (cross-) attention to aggregate long-range context information within and across images. To facilitate a better adaptation of the FMT, we leverage an Adaptive Receptive Field (ARF) module to ensure a smooth transit in scopes of features and bridge different stages with a feature pathway to pass transformed features and gradients across different scales. In addition, we apply pair-wise feature correlation to measure similarity between features, and adopt ambiguity-reducing focal loss to strengthen the supervision. To the best of our knowledge, TransMVSNet is the first attempt to leverage Transformer into the task of MVS. As a result, our method achieves state-of-the-art performance on DTU dataset, Tanks and Temples benchmark, and BlendedMVS dataset. The code of our method will be made available at https://github.com/MegviiRobot/TransMVSNet .

Bohan Li, Jiazhe Guo, Hongsi Liu et al.

Generating high-fidelity, controllable, and annotated training data is critical for autonomous driving. Existing methods typically generate a single data form directly from a coarse scene layout, which not only fails to output rich data forms required for diverse downstream tasks but also struggles to model the direct layout-to-data distribution. In this paper, we introduce UniScene, the first unified framework for generating three key data forms - semantic occupancy, video, and LiDAR - in driving scenes. UniScene employs a progressive generation process that decomposes the complex task of scene generation into two hierarchical steps: (a) first generating semantic occupancy from a customized scene layout as a meta scene representation rich in both semantic and geometric information, and then (b) conditioned on occupancy, generating video and LiDAR data, respectively, with two novel transfer strategies of Gaussian-based Joint Rendering and Prior-guided Sparse Modeling. This occupancy-centric approach reduces the generation burden, especially for intricate scenes, while providing detailed intermediate representations for the subsequent generation stages. Extensive experiments demonstrate that UniScene outperforms previous SOTAs in the occupancy, video, and LiDAR generation, which also indeed benefits downstream driving tasks. Project page: https://arlo0o.github.io/uniscene/

Jiazhe Guo, Yikang Ding, Xiwu Chen et al.

Current generative models struggle to synthesize dynamic 4D driving scenes that simultaneously support temporal extrapolation and spatial novel view synthesis (NVS) without per-scene optimization. A key challenge lies in finding an efficient and generalizable geometric representation that seamlessly connects temporal and spatial synthesis. To address this, we propose DiST-4D, the first disentangled spatiotemporal diffusion framework for 4D driving scene generation, which leverages metric depth as the core geometric representation. DiST-4D decomposes the problem into two diffusion processes: DiST-T, which predicts future metric depth and multi-view RGB sequences directly from past observations, and DiST-S, which enables spatial NVS by training only on existing viewpoints while enforcing cycle consistency. This cycle consistency mechanism introduces a forward-backward rendering constraint, reducing the generalization gap between observed and unseen viewpoints. Metric depth is essential for both accurate reliable forecasting and accurate spatial NVS, as it provides a view-consistent geometric representation that generalizes well to unseen perspectives. Experiments demonstrate that DiST-4D achieves state-of-the-art performance in both temporal prediction and NVS tasks, while also delivering competitive performance in planning-related evaluations.

Jian Liu, Sipeng Zhang, Chuixin Kong et al.

This technical report presents our solution, "occTransformer" for the 3D occupancy prediction track in the autonomous driving challenge at CVPR 2023. Our method builds upon the strong baseline BEVFormer and improves its performance through several simple yet effective techniques. Firstly, we employed data augmentation to increase the diversity of the training data and improve the model's generalization ability. Secondly, we used a strong image backbone to extract more informative features from the input data. Thirdly, we incorporated a 3D unet head to better capture the spatial information of the scene. Fourthly, we added more loss functions to better optimize the model. Additionally, we used an ensemble approach with the occ model BevDet and SurroundOcc to further improve the performance. Most importantly, we integrated 3D detection model StreamPETR to enhance the model's ability to detect objects in the scene. Using these methods, our solution achieved 49.23 miou on the 3D occupancy prediction track in the autonomous driving challenge.

Yingshuang Zou, Yikang Ding, Xi Qiu et al.

This paper presents a novel self-supervised two-frame multi-camera metric depth estimation network, termed M${^2}$Depth, which is designed to predict reliable scale-aware surrounding depth in autonomous driving. Unlike the previous works that use multi-view images from a single time-step or multiple time-step images from a single camera, M${^2}$Depth takes temporally adjacent two-frame images from multiple cameras as inputs and produces high-quality surrounding depth. We first construct cost volumes in spatial and temporal domains individually and propose a spatial-temporal fusion module that integrates the spatial-temporal information to yield a strong volume presentation. We additionally combine the neural prior from SAM features with internal features to reduce the ambiguity between foreground and background and strengthen the depth edges. Extensive experimental results on nuScenes and DDAD benchmarks show M${^2}$Depth achieves state-of-the-art performance. More results can be found in https://heiheishuang.xyz/M2Depth .

Xiuyu Yang, Bohan Li, Shaocong Xu et al.

Acquiring real-world robotic simulation data through teleoperation is notoriously time-consuming and labor-intensive. Recently, action-driven generative models have gained widespread adoption in robot learning and simulation, as they eliminate safety concerns and reduce maintenance efforts. However, the action sequences used in these methods often result in limited control precision and poor generalization due to their globally coarse alignment. To address these limitations, we propose ORV, an Occupancy-centric Robot Video generation framework, which utilizes 4D semantic occupancy sequences as a fine-grained representation to provide more accurate semantic and geometric guidance for video generation. By leveraging occupancy-based representations, ORV enables seamless translation of simulation data into photorealistic robot videos, while ensuring high temporal consistency and precise controllability. Furthermore, our framework supports the simultaneous generation of multi-view videos of robot gripping operations - an important capability for downstream robotic learning tasks. Extensive experimental results demonstrate that ORV consistently outperforms existing baseline methods across various datasets and sub-tasks. Demo, Code and Model: https://orangesodahub.github.io/ORV

Pengzhi Li, Yikang Ding, Haohan Wang et al.

This paper presents a novel monocular depth estimation method, named ECFNet, for estimating high-quality monocular depth with clear edges and valid overall structure from a single RGB image. We make a thorough inquiry about the key factor that affects the edge depth estimation of the MDE networks, and come to a ratiocination that the edge information itself plays a critical role in predicting depth details. Driven by this analysis, we propose to explicitly employ the image edges as input for ECFNet and fuse the initial depths from different sources to produce the final depth. Specifically, ECFNet first uses a hybrid edge detection strategy to get the edge map and edge-highlighted image from the input image, and then leverages a pre-trained MDE network to infer the initial depths of the aforementioned three images. After that, ECFNet utilizes a layered fusion module (LFM) to fuse the initial depth, which will be further updated by a depth consistency module (DCM) to form the final estimation. Extensive experimental results on public datasets and ablation studies indicate that our method achieves state-of-the-art performance. Project page: https://zrealli.github.io/edgedepth.

Yingshuang Zou, Yikang Ding, Chuanrui Zhang et al.

Recent breakthroughs in radiance fields have significantly advanced 3D scene reconstruction and novel view synthesis (NVS) in autonomous driving. Nevertheless, critical limitations persist: reconstruction-based methods exhibit substantial performance deterioration under significant viewpoint deviations from training trajectories, while generation-based techniques struggle with temporal coherence and precise scene controllability. To overcome these challenges, we present MuDG, an innovative framework that integrates Multi-modal Diffusion model with Gaussian Splatting (GS) for Urban Scene Reconstruction. MuDG leverages aggregated LiDAR point clouds with RGB and geometric priors to condition a multi-modal video diffusion model, synthesizing photorealistic RGB, depth, and semantic outputs for novel viewpoints. This synthesis pipeline enables feed-forward NVS without computationally intensive per-scene optimization, providing comprehensive supervision signals to refine 3DGS representations for rendering robustness enhancement under extreme viewpoint changes. Experiments on the Open Waymo Dataset demonstrate that MuDG outperforms existing methods in both reconstruction and synthesis quality.

Yikang Ding, Jiwen Liu, Wenyuan Zhang et al.

Recent advances in audio-driven avatar video generation have significantly enhanced audio-visual realism. However, existing methods treat instruction conditioning merely as low-level tracking driven by acoustic or visual cues, without modeling the communicative purpose conveyed by the instructions. This limitation compromises their narrative coherence and character expressiveness. To bridge this gap, we introduce Kling-Avatar, a novel cascaded framework that unifies multimodal instruction understanding with photorealistic portrait generation. Our approach adopts a two-stage pipeline. In the first stage, we design a multimodal large language model (MLLM) director that produces a blueprint video conditioned on diverse instruction signals, thereby governing high-level semantics such as character motion and emotions. In the second stage, guided by blueprint keyframes, we generate multiple sub-clips in parallel using a first-last frame strategy. This global-to-local framework preserves fine-grained details while faithfully encoding the high-level intent behind multimodal instructions. Our parallel architecture also enables fast and stable generation of long-duration videos, making it suitable for real-world applications such as digital human livestreaming and vlogging. To comprehensively evaluate our method, we construct a benchmark of 375 curated samples covering diverse instructions and challenging scenarios. Extensive experiments demonstrate that Kling-Avatar is capable of generating vivid, fluent, long-duration videos at up to 1080p and 48 fps, achieving superior performance in lip synchronization accuracy, emotion and dynamic expressiveness, instruction controllability, identity preservation, and cross-domain generalization. These results establish Kling-Avatar as a new benchmark for semantically grounded, high-fidelity audio-driven avatar synthesis.

Pengzhi Li, QInxuan Huang, Yikang Ding et al.

Text-guided image editing has recently experienced rapid development. However, simultaneously performing multiple editing actions on a single image, such as background replacement and specific subject attribute changes, while maintaining consistency between the subject and the background remains challenging. In this paper, we propose LayerDiffusion, a semantic-based layered controlled image editing method. Our method enables non-rigid editing and attribute modification of specific subjects while preserving their unique characteristics and seamlessly integrating them into new backgrounds. We leverage a large-scale text-to-image model and employ a layered controlled optimization strategy combined with layered diffusion training. During the diffusion process, an iterative guidance strategy is used to generate a final image that aligns with the textual description. Experimental results demonstrate the effectiveness of our method in generating highly coherent images that closely align with the given textual description. The edited images maintain a high similarity to the features of the input image and surpass the performance of current leading image editing methods. LayerDiffusion opens up new possibilities for controllable image editing.