Yu-Xiong Wang

Yunze Man, Shuhong Zheng, Zhipeng Bao et al.

Complex 3D scene understanding has gained increasing attention, with scene encoding strategies playing a crucial role in this success. However, the optimal scene encoding strategies for various scenarios remain unclear, particularly compared to their image-based counterparts. To address this issue, we present a comprehensive study that probes various visual encoding models for 3D scene understanding, identifying the strengths and limitations of each model across different scenarios. Our evaluation spans seven vision foundation encoders, including image-based, video-based, and 3D foundation models. We evaluate these models in four tasks: Vision-Language Scene Reasoning, Visual Grounding, Segmentation, and Registration, each focusing on different aspects of scene understanding. Our evaluations yield key findings: DINOv2 demonstrates superior performance, video models excel in object-level tasks, diffusion models benefit geometric tasks, and language-pretrained models show unexpected limitations in language-related tasks. These insights challenge some conventional understandings, provide novel perspectives on leveraging visual foundation models, and highlight the need for more flexible encoder selection in future vision-language and scene-understanding tasks. Code: https://github.com/YunzeMan/Lexicon3D

Yifei Zhou, Qianlan Yang, Kaixiang Lin et al.

The vision of a broadly capable and goal-directed agent, such as an Internet-browsing agent in the digital world and a household humanoid in the physical world, has rapidly advanced, thanks to the generalization capability of foundation models. Such a generalist agent needs to have a large and diverse skill repertoire, such as finding directions between two travel locations and buying specific items from the Internet. If each skill needs to be specified manually through a fixed set of human-annotated instructions, the agent's skill repertoire will necessarily be limited due to the quantity and diversity of human-annotated instructions. In this work, we address this challenge by proposing Proposer-Agent-Evaluator, an effective learning system that enables foundation model agents to autonomously discover and practice skills in the wild. At the heart of PAE is a context-aware task proposer that autonomously proposes tasks for the agent to practice with context information of the environment such as user demos or even just the name of the website itself for Internet-browsing agents. Then, the agent policy attempts those tasks with thoughts and actual grounded operations in the real world with resulting trajectories evaluated by an autonomous VLM-based success evaluator. The success evaluation serves as the reward signal for the agent to refine its policies through RL. We validate PAE on challenging vision-based web navigation, using both real-world and self-hosted websites from WebVoyager and WebArena.To the best of our knowledge, this work represents the first effective learning system to apply autonomous task proposal with RL for agents that generalizes real-world human-annotated benchmarks with SOTA performances. Our open-source checkpoints and code can be found in https://yanqval.github.io/PAE/

Jun-Kun Chen, Yu-Xiong Wang

This paper proposes ProEdit - a simple yet effective framework for high-quality 3D scene editing guided by diffusion distillation in a novel progressive manner. Inspired by the crucial observation that multi-view inconsistency in scene editing is rooted in the diffusion model's large feasible output space (FOS), our framework controls the size of FOS and reduces inconsistency by decomposing the overall editing task into several subtasks, which are then executed progressively on the scene. Within this framework, we design a difficulty-aware subtask decomposition scheduler and an adaptive 3D Gaussian splatting (3DGS) training strategy, ensuring high quality and efficiency in performing each subtask. Extensive evaluation shows that our ProEdit achieves state-of-the-art results in various scenes and challenging editing tasks, all through a simple framework without any expensive or sophisticated add-ons like distillation losses, components, or training procedures. Notably, ProEdit also provides a new way to control, preview, and select the "aggressivity" of editing operation during the editing process.

Yuxiang Lu, Shengcao Cao, Yu-Xiong Wang

Vision Foundation Models (VFMs) have demonstrated outstanding performance on numerous downstream tasks. However, due to their inherent representation biases originating from different training paradigms, VFMs exhibit advantages and disadvantages across distinct vision tasks. Although amalgamating the strengths of multiple VFMs for downstream tasks is an intuitive strategy, effectively exploiting these biases remains a significant challenge. In this paper, we propose a novel and versatile "Swiss Army Knife" (SAK) solution, which adaptively distills knowledge from a committee of VFMs to enhance multi-task learning. Unlike existing methods that use a single backbone for knowledge transfer, our approach preserves the unique representation bias of each teacher by collaborating the lightweight Teacher-Specific Adapter Path modules with the Teacher-Agnostic Stem. Through dynamic selection and combination of representations with Mixture-of-Representations Routers, our SAK is capable of synergizing the complementary strengths of multiple VFMs. Extensive experiments show that our SAK remarkably outperforms prior state of the arts in multi-task learning by 10% on the NYUD-v2 benchmark, while also providing a flexible and robust framework that can readily accommodate more advanced model designs. Project page: https://innovator-zero.github.io/SAK/ .

Aaron Councilman, David Fu, Aryan Gupta et al.

In the past few years LLMs have emerged as a tool that can aid programmers by taking natural language descriptions and generating code based on it. However, LLMs often generate incorrect code that users need to fix and the literature suggests users often struggle to detect these errors. In this work we seek to offer formal guarantees of correctness to LLM generated code; such guarantees could improve the experience of using AI Code Assistants and potentially enable natural language programming for users with little or no programming knowledge. To address this challenge we propose to incorporate a formal query language that can represent a user's intent in a formally defined but natural language-like manner that a user can confirm matches their intent. Then, using such a query we propose to verify LLM generated code to ensure it matches the user's intent. We implement these ideas in our system, Astrogator, for the Ansible programming language which includes such a formal query language, a calculus for representing the behavior of Ansible programs, and a symbolic interpreter which is used for the verification. On a benchmark suite of 21 code-generation tasks, our verifier is able to verify correct code in 83% of cases and identify incorrect code in 92%.

Shengcao Cao, Zijun Wei, Jason Kuen et al.

Recent image segmentation models have advanced to segment images into high-quality masks for visual entities, and yet they cannot provide comprehensive semantic understanding for complex queries based on both language and vision. This limitation reduces their effectiveness in applications that require user-friendly interactions driven by vision-language prompts. To bridge this gap, we introduce a novel task of omnimodal referring expression segmentation (ORES). In this task, a model produces a group of masks based on arbitrary prompts specified by text only or text plus reference visual entities. To address this new challenge, we propose a novel framework to "Refer to Any Segmentation Mask Group" (RAS), which augments segmentation models with complex multimodal interactions and comprehension via a mask-centric large multimodal model. For training and benchmarking ORES models, we create datasets MaskGroups-2M and MaskGroups-HQ to include diverse mask groups specified by text and reference entities. Through extensive evaluation, we demonstrate superior performance of RAS on our new ORES task, as well as classic referring expression segmentation (RES) and generalized referring expression segmentation (GRES) tasks. Project page: https://Ref2Any.github.io.

Jipeng Lyu, Jiahua Dong, Yu-Xiong Wang

Persistent dynamic scene modeling for tracking and novel-view synthesis remains challenging due to the difficulty of capturing accurate deformations while maintaining computational efficiency. We propose SCas4D, a cascaded optimization framework that leverages structural patterns in 3D Gaussian Splatting for dynamic scenes. The key idea is that real-world deformations often exhibit hierarchical patterns, where groups of Gaussians share similar transformations. By progressively refining deformations from coarse part-level to fine point-level, SCas4D achieves convergence within 100 iterations per time frame and produces results comparable to existing methods with only one-twentieth of the training iterations. The approach also demonstrates effectiveness in self-supervised articulated object segmentation, novel view synthesis, and dense point tracking tasks.

Linzhan Mou, Jun-Kun Chen, Yu-Xiong Wang

This paper proposes Instruct 4D-to-4D that achieves 4D awareness and spatial-temporal consistency for 2D diffusion models to generate high-quality instruction-guided dynamic scene editing results. Traditional applications of 2D diffusion models in dynamic scene editing often result in inconsistency, primarily due to their inherent frame-by-frame editing methodology. Addressing the complexities of extending instruction-guided editing to 4D, our key insight is to treat a 4D scene as a pseudo-3D scene, decoupled into two sub-problems: achieving temporal consistency in video editing and applying these edits to the pseudo-3D scene. Following this, we first enhance the Instruct-Pix2Pix (IP2P) model with an anchor-aware attention module for batch processing and consistent editing. Additionally, we integrate optical flow-guided appearance propagation in a sliding window fashion for more precise frame-to-frame editing and incorporate depth-based projection to manage the extensive data of pseudo-3D scenes, followed by iterative editing to achieve convergence. We extensively evaluate our approach in various scenes and editing instructions, and demonstrate that it achieves spatially and temporally consistent editing results, with significantly enhanced detail and sharpness over the prior art. Notably, Instruct 4D-to-4D is general and applicable to both monocular and challenging multi-camera scenes. Code and more results are available at immortalco.github.io/Instruct-4D-to-4D.

Yunze Man, Liang-Yan Gui, Yu-Xiong Wang

Being able to carry out complicated vision language reasoning tasks in 3D space represents a significant milestone in developing household robots and human-centered embodied AI. In this work, we demonstrate that a critical and distinct challenge in 3D vision language reasoning is situational awareness, which incorporates two key components: (1) The autonomous agent grounds its self-location based on a language prompt. (2) The agent answers open-ended questions from the perspective of its calculated position. To address this challenge, we introduce SIG3D, an end-to-end Situation-Grounded model for 3D vision language reasoning. We tokenize the 3D scene into sparse voxel representation and propose a language-grounded situation estimator, followed by a situated question answering module. Experiments on the SQA3D and ScanQA datasets show that SIG3D outperforms state-of-the-art models in situation estimation and question answering by a large margin (e.g., an enhancement of over 30% on situation estimation accuracy). Subsequent analysis corroborates our architectural design choices, explores the distinct functions of visual and textual tokens, and highlights the importance of situational awareness in the domain of 3D question answering.