Xiaoshuai Hao

Lingfeng Zhang, Xiaoshuai Hao, Qinwen Xu et al.

Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as spatio-temporal contexts for decision making, leading to significant storage and computational overhead. In this paper, we introduce MapNav, a novel end-to-end VLN model that leverages Annotated Semantic Map (ASM) to replace historical frames. Specifically, our approach constructs a top-down semantic map at the start of each episode and update it at each timestep, allowing for precise object mapping and structured navigation information. Then, we enhance this map with explicit textual labels for key regions, transforming abstract semantics into clear navigation cues and generate our ASM. MapNav agent using the constructed ASM as input, and use the powerful end-to-end capabilities of VLM to empower VLN. Extensive experiments demonstrate that MapNav achieves state-of-the-art (SOTA) performance in both simulated and real-world environments, validating the effectiveness of our method. Moreover, we will release our ASM generation source code and dataset to ensure reproducibility, contributing valuable resources to the field. We believe that our proposed MapNav can be used as a new memory representation method in VLN, paving the way for future research in this field.

Xiaoshuai Hao, Ruikai Li, Hui Zhang et al.

Online high-definition (HD) map construction is an important and challenging task in autonomous driving. Recently, there has been a growing interest in cost-effective multi-view camera-based methods without relying on other sensors like LiDAR. However, these methods suffer from a lack of explicit depth information, necessitating the use of large models to achieve satisfactory performance. To address this, we employ the Knowledge Distillation (KD) idea for efficient HD map construction for the first time and introduce a novel KD-based approach called MapDistill to transfer knowledge from a high-performance camera-LiDAR fusion model to a lightweight camera-only model. Specifically, we adopt the teacher-student architecture, i.e., a camera-LiDAR fusion model as the teacher and a lightweight camera model as the student, and devise a dual BEV transform module to facilitate cross-modal knowledge distillation while maintaining cost-effective camera-only deployment. Additionally, we present a comprehensive distillation scheme encompassing cross-modal relation distillation, dual-level feature distillation, and map head distillation. This approach alleviates knowledge transfer challenges between modalities, enabling the student model to learn improved feature representations for HD map construction. Experimental results on the challenging nuScenes dataset demonstrate the effectiveness of MapDistill, surpassing existing competitors by over 7.7 mAP or 4.5X speedup.

Yixiao Li, Xin Li, Chris Wei Zhou et al.

This paper presents the ISRGC-Q Challenge, built upon the Image Super-Resolution Generated Content Quality Assessment (ISRGen-QA) dataset, and organized as part of the Visual Quality Assessment (VQualA) Competition at the ICCV 2025 Workshops. Unlike existing Super-Resolution Image Quality Assessment (SR-IQA) datasets, ISRGen-QA places a greater emphasis on SR images generated by the latest generative approaches, including Generative Adversarial Networks (GANs) and diffusion models. The primary goal of this challenge is to analyze the unique artifacts introduced by modern super-resolution techniques and to evaluate their perceptual quality effectively. A total of 108 participants registered for the challenge, with 4 teams submitting valid solutions and fact sheets for the final testing phase. These submissions demonstrated state-of-the-art (SOTA) performance on the ISRGen-QA dataset. The project is publicly available at: https://github.com/Lighting-YXLI/ISRGen-QA.

Peng Hao, Weilong Wang, Xiaobing Wang et al.

