Kuk-Jin Yoon

Hoonhee Cho, Hyeonseong Kim, Yujeong Chae et al.

Recognizing objects from sparse and noisy events becomes extremely difficult when paired images and category labels do not exist. In this paper, we study label-free event-based object recognition where category labels and paired images are not available. To this end, we propose a joint formulation of object recognition and image reconstruction in a complementary manner. Our method first reconstructs images from events and performs object recognition through Contrastive Language-Image Pre-training (CLIP), enabling better recognition through a rich context of images. Since the category information is essential in reconstructing images, we propose category-guided attraction loss and category-agnostic repulsion loss to bridge the textual features of predicted categories and the visual features of reconstructed images using CLIP. Moreover, we introduce a reliable data sampling strategy and local-global reconstruction consistency to boost joint learning of two tasks. To enhance the accuracy of prediction and quality of reconstruction, we also propose a prototype-based approach using unpaired images. Extensive experiments demonstrate the superiority of our method and its extensibility for zero-shot object recognition. Our project code is available at \url{https://github.com/Chohoonhee/Ev-LaFOR}.

Taewoo Kim, Jaeseok Jeong, Hoonhee Cho et al.

In low-light conditions, capturing videos with frame-based cameras often requires long exposure times, resulting in motion blur and reduced visibility. While frame-based motion deblurring and low-light enhancement have been studied, they still pose significant challenges. Event cameras have emerged as a promising solution for improving image quality in low-light environments and addressing motion blur. They provide two key advantages: capturing scene details well even in low light due to their high dynamic range, and effectively capturing motion information during long exposures due to their high temporal resolution. Despite efforts to tackle low-light enhancement and motion deblurring using event cameras separately, previous work has not addressed both simultaneously. To explore the joint task, we first establish real-world datasets for event-guided low-light enhancement and deblurring using a hybrid camera system based on beam splitters. Subsequently, we introduce an end-to-end framework to effectively handle these tasks. Our framework incorporates a module to efficiently leverage temporal information from events and frames. Furthermore, we propose a module to utilize cross-modal feature information to employ a low-pass filter for noise suppression while enhancing the main structural information. Our proposed method significantly outperforms existing approaches in addressing the joint task. Our project pages are available at https://github.com/intelpro/ELEDNet.

Taeyeop Lee, Jonathan Tremblay, Valts Blukis et al.

Test-time adaptation methods have been gaining attention recently as a practical solution for addressing source-to-target domain gaps by gradually updating the model without requiring labels on the target data. In this paper, we propose a method of test-time adaptation for category-level object pose estimation called TTA-COPE. We design a pose ensemble approach with a self-training loss using pose-aware confidence. Unlike previous unsupervised domain adaptation methods for category-level object pose estimation, our approach processes the test data in a sequential, online manner, and it does not require access to the source domain at runtime. Extensive experimental results demonstrate that the proposed pose ensemble and the self-training loss improve category-level object pose performance during test time under both semi-supervised and unsupervised settings. Project page: https://taeyeop.com/ttacope

Inkyu Shin, Yi-Hsuan Tsai, Bingbing Zhuang et al.

Test-time adaptation approaches have recently emerged as a practical solution for handling domain shift without access to the source domain data. In this paper, we propose and explore a new multi-modal extension of test-time adaptation for 3D semantic segmentation. We find that directly applying existing methods usually results in performance instability at test time because multi-modal input is not considered jointly. To design a framework that can take full advantage of multi-modality, where each modality provides regularized self-supervisory signals to other modalities, we propose two complementary modules within and across the modalities. First, Intra-modal Pseudolabel Generation (Intra-PG) is introduced to obtain reliable pseudo labels within each modality by aggregating information from two models that are both pre-trained on source data but updated with target data at different paces. Second, Inter-modal Pseudo-label Refinement (Inter-PR) adaptively selects more reliable pseudo labels from different modalities based on a proposed consistency scheme. Experiments demonstrate that our regularized pseudo labels produce stable self-learning signals in numerous multi-modal test-time adaptation scenarios for 3D semantic segmentation. Visit our project website at https://www.nec-labs.com/~mas/MM-TTA.

Valts Blukis, Taeyeop Lee, Jonathan Tremblay et al.

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view rendering, 3D reconstruction (e.g. recovering depth, point clouds, or voxel maps), collision checking, and stable grasp prediction. We build our representation from a single RGB input image at test time by leveraging recent advances in Neural Radiance Fields (NeRF) that learn category-level priors on large multiview datasets, then fine-tune on novel objects from one or few views. We expand the NeRF model for additional grasp outputs and explore ways to leverage this representation for robotics. At test-time, we build the representation from a single RGB input image observing the scene from only one viewpoint. We find that the recovered representation allows rendering from novel views, including of occluded object parts, and also for predicting successful stable grasps. Grasp poses can be directly decoded from our latent representation with an implicit grasp decoder. We experimented in both simulation and real world and demonstrated the capability for robust robotic grasping using such compact representation. Website: https://nerfgrasp.github.io

Hoonhee Cho, Jae-Young Kang, Kuk-Jin Yoon

Event cameras are dynamic vision sensors inspired by the biological retina, characterized by their high dynamic range, high temporal resolution, and low power consumption. These features make them capable of perceiving 3D environments even in extreme conditions. Event data is continuous across the time dimension, which allows a detailed description of each pixel's movements. To fully utilize the temporally dense and continuous nature of event cameras, we propose a novel temporal event stereo, a framework that continuously uses information from previous time steps. This is accomplished through the simultaneous training of an event stereo matching network alongside stereoscopic flow, a new concept that captures all pixel movements from stereo cameras. Since obtaining ground truth for optical flow during training is challenging, we propose a method that uses only disparity maps to train the stereoscopic flow. The performance of event-based stereo matching is enhanced by temporally aggregating information using the flows. We have achieved state-of-the-art performance on the MVSEC and the DSEC datasets. The method is computationally efficient, as it stacks previous information in a cascading manner. The code is available at https://github.com/mickeykang16/TemporalEventStereo.

Taewoo Kim, Hoonhee Cho, Kuk-Jin Yoon

Video deblurring aims to enhance the quality of restored results in motion-blurred videos by effectively gathering information from adjacent video frames to compensate for the insufficient data in a single blurred frame. However, when faced with consecutively severe motion blur situations, frame-based video deblurring methods often fail to find accurate temporal correspondence among neighboring video frames, leading to diminished performance. To address this limitation, we aim to solve the video deblurring task by leveraging an event camera with micro-second temporal resolution. To fully exploit the dense temporal resolution of the event camera, we propose two modules: 1) Intra-frame feature enhancement operates within the exposure time of a single blurred frame, iteratively enhancing cross-modality features in a recurrent manner to better utilize the rich temporal information of events, 2) Inter-frame temporal feature alignment gathers valuable long-range temporal information to target frames, aggregating sharp features leveraging the advantages of the events. In addition, we present a novel dataset composed of real-world blurred RGB videos, corresponding sharp videos, and event data. This dataset serves as a valuable resource for evaluating event-guided deblurring methods. We demonstrate that our proposed methods outperform state-of-the-art frame-based and event-based motion deblurring methods through extensive experiments conducted on both synthetic and real-world deblurring datasets. The code and dataset are available at https://github.com/intelpro/CMTA.

Yuhwan Jeong, Hoonhee Cho, Kuk-Jin Yoon

Event cameras with high dynamic range ensure scene capture even in low-light conditions. However, night events exhibit patterns different from those captured during the day. This difference causes performance degradation when applying night events to a model trained solely on day events. This limitation persists due to a lack of annotated night events. To overcome the limitation, we aim to alleviate data imbalance by translating annotated day data into night events. However, generating events from different modalities challenges reproducing their unique properties. Accordingly, we propose an unpaired event-to-event day-to-night translation model that effectively learns to map from one domain to another using Diffusion GAN. The proposed translation model analyzes events in spatio-temporal dimension with wavelet decomposition and disentangled convolution layers. We also propose a new temporal contrastive learning with a novel shuffling and sampling strategy to regularize temporal continuity. To validate the efficacy of the proposed methodology, we redesign metrics for evaluating events translated in an unpaired setting, aligning them with the event modality for the first time. Our framework shows the successful day-to-night event translation while preserving the characteristics of events. In addition, through our translation method, we facilitate event-based modes to learn about night events by translating annotated day events into night events. Our approach effectively mitigates the performance degradation of applying real night events to downstream tasks. The code is available at https://github.com/jeongyh98/UDNET.

Hoonhee Cho, Sung-Hoon Yoon, Hyeokjun Kweon et al.

Event cameras excel in capturing high-contrast scenes and dynamic objects, offering a significant advantage over traditional frame-based cameras. Despite active research into leveraging event cameras for semantic segmentation, generating pixel-wise dense semantic maps for such challenging scenarios remains labor-intensive. As a remedy, we present EV-WSSS: a novel weakly supervised approach for event-based semantic segmentation that utilizes sparse point annotations. To fully leverage the temporal characteristics of event data, the proposed framework performs asymmetric dual-student learning between 1) the original forward event data and 2) the longer reversed event data, which contain complementary information from the past and the future, respectively. Besides, to mitigate the challenges posed by sparse supervision, we propose feature-level contrastive learning based on class-wise prototypes, carefully aggregated at both spatial region and sample levels. Additionally, we further excavate the potential of our dual-student learning model by exchanging prototypes between the two learning paths, thereby harnessing their complementary strengths. With extensive experiments on various datasets, including DSEC Night-Point with sparse point annotations newly provided by this paper, the proposed method achieves substantial segmentation results even without relying on pixel-level dense ground truths. The code and dataset are available at https://github.com/Chohoonhee/EV-WSSS.

Inkyu Shin, Dahun Kim, Qihang Yu et al.

Video Panoptic Segmentation (VPS) aims to achieve comprehensive pixel-level scene understanding by segmenting all pixels and associating objects in a video. Current solutions can be categorized into online and near-online approaches. Evolving over the time, each category has its own specialized designs, making it nontrivial to adapt models between different categories. To alleviate the discrepancy, in this work, we propose a unified approach for online and near-online VPS. The meta architecture of the proposed Video-kMaX consists of two components: within clip segmenter (for clip-level segmentation) and cross-clip associater (for association beyond clips). We propose clip-kMaX (clip k-means mask transformer) and HiLA-MB (Hierarchical Location-Aware Memory Buffer) to instantiate the segmenter and associater, respectively. Our general formulation includes the online scenario as a special case by adopting clip length of one. Without bells and whistles, Video-kMaX sets a new state-of-the-art on KITTI-STEP and VIPSeg for video panoptic segmentation, and VSPW for video semantic segmentation. Code will be made publicly available.

Kanghoon Lee, Matthew M. Sato, Jinnyeong Yang et al.

Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation quality, existing multi-robot monitoring and active perception approaches typically rely on coverage or visitation based objectives that are weakly aligned with the accuracy requirements of human-centric monitoring tasks. In this work, we formulate cooperative active observation as a decentralized control problem in which multiple robots adjust their motion to directly optimize monitoring accuracy under partial observability. We propose a learning-based framework for cooperative policies from decentralized observations using multi-agent reinforcement learning (MARL), supported by an architecture that handles variable numbers of humans and temporal dependencies. Simulation results across diverse indoor environments and monitoring tasks show that the proposed approach consistently outperforms classical coverage, persistent monitoring, and learning-free multi-robot baselines, while remaining robust to changes in the number of observed humans.

Pranjay Shyam, Sandeep Singh Sengar, Kuk-Jin Yoon et al.

The limited dynamic range of commercial compact camera sensors results in an inaccurate representation of scenes with varying illumination conditions, adversely affecting image quality and subsequently limiting the performance of underlying image processing algorithms. Current state-of-the-art (SoTA) convolutional neural networks (CNN) are developed as post-processing techniques to independently recover under-/over-exposed images. However, when applied to images containing real-world degradations such as glare, high-beam, color bleeding with varying noise intensity, these algorithms amplify the degradations, further degrading image quality. We propose a lightweight two-stage image enhancement algorithm sequentially balancing illumination and noise removal using frequency priors for structural guidance to overcome these limitations. Furthermore, to ensure realistic image quality, we leverage the relationship between frequency and spatial domain properties of an image and propose a Fourier spectrum-based adversarial framework (AFNet) for consistent image enhancement under varying illumination conditions. While current formulations of image enhancement are envisioned as post-processing techniques, we examine if such an algorithm could be extended to integrate the functionality of the Image Signal Processing (ISP) pipeline within the camera sensor benefiting from RAW sensor data and lightweight CNN architecture. Based on quantitative and qualitative evaluations, we also examine the practicality and effects of image enhancement techniques on the performance of common perception tasks such as object detection and semantic segmentation in varying illumination conditions.

Kyeongseob Song, Kuk-Jin Yoon

Monocular depth estimation has been extensively explored based on deep learning, yet its accuracy and generalization ability still lag far behind the stereo-based methods. To tackle this, a few recent studies have proposed to supervise the monocular depth estimation network by distilling disparity maps as proxy ground-truths. However, these studies naively distill the stereo knowledge without considering the comparative advantages of stereo-based and monocular depth estimation methods. In this paper, we propose to selectively distill the disparity maps for more reliable proxy supervision. Specifically, we first design a decoder (MaskDecoder) that learns two binary masks which are trained to choose optimally between the proxy disparity maps and the estimated depth maps for each pixel. The learned masks are then fed to another decoder (DepthDecoder) to enforce the estimated depths to learn from only the masked area in the proxy disparity maps. Additionally, a Teacher-Student module is designed to transfer the geometric knowledge of the StereoNet to the MonoNet. Extensive experiments validate our methods achieve state-of-the-art performance for self- and proxy-supervised monocular depth estimation on the KITTI dataset, even surpassing some of the semi-supervised methods.

Hwan-Soo Choi, Jongoh Jeong, Young Hoo Cho et al.

Sensor fusion approaches for intelligent self-driving agents remain key to driving scene understanding given visual global contexts acquired from input sensors. Specifically, for the local waypoint prediction task, single-modality networks are still limited by strong dependency on the sensitivity of the input sensor, and thus recent works therefore promote the use of multiple sensors in fusion in feature level in practice. While it is well known that multiple data modalities encourage mutual contextual exchange, it requires global 3D scene understanding in real-time with minimal computation upon deployment to practical driving scenarios, thereby placing greater significance on the training strategy given a limited number of practically usable sensors. In this light, we exploit carefully selected auxiliary tasks that are highly correlated with the target task of interest (e.g., traffic light recognition and semantic segmentation) by fusing auxiliary task features and also using auxiliary heads for waypoint prediction based on imitation learning. Our RGB-LIDAR-based multi-task feature fusion network, coined Cognitive TransFuser, augments and exceeds the baseline network by a significant margin for safer and more complete road navigation in the CARLA simulator. We validate the proposed network on the Town05 Short and Town05 Long Benchmark through extensive experiments, achieving up to 44.2 FPS real-time inference time.

Jongoh Jeong, Hoyong Kwon, Minseok Kim et al.

Dataset distillation compresses large training sets into compact synthetic datasets while preserving downstream performance. As modern systems increasingly operate on paired vision-language inputs, multimodal distillation must preserve representation quality and cross-modal alignment under tight compute and memory budgets, yet prior methods often require heavy computes and overlook their correlations. To address this, we present Multimodal Distribution Matching (MDM), a geometry-aware framework for efficient and generalizable multimodal distillation. Specifically, MDM integrates complementary components at the data, model, and loss levels. At the data level, it initializes synthