Sixiang Chen

Tian Ye, Sixiang Chen, Yun Liu et al.

Underwater Image Rendering aims to generate a true-tolife underwater image from a given clean one, which could be applied to various practical applications such as underwater image enhancement, camera filter, and virtual gaming. We explore two less-touched but challenging problems in underwater image rendering, namely, i) how to render diverse underwater scenes by a single neural network? ii) how to adaptively learn the underwater light fields from natural exemplars, i,e., realistic underwater images? To this end, we propose a neural rendering method for underwater imaging, dubbed UWNR (Underwater Neural Rendering). Specifically, UWNR is a data-driven neural network that implicitly learns the natural degenerated model from authentic underwater images, avoiding introducing erroneous biases by hand-craft imaging models. Compared with existing underwater image generation methods, UWNR utilizes the natural light field to simulate the main characteristics ofthe underwater scene. Thus, it is able to synthesize a wide variety ofunderwater images from one clean image with various realistic underwater images. Extensive experiments demonstrate that our approach achieves better visual effects and quantitative metrics over previous methods. Moreover, we adopt UWNR to build an open Large Neural Rendering Underwater Dataset containing various types of water quality, dubbed LNRUD. The source code and LNRUD are available at https: //github.com/Ephemeral182/UWNR.

Sixiang Chen, Tian Ye, Yun Liu et al.

Due to various and complicated snow degradations, single image desnowing is a challenging image restoration task. As prior arts can not handle it ideally, we propose a novel transformer, SnowFormer, which explores efficient cross-attentions to build local-global context interaction across patches and surpasses existing works that employ local operators or vanilla transformers. Compared to prior desnowing methods and universal image restoration methods, SnowFormer has several benefits. Firstly, unlike the multi-head self-attention in recent image restoration Vision Transformers, SnowFormer incorporates the multi-head cross-attention mechanism to perform local-global context interaction between scale-aware snow queries and local-patch embeddings. Second, the snow queries in SnowFormer are generated by the query generator from aggregated scale-aware features, which are rich in potential clean cues, leading to superior restoration results. Third, SnowFormer outshines advanced state-of-the-art desnowing networks and the prevalent universal image restoration transformers on six synthetic and real-world datasets. The code is released in \url{https://github.com/Ephemeral182/SnowFormer}.

Sixiang Chen, Tian Ye, Yun Liu et al.

Snow removal causes challenges due to its characteristic of complex degradations. To this end, targeted treatment of multi-scale snow degradations is critical for the network to learn effective snow removal. In order to handle the diverse scenes, we propose a multi-scale projection transformer (MSP-Former), which understands and covers a variety of snow degradation features in a multi-path manner, and integrates comprehensive scene context information for clean reconstruction via self-attention operation. For the local details of various snow degradations, the local capture module is introduced in parallel to assist in the rebuilding of a clean image. Such design achieves the SOTA performance on three desnowing benchmark datasets while costing the low parameters and computational complexity, providing a guarantee of practicality.

Sixiang Chen, Tian Ye, Jinbin Bai et al.

In the real world, image degradations caused by rain often exhibit a combination of rain streaks and raindrops, thereby increasing the challenges of recovering the underlying clean image. Note that the rain streaks and raindrops have diverse shapes, sizes, and locations in the captured image, and thus modeling the correlation relationship between irregular degradations caused by rain artifacts is a necessary prerequisite for image deraining. This paper aims to present an efficient and flexible mechanism to learn and model degradation relationships in a global view, thereby achieving a unified removal of intricate rain scenes. To do so, we propose a Sparse Sampling Transformer based on Uncertainty-Driven Ranking, dubbed UDR-S2Former. Compared to previous methods, our UDR-S2Former has three merits. First, it can adaptively sample relevant image degradation information to model underlying degradation relationships. Second, explicit application of the uncertainty-driven ranking strategy can facilitate the network to attend to degradation features and understand the reconstruction process. Finally, experimental results show that our UDR-S2Former clearly outperforms state-of-the-art methods for all benchmarks.

Haoyu Chen, Wenbo Li, Jinjin Gu et al.

Natural images captured by mobile devices often suffer from multiple types of degradation, such as noise, blur, and low light. Traditional image restoration methods require manual selection of specific tasks, algorithms, and execution sequences, which is time-consuming and may yield suboptimal results. All-in-one models, though capable of handling multiple tasks, typically support only a limited range and often produce overly smooth, low-fidelity outcomes due to their broad data distribution fitting. To address these challenges, we first define a new pipeline for restoring images with multiple degradations, and then introduce RestoreAgent, an intelligent image restoration system leveraging multimodal large language models. RestoreAgent autonomously assesses the type and extent of degradation in input images and performs restoration through (1) determining the appropriate restoration tasks, (2) optimizing the task sequence, (3) selecting the most suitable models, and (4) executing the restoration. Experimental results demonstrate the superior performance of RestoreAgent in handling complex degradation, surpassing human experts. Furthermore, the system modular design facilitates the fast integration of new tasks and models, enhancing its flexibility and scalability for various applications.

Sixiang Chen, Tian Ye, Kai Zhang et al.

Recent advancements in adverse weather restoration have shown potential, yet the unpredictable and varied combinations of weather degradations in the real world pose significant challenges. Previous methods typically struggle with dynamically handling intricate degradation combinations and carrying on background reconstruction precisely, leading to performance and generalization limitations. Drawing inspiration from prompt learning and the "Teaching Tailored to Talent" concept, we introduce a novel pipeline, T3-DiffWeather. Specifically, we employ a prompt pool that allows the network to autonomously combine sub-prompts to construct weather-prompts, harnessing the necessary attributes to adaptively tackle unforeseen weather input. Moreover, from a scene modeling perspective, we incorporate general prompts constrained by Depth-Anything feature to provide the scene-specific condition for the diffusion process. Furthermore, by incorporating contrastive prompt loss, we ensures distinctive representations for both types of prompts by a mutual pushing strategy. Experimental results demonstrate that our method achieves state-of-the-art performance across various synthetic and real-world datasets, markedly outperforming existing diffusion techniques in terms of computational efficiency.

Yunlong Lin, Tian Ye, Sixiang Chen et al.

Existing low-light image enhancement (LIE) methods have achieved noteworthy success in solving synthetic distortions, yet they often fall short in practical applications. The limitations arise from two inherent challenges in real-world LIE: 1) the collection of distorted/clean image pairs is often impractical and sometimes even unavailable, and 2) accurately modeling complex degradations presents a non-trivial problem. To overcome them, we propose the Attribute Guidance Diffusion framework (AGLLDiff), a training-free method for effective real-world LIE. Instead of specifically defining the degradation process, AGLLDiff shifts the paradigm and models the desired attributes, such as image exposure, structure and color of normal-light images. These attributes are readily available and impose no assumptions about the degradation process, which guides the diffusion sampling process to a reliable high-quality solution space. Extensive experiments demonstrate that our approach outperforms the current leading unsupervised LIE methods across benchmarks in terms of distortion-based and perceptual-based metrics, and it performs well even in sophisticated wild degradation.

Sixiang Chen, Tian Ye, Yun Liu et al.

Recently, image restoration transformers have achieved comparable performance with previous state-of-the-art CNNs. However, how to efficiently leverage such architectures remains an open problem. In this work, we present Dual-former whose critical insight is to combine the powerful global modeling ability of self-attention modules and the local modeling ability of convolutions in an overall architecture. With convolution-based Local Feature Extraction modules equipped in the encoder and the decoder, we only adopt a novel Hybrid Transformer Block in the latent layer to model the long-distance dependence in spatial dimensions and handle the uneven distribution between channels. Such a design eliminates the substantial computational complexity in previous image restoration transformers and achieves superior performance on multiple image restoration tasks. Experiments demonstrate that Dual-former achieves a 1.91dB gain over the state-of-the-art MAXIM method on the Indoor dataset for single image dehazing while consuming only 4.2% GFLOPs as MAXIM. For single image deraining, it exceeds the SOTA method by 0.1dB PSNR on the average results of five datasets with only 21.5% GFLOPs. Dual-former also substantially surpasses the latest desnowing method on various datasets, with fewer parameters.

Tian Ye, Sixiang Chen, Yun Liu et al.

In winter scenes, the degradation of images taken under snow can be pretty complex, where the spatial distribution of snowy degradation is varied from image to image. Recent methods adopt deep neural networks to directly recover clean scenes from snowy images. However, due to the paradox caused by the variation of complex snowy degradation, achieving reliable High-Definition image desnowing performance in real time is a considerable challenge. We develop a novel Efficient Pyramid Network with asymmetrical encoder-decoder architecture for real-time HD image desnowing. The general idea of our proposed network is to utilize the multi-scale feature flow fully and implicitly mine clean cues from features. Compared with previous state-of-the-art desnowing methods, our approach achieves a better complexity-performance trade-off and effectively handles the processing difficulties of HD and Ultra-HD images. The extensive experiments on three large-scale image desnowing datasets demonstrate that our method surpasses all state-of-the-art approaches by a large margin both quantitatively and qualitatively, boosting the PSNR metric from 31.76 dB to 34.10 dB on the CSD test dataset and from 28.29 dB to 30.87 dB on the SRRS test dataset.

Sixiang Chen, Tian Ye, Jun Shi et al.

Varicolored haze caused by chromatic casts poses haze removal and depth estimation challenges. Recent learning-based depth estimation methods are mainly targeted at dehazing first and estimating depth subsequently from haze-free scenes. This way, the inner connections between colored haze and scene depth are lost. In this paper, we propose a real-time transformer for simultaneous single image Depth Estimation and Haze Removal (DEHRFormer). DEHRFormer consists of a single encoder and two task-specific decoders. The transformer decoders with learnable queries are designed to decode coupling features from the task-agnostic encoder and project them into clean image and depth map, respectively. In addition, we introduce a novel learning paradigm that utilizes contrastive learning and domain consistency learning to tackle weak-generalization problem for real-world dehazing, while predicting the same depth map from the same scene with varicolored haze. Experiments demonstrate that DEHRFormer achieves significant performance improvement across diverse varicolored haze scenes over previous depth estimation networks and dehazing approaches.

Tian Ye, Sixiang Chen, Yun Liu et al.

Removing adverse weather conditions like rain, fog, and snow from images is a challenging problem. Although the current recovery algorithms targeting a specific condition have made impressive progress, it is not flexible enough to deal with various degradation types. We propose an efficient and compact image restoration network named DAN-Net (Degradation-Adaptive Neural Network) to address this problem, which consists of multiple compact expert networks with one adaptive gated neural. A single expert network efficiently addresses specific degradation in nasty winter scenes relying on the compact architecture and three novel components. Based on the Mixture of Experts strategy, DAN-Net captures degradation information from each input image to adaptively modulate the outputs of task-specific expert networks to remove various adverse winter weather conditions. Specifically, it adopts a lightweight Adaptive Gated Neural Network to estimate gated attention maps of the input image, while different task-specific experts with the same topology are jointly dispatched to process the degraded image. Such novel image restoration pipeline handles different types of severe weather scenes effectively and efficiently. It also enjoys the benefit of coordinate boosting in which the whole network outperforms each expert trained without coordination. Extensive experiments demonstrate that the presented manner outperforms the state-of-the-art single-task methods on image quality and has better inference efficiency. Furthermore, we have collected the first real-world winter scenes dataset to evaluate winter image restoration methods, which contains various hazy and snowy images snapped in winter. Both the dataset and source code will be publicly available.

Tian Ye, Yun Liu, Yunchen Zhang et al.

Deep learning-based methods have made significant achievements for image dehazing. However, most of existing dehazing networks are concentrated on training models using simulated hazy images, resulting in generalization performance degradation when applied on real-world hazy images because of domain shift. In this paper, we propose a mutual learning dehazing framework for domain adaption. Specifically, we first devise two siamese networks: a teacher network in the synthetic domain and a student network in the real domain, and then optimize them in a mutual learning manner by leveraging EMA and joint loss. Moreover, we design a sample-cycle strategy based on density augmentation (HDA) module to introduce pseudo real-world image pairs provided by the student network into training for further improving the generalization performance. Extensive experiments on both synthetic and real-world dataset demonstrate that the propose mutual learning framework outperforms state-of-the-art dehazing techniques in terms of subjective and objective evaluation.

Jingxia Jiang, Jinbin Bai, Yun Liu et al.

Underwater images typically experience mixed degradations of brightness and structure caused by the absorption and scattering of light by suspended particles. To address this issue, we propose a Real-time Spatial and Frequency Domains Modulation Network (RSFDM-Net) for the efficient enhancement of colors and details in underwater images. Specifically, our proposed conditional network is designed with Adaptive Fourier Gating Mechanism (AFGM) and Multiscale Convolutional Attention Module (MCAM) to generate vectors carrying low-frequency background information and high-frequency detail features, which effectively promote the network to model global background information and local texture details. To more precisely correct the color cast and low saturation of the image, we introduce a Three-branch Feature Extraction (TFE) block in the primary net that processes images pixel by pixel to integrate the color information extended by the same channel (R, G, or B). This block consists of three small branches, each of which has its own weights. Extensive experiments demonstrate that our network significantly outperforms over state-of-the-art methods in both visual quality and quantitative metrics.

Wenbin Zou, Hongxia Gao, Tian Ye et al.

Night photography often struggles with challenges like low light and blurring, stemming from dark environments and prolonged exposures. Current methods either disregard priors and directly fitting end-to-end networks, leading to inconsistent illumination, or rely on unreliable handcrafted priors to constrain the network, thereby bringing the greater error to the final result. We believe in the strength of data-driven high-quality priors and strive to offer a reliable and consistent prior, circumventing the restrictions of manual priors. In this paper, we propose Clearer Night Image Restoration with Vector-Quantized Codebook (VQCNIR) to achieve remarkable and consistent restoration outcomes on real-world and synthetic benchmarks. To ensure the faithful restoration of details and illumination, we propose the incorporation of two essential modules: the Adaptive Illumination Enhancement Module (AIEM) and the Deformable Bi-directional Cross-Attention (DBCA) module. The AIEM leverages the inter-channel correlation of features to dynamically maintain illumination consistency between degraded features and high-quality codebook features. Meanwhile, the DBCA module effectively integrates texture and structural information through bi-directional cross-attention and deformable convolution, resulting in enhanced fine-grained detail and structural fidelity across parallel decoders. Extensive experiments validate the remarkable benefits of VQCNIR in enhancing image quality under low-light conditions, showcasing its state-of-the-art performance on both synthetic and real-world datasets. The code is available at https://github.com/AlexZou14/VQCNIR.

Sixiang Chen, Jinbin Bai, Zhuoran Zhao et al.

The landscape of image generation has rapidly evolved, from early GAN-based approaches to diffusion models and, most recently, to unified generative architectures that seek to bridge understanding and generation tasks. Recent advances, especially the GPT-4o, have demonstrated the feasibility of high-fidelity multimodal generation, their architectural design remains mysterious and unpublished. This prompts the question of whether image and text generation have already been successfully integrated into a unified framework for those methods. In this work, we conduct an empirical study of GPT-4o's image generation capabilities, benchmarking it against leading open-source and commercial models. Our evaluation covers four main categories, including text-to-image, image-to-image, image-to-3D, and image-to-X generation, with more than 20 tasks. Our analysis highlights the strengths and limitations of GPT-4o under various settings, and situates it within the broader evolution of generative modeling. Through this investigation, we identify promising directions for future unified generative models, emphasizing the role of architectural design and data scaling. For a high-definition version of the PDF, please refer to the link on GitHub: \href{https://github.com/Ephemeral182/Empirical-Study-of-GPT-4o-Image-Gen}{https://github.com/Ephemeral182/Empirical-Study-of-GPT-4o-Image-Gen}.

Sicheng Yang, Hongqiu Wang, Zhaohu Xing et al.

The DINO family of self-supervised vision models has shown remarkable transferability, yet effectively adapting their representations for segmentation remains challenging. Existing approaches often rely on heavy decoders with multi-scale fusion or complex upsampling, which introduce substantial parameter overhead and computational cost. In this work, we propose SegDINO, an efficient segmentation framework that couples a frozen DINOv3 backbone with a lightweight decoder. SegDINO extracts multi-level features from the pretrained encoder, aligns them to a common resolution and channel width, and utilizes a lightweight MLP head to directly predict segmentation masks. This design minimizes trainable parameters while preserving the representational power of foundation features. Extensive experiments across six benchmarks, including three medical datasets (TN3K, Kvasir-SEG, ISIC) and three natural image datasets (MSD, VMD-D, ViSha), demonstrate that SegDINO consistently achieves state-of-the-art performance compared to existing methods. Code is available at https://github.com/script-Yang/SegDINO.

Jingxia Jiang, Tian Ye, Jinbin Bai et al.

A lightweight underwater image enhancement network is of great significance for resource-constrained platforms, but balancing model size, computational efficiency, and enhancement performance has proven difficult for previous approaches. In this work, we propose the Five A$^{+}$ Network (FA$^{+}$Net), a highly efficient and lightweight real-time underwater image enhancement network with only $\sim$ 9k parameters and $\sim$ 0.01s processing time. The FA$^{+}$Net employs a two-stage enhancement structure. The strong prior stage aims to decompose challenging underwater degradations into sub-problems, while the fine-grained stage incorporates multi-branch color enhancement module and pixel attention module to amplify the network's perception of details. To the best of our knowledge, FA$^{+}$Net is the only network with the capability of real-time enhancement of 1080P images. Thorough extensive experiments and comprehensive visual comparison, we show that FA$^{+}$Net outperforms previous approaches by obtaining state-of-the-art performance on multiple datasets while significantly reducing both parameter count and computational complexity. The code is open source at https://github.com/Owen718/FiveAPlus-Network.

Kun Wu, Chengkai Hou, Jiaming Liu et al.

In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot Manipulation), a dataset containing 107k demonstration trajectories across 479 diverse tasks involving 96 object classes. RoboMIND is collected through human teleoperation and encompasses comprehensive robotic-related information, including multi-view observations, proprioceptive robot state information, and linguistic task descriptions. To ensure data consistency and reliability for imitation learning, RoboMIND is built on a unified data collection platform and a standardized protocol, covering four distinct robotic embodiments: the Franka Emika Panda, the UR5e, the AgileX dual-arm robot, and a humanoid robot with dual dexterous hands. Our dataset also includes 5k real-world failure demonstrations, each accompanied by detailed causes, enabling failure reflection and correction during policy learning. Additionally, we created a digital twin environment in the Isaac Sim simulator, replicating the real-world tasks and assets, which facilitates the low-cost collection of additional training data and enables efficient evaluation. To demonstrate the quality and diversity of our dataset, we conducted extensive experiments using various imitation learning methods for single-task settings and state-of-the-art Vision-Language-Action (VLA) models for multi-task scenarios. By leveraging RoboMIND, the VLA models achieved high manipulation success rates and demonstrated strong generalization capabilities. To the best of our knowledge, RoboMIND is the largest multi-embodiment teleoperation dataset collected on a unified platform, providing large-scale and high-quality robotic training data. Our project is at https://x-humanoid-robomind.github.io/.

Xiaoning Liu, Zongwei Wu, Ao Li et al.

This paper reviews the NTIRE 2024 low light image enhancement challenge, highlighting the proposed solutions and results. The aim of this challenge is to discover an effective network design or solution capable of generating brighter, clearer, and visually appealing results when dealing with a variety of conditions, including ultra-high resolution (4K and beyond), non-uniform illumination, backlighting, extreme darkness, and night scenes. A notable total of 428 participants registered for the challenge, with 22 teams ultimately making valid submissions. This paper meticulously evaluates the state-of-the-art advancements in enhancing low-light images, reflecting the significant progress and creativity in this field.

Yueru Jia, Jiaming Liu, Sixiang Chen et al.

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on the explicit extraction of 3D features, while still facing challenges such as the lack of large-scale robotic 3D data and the potential loss of spatial geometry. To address these limitations, we propose the Lift3D framework, which progressively enhances 2D foundation models with implicit and explicit 3D robotic representations to construct a robust 3D manipulation policy. Specifically, we first design a task-aware masked autoencoder that masks task-relevant affordance patches and reconstructs depth information, enhancing the 2D foundation model's implicit 3D robotic representation. After self-supervised fine-tuning, we introduce a 2D model-lifting strategy that establishes a positional mapping between the input 3D points and the positional embeddings of the 2D model. Based on the mapping, Lift3D utilizes the 2D foundation model to directly encode point cloud data, leveraging large-scale pretrained knowledge to construct explicit 3D robotic representations while minimizing spatial information loss. In experiments, Lift3D consistently outperforms previous state-of-the-art methods across several simulation benchmarks and real-world scenarios.

Yunlong Lin, Zixu Lin, Haoyu Chen et al.

Vision-centric perception systems struggle with unpredictable and coupled weather degradations in the wild. Current solutions are often limited, as they either depend on specific degradation priors or suffer from significant domain gaps. To enable robust and autonomous operation in real-world conditions, we propose JarvisIR, a VLM-powered agent that leverages the VLM as a controller to manage multiple expert restoration models. To further enhance system robustness, reduce hallucinations, and improve generalizability in real-world adverse weather, JarvisIR employs a novel two-stage framework consisting of supervised fine-tuning and human feedback alignment. Specifically, to address the lack of paired data in real-world scenarios, the human feedback alignment enables the VLM to be fine-tuned effectively on large-scale real-world data in an unsupervised manner. To support the training and evaluation of JarvisIR, we introduce CleanBench, a comprehensive dataset consisting of high-quality and large-scale instruction-responses pairs, including 150K synthetic entries and 80K real entries. Extensive experiments demonstrate that JarvisIR exhibits superior decision-making and restoration capabilities. Compared with existing methods, it achieves a 50% improvement in the average of all perception metrics on CleanBench-Real. Project page: https://cvpr2025-jarvisir.github.io/.

Jiajun Cao, Qizhe Zhang, Peidong Jia et al.

Vision-Language-Action (VLA) models have demonstrated significant potential in complex scene understanding and action reasoning, leading to their increasing adoption in end-to-end autonomous driving systems. However, the long visual tokens of VLA models greatly increase computational costs. Current visual token pruning methods in Vision-Language Models (VLM) rely on either visual token similarity or visual-text attention, but both have shown poor performance in autonomous driving scenarios. Given that human drivers concentrate on relevant foreground areas while driving, we assert that retaining visual tokens containing this foreground information is essential for effective decision-making. Inspired by this, we propose FastDriveVLA, a novel reconstruction-based vision token pruning framework designed specifically for autonomous driving. FastDriveVLA includes a plug-and-play visual token pruner called ReconPruner, which prioritizes foreground information through MAE-style pixel reconstruction. A novel adversarial foreground-background reconstruction strategy is designed to train ReconPruner for the visual encoder of VLA models. Once trained, ReconPruner can be seamlessly applied to different VLA models with the same visual encoder without retraining. To train ReconPruner, we also introduce a large-scale dataset called nuScenes-FG, consisting of 241K image-mask pairs with annotated foreground regions. Our approach achieves state-of-the-art results on the nuScenes open-loop planning benchmark across different pruning ratios.

Sixiang Chen, Jiaming Liu, Siyuan Qian et al.

Recently, mobile manipulation has attracted increasing attention for enabling language-conditioned robotic control in household tasks. However, existing methods still face challenges in coordinating mobile base and manipulator, primarily due to two limitations. On the one hand, they fail to explicitly model the influence of the mobile base on manipulator control, which easily leads to error accumulation under high degrees of freedom. On the other hand, they treat the entire mobile manipulation process with the same visual observation modality (e.g., either all 2D or all 3D), overlooking the distinct multimodal perception requirements at different stages during mobile manipulation. To address this, we propose the Adaptive Coordination Diffusion Transformer (AC-DiT), which enhances mobile base and manipulator coordination for end-to-end mobile manipulation. First, since the motion of the mobile base directly influences the manipulator's actions, we introduce a mobility-to-body conditioning mechanism that guides the model to first extract base motion representations, which are then used as context prior for predicting whole-body actions. This enables whole-body control that accounts for the potential impact of the mobile base's motion. Second, to meet the perception requirements at different stages of mobile manipulation, we design a perception-aware multimodal conditioning strategy that dynamically adjusts the fusion weights between various 2D visual images and 3D point clouds, yielding visual features tailored to the current perceptual needs. This allows the model to, for example, adaptively rely more on 2D inputs when semantic information is crucial for action prediction, while placing greater emphasis on 3D geometric information when precise spatial understanding is required. We validate AC-DiT through extensive experiments on both simulated and real-world mobile manipulation tasks.

Yun Liu, Zhongsheng Yan, Sixiang Chen et al.

Nighttime image dehazing is a challenging task due to the presence of multiple types of adverse degrading effects including glow, haze, blurry, noise, color distortion, and so on. However, most previous studies mainly focus on daytime image dehazing or partial degradations presented in nighttime hazy scenes, which may lead to unsatisfactory restoration results. In this paper, we propose an end-to-end transformer-based framework for nighttime haze removal, called NightHazeFormer. Our proposed approach consists of two stages: supervised pre-training and semi-supervised fine-tuning. During the pre-training stage, we introduce two powerful priors into the transformer decoder to generate the non-learnable prior queries, which guide the model to extract specific degradations. For the fine-tuning, we combine the generated pseudo ground truths with input real-world nighttime hazy images as paired images and feed into the synthetic domain to fine-tune the pre-trained model. This semi-supervised fine-tuning paradigm helps improve the generalization to real domain. In addition, we also propose a large-scale synthetic dataset called UNREAL-NH, to simulate the real-world nighttime haze scenarios comprehensively. Extensive experiments on several synthetic and real-world datasets demonstrate the superiority of our NightHazeFormer over state-of-the-art nighttime haze removal methods in terms of both visually and quantitatively.