Scene Graph Generation (SGG) remains a challenging task due to its compositional property. Previous approaches improve prediction efficiency through end-to-end learning. However, these methods exhibit limited performance as they assume unidirectional conditioning between entities and predicates, which restricts effective information interaction. To address this limitation, we propose a novel bidirectional conditioning factorization in a semantic-aligned space for SGG, enabling efficient and generalizable interaction between entities and predicates. Specifically, we introduce an end-to-end scene graph generation model, the Bidirectional Conditioning Transformer (BCTR), to implement this factorization. BCTR consists of two key modules. First, the Bidirectional Conditioning Generator (BCG) performs multi-stage interactive feature augmentation between entities and predicates, enabling mutual enhancement between these predictions. Second, Random Feature Alignment (RFA) is present to regularize feature space by distilling multi-modal knowledge from pre-trained models. Within this regularized feature space, BCG is feasible to capture interaction patterns across diverse relationships during training, and the learned interaction patterns can generalize to unseen but semantically related relationships during inference. Extensive experiments on Visual Genome and Open Image V6 show that BCTR achieves state-of-the-art performance on both benchmarks.

Huajie Tan, Yuheng Ji, Xiaoshuai Hao et al.

Visual reasoning abilities play a crucial role in understanding complex multimodal data, advancing both domain-specific applications and artificial general intelligence (AGI). Existing methods enhance Vision-Language Models (VLMs) through Chain-of-Thought (CoT) supervised fine-tuning using meticulously annotated data. However, this approach may lead to overfitting and cognitive rigidity, limiting the model's generalization ability under domain shifts and reducing real-world applicability. To overcome these limitations, we propose Reason-RFT, a two-stage reinforcement fine-tuning framework for visual reasoning. First, Supervised Fine-Tuning (SFT) with curated CoT data activates the reasoning potential of VLMs. This is followed by reinforcement learning based on Group Relative Policy Optimization (GRPO), which generates multiple reasoning-response pairs to enhance adaptability to domain shifts. To evaluate Reason-RFT, we reconstructed a comprehensive dataset covering visual counting, structural perception, and spatial transformation, serving as a benchmark for systematic assessment across three key dimensions. Experimental results highlight three advantages: (1) performance enhancement, with Reason-RFT achieving state-of-the-art results and outperforming both open-source and proprietary models; (2) generalization superiority, maintaining robust performance under domain shifts across various tasks; and (3) data efficiency, excelling in few-shot learning scenarios and surpassing full-dataset SFT baselines. Reason-RFT introduces a novel training paradigm for visual reasoning and marks a significant step forward in multimodal research. Project website: https://tanhuajie.github.io/ReasonRFT

Lingdong Kong, Shaoyuan Xie, Hanjiang Hu et al. · tsinghua

In the realm of autonomous driving, robust perception under out-of-distribution conditions is paramount for the safe deployment of vehicles. Challenges such as adverse weather, sensor malfunctions, and environmental unpredictability can severely impact the performance of autonomous systems. The 2024 RoboDrive Challenge was crafted to propel the development of driving perception technologies that can withstand and adapt to these real-world variabilities. Focusing on four pivotal tasks -- BEV detection, map segmentation, semantic occupancy prediction, and multi-view depth estimation -- the competition laid down a gauntlet to innovate and enhance system resilience against typical and atypical disturbances. This year's challenge consisted of five distinct tracks and attracted 140 registered teams from 93 institutes across 11 countries, resulting in nearly one thousand submissions evaluated through our servers. The competition culminated in 15 top-performing solutions, which introduced a range of innovative approaches including advanced data augmentation, multi-sensor fusion, self-supervised learning for error correction, and new algorithmic strategies to enhance sensor robustness. These contributions significantly advanced the state of the art, particularly in handling sensor inconsistencies and environmental variability. Participants, through collaborative efforts, pushed the boundaries of current technologies, showcasing their potential in real-world scenarios. Extensive evaluations and analyses provided insights into the effectiveness of these solutions, highlighting key trends and successful strategies for improving the resilience of driving perception systems. This challenge has set a new benchmark in the field, providing a rich repository of techniques expected to guide future research in this field.

Jinhui Pang, Jinglin He, Noureldin Mohamed Abdelaal Ahmed Mohamed et al.

Multi-UAV air combat is a complex task involving multiple autonomous UAVs, an evolving field in both aerospace and artificial intelligence. This paper aims to enhance adversarial performance through collaborative strategies. Previous approaches predominantly discretize the action space into predefined actions, limiting UAV maneuverability and complex strategy implementation. Others simplify the problem to 1v1 combat, neglecting the cooperative dynamics among multiple UAVs. To address the high-dimensional challenges inherent in six-degree-of-freedom space and improve cooperation, we propose a hierarchical framework utilizing the Leader-Follower Multi-Agent Proximal Policy Optimization (LFMAPPO) strategy. Specifically, the framework is structured into three levels. The top level conducts a macro-level assessment of the environment and guides execution policy. The middle level determines the angle of the desired action. The bottom level generates precise action commands for the high-dimensional action space. Moreover, we optimize the state-value functions by assigning distinct roles with the leader-follower strategy to train the top-level policy, followers estimate the leader's utility, promoting effective cooperation among agents. Additionally, the incorporation of a target selector, aligned with the UAVs' posture, assesses the threat level of targets. Finally, simulation experiments validate the effectiveness of our proposed method.

Shu Zhao, Tan Yu, Xiaoshuai Hao et al.

Deep hashing has been widely used for large-scale approximate nearest neighbor search due to its storage and search efficiency. However, existing deep hashing methods predominantly rely on abundant training data, leaving the more challenging scenario of low-resource adaptation for deep hashing relatively underexplored. This setting involves adapting pre-trained models to downstream tasks with only an extremely small number of training samples available. Our preliminary benchmarks reveal that current methods suffer significant performance degradation due to the distribution shift caused by limited training samples. To address these challenges, we introduce Class-Calibration LoRA (CLoRA), a novel plug-and-play approach that dynamically constructs low-rank adaptation matrices by leveraging class-level textual knowledge embeddings. CLoRA effectively incorporates prior class knowledge as anchors, enabling parameter-efficient fine-tuning while maintaining the original data distribution. Furthermore, we propose Knowledge-Guided Discrete Optimization (KIDDO), a framework to utilize class knowledge to compensate for the scarcity of visual information and enhance the discriminability of hash codes. Extensive experiments demonstrate that our proposed method, Knowledge- Anchored Low-Resource Adaptation Hashing (KALAHash), significantly boosts retrieval performance and achieves a 4x data efficiency in low-resource scenarios.

Zhihui Zhang, Jinhui Pang, Jianan Li et al.

Multi-Image Super-Resolution (MISR) is a crucial yet challenging research task in the remote sensing community. In this paper, we address the challenging task of Multi-Image Super-Resolution in Remote Sensing (MISR-RS), aiming to generate a High-Resolution (HR) image from multiple Low-Resolution (LR) images obtained by satellites. Recently, the weak temporal correlations among LR images have attracted increasing attention in the MISR-RS task. However, existing MISR methods treat the LR images as sequences with strong temporal correlations, overlooking spatial correlations and imposing temporal dependencies. To address this problem, we propose a novel end-to-end framework named Enhancing Spatial Correlations in MISR (ESC-MISR), which fully exploits the spatial-temporal relations of multiple images for HR image reconstruction. Specifically, we first introduce a novel fusion module named Multi-Image Spatial Transformer (MIST), which emphasizes parts with clearer global spatial features and enhances the spatial correlations between LR images. Besides, we perform a random shuffle strategy for the sequential inputs of LR images to attenuate temporal dependencies and capture weak temporal correlations in the training stage. Compared with the state-of-the-art methods, our ESC-MISR achieves 0.70dB and 0.76dB cPSNR improvements on the two bands of the PROBA-V dataset respectively, demonstrating the superiority of our method.

Ruyue Liu, Rong Yin, Xiangzhen Bo et al.

Large scale pretrained models have revolutionized Natural Language Processing (NLP) and Computer Vision (CV), showcasing remarkable cross domain generalization abilities. However, in graph learning, models are typically trained on individual graph datasets, limiting their capacity to transfer knowledge across different graphs and tasks. This approach also heavily relies on large volumes of annotated data, which presents a significant challenge in resource-constrained settings. Unlike NLP and CV, graph structured data presents unique challenges due to its inherent heterogeneity, including domain specific feature spaces and structural diversity across various applications. To address these challenges, we propose a novel structure aware self supervised learning method for Text Attributed Graphs (SSTAG). By leveraging text as a unified representation medium for graph learning, SSTAG bridges the gap between the semantic reasoning of Large Language Models (LLMs) and the structural modeling capabilities of Graph Neural Networks (GNNs). Our approach introduces a dual knowledge distillation framework that co-distills both LLMs and GNNs into structure-aware multilayer perceptrons (MLPs), enhancing the scalability of large-scale TAGs. Additionally, we introduce an in-memory mechanism that stores typical graph representations, aligning them with memory anchors in an in-memory repository to integrate invariant knowledge, thereby improving the model's generalization ability. Extensive experiments demonstrate that SSTAG outperforms state-of-the-art models on cross-domain transfer learning tasks, achieves exceptional scalability, and reduces inference costs while maintaining competitive performance.

Rong Yin, Ruyue Liu, Xiaoshuai Hao et al.

Accurate extraction of molecular representations is a critical step in the drug discovery process. In recent years, significant progress has been made in molecular representation learning methods, among which multi-modal molecular representation methods based on images, and 2D/3D topologies have become increasingly mainstream. However, existing these multi-modal approaches often directly fuse information from different modalities, overlooking the potential of intermodal interactions and failing to adequately capture the complex higher-order relationships and invariant features between molecules. To overcome these challenges, we propose a structure-awareness-based multi-modal self-supervised molecular representation pre-training framework (MMSA) designed to enhance molecular graph representations by leveraging invariant knowledge between molecules. The framework consists of two main modules: the multi-modal molecular representation learning module and the structure-awareness module. The multi-modal molecular representation learning module collaboratively processes information from different modalities of the same molecule to overcome intermodal differences and generate a unified molecular embedding. Subsequently, the structure-awareness module enhances the molecular representation by constructing a hypergraph structure to model higher-order correlations between molecules. This module also introduces a memory mechanism for storing typical molecular representations, aligning them with memory anchors in the memory bank to integrate invariant knowledge, thereby improving the model generalization ability. Extensive experiments have demonstrated the effectiveness of MMSA, which achieves state-of-the-art performance on the MoleculeNet benchmark, with average ROC-AUC improvements ranging from 1.8% to 9.6% over baseline methods.

Ruyue Liu, Rong Yin, Xiangzhen Bo et al.

Federated graph learning (FGL) has gained significant attention for enabling heterogeneous clients to process their private graph data locally while interacting with a centralized server, thus maintaining privacy. However, graph data on clients are typically non-IID, posing a challenge for a single model to perform well across all clients. Another major bottleneck of FGL is the high cost of communication. To address these challenges, we propose a communication-efficient personalized federated graph learning algorithm, CEFGL. Our method decomposes the model parameters into low-rank generic and sparse private models. We employ a dual-channel encoder to learn sparse local knowledge in a personalized manner and low-rank global knowledge in a shared manner. Additionally, we perform multiple local stochastic gradient descent iterations between communication phases and integrate efficient compression techniques into the algorithm. The advantage of CEFGL lies in its ability to capture common and individual knowledge more precisely. By utilizing low-rank and sparse parameters along with compression techniques, CEFGL significantly reduces communication complexity. Extensive experiments demonstrate that our method achieves optimal classification accuracy in a variety of heterogeneous environments across sixteen datasets. Specifically, compared to the state-of-the-art method FedStar, the proposed method (with GIN as the base model) improves accuracy by 5.64\% on cross-datasets setting CHEM, reduces communication bits by a factor of 18.58, and reduces the communication time by a factor of 1.65.

Hanning Yuan, Zhihui Zhang, Qi Guo et al.

Multi-view contrastive clustering (MVCC) has gained significant attention for generating consistent clustering structures from multiple views through contrastive learning. However, most existing MVCC methods create cross-views by combining any two views, leading to a high volume of unreliable pairs. Furthermore, these approaches often overlook discrepancies in multi-view representations, resulting in representation degeneration. To address these challenges, we introduce a novel model called Dual-Weighted Contrastive Learning (DWCL) for Multi-View Clustering. Specifically, to reduce the impact of unreliable cross-views, we introduce an innovative Best-Other (B-O) contrastive mechanism that enhances the representation of individual views at a low computational cost. Furthermore, we develop a dual weighting strategy that combines a view quality weight, reflecting the quality of each view, with a view discrepancy weight. This approach effectively mitigates representation degeneration by downplaying cross-views that are both low in quality and high in discrepancy. We theoretically validate the efficiency of the B-O contrastive mechanism and the effectiveness of the dual weighting strategy. Extensive experiments demonstrate that DWCL outperforms previous methods across eight multi-view datasets, showcasing superior performance and robustness in MVCC. Specifically, our method achieves absolute accuracy improvements of 5.4\% and 5.6\% compared to state-of-the-art methods on the Caltech6V7 and MSRCv1 datasets, respectively.

Xiaoshuai Hao, Mengchuan Wei, Yifan Yang et al.

Driving systems often rely on high-definition (HD) maps for precise environmental information, which is crucial for planning and navigation. While current HD map constructors perform well under ideal conditions, their resilience to real-world challenges, \eg, adverse weather and sensor failures, is not well understood, raising safety concerns. This work introduces MapBench, the first comprehensive benchmark designed to evaluate the robustness of HD map construction methods against various sensor corruptions. Our benchmark encompasses a total of 29 types of corruptions that occur from cameras and LiDAR sensors. Extensive evaluations across 31 HD map constructors reveal significant performance degradation of existing methods under adverse weather conditions and sensor failures, underscoring critical safety concerns. We identify effective strategies for enhancing robustness, including innovative approaches that leverage multi-modal fusion, advanced data augmentation, and architectural techniques. These insights provide a pathway for developing more reliable HD map construction methods, which are essential for the advancement of autonomous driving technology. The benchmark toolkit and affiliated code and model checkpoints have been made publicly accessible.

Yamin Mao, Zhihua Liu, Weiming Li et al.

Depth-based 3D hand pose estimation is an important but challenging research task in human-machine interaction community. Recently, dense regression methods have attracted increasing attention in 3D hand pose estimation task, which provide a low computational burden and high accuracy regression way by densely regressing hand joint offset maps. However, large-scale regression offset values are often affected by noise and outliers, leading to a significant drop in accuracy. To tackle this, we re-formulate 3D hand pose estimation as a dense ordinal regression problem and propose a novel Dense Ordinal Regression 3D Pose Network (DOR3D-Net). Specifically, we first decompose offset value regression into sub-tasks of binary classifications with ordinal constraints. Then, each binary classifier can predict the probability of a binary spatial relationship relative to joint, which is easier to train and yield much lower level of noise. The estimated hand joint positions are inferred by aggregating the ordinal regression results at local positions with a weighted sum. Furthermore, both joint regression loss and ordinal regression loss are used to train our DOR3D-Net in an end-to-end manner. Extensive experiments on public datasets (ICVL, MSRA, NYU and HANDS2017) show that our design provides significant improvements over SOTA methods.

Samuel Albanie, Yang Liu, Arsha Nagrani et al.

We present a new video understanding pentathlon challenge, an open competition held in conjunction with the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2020. The objective of the challenge was to explore and evaluate new methods for text-to-video retrieval-the task of searching for content within a corpus of videos using natural language queries. This report summarizes the results of the first edition of the challenge together with the findings of the participants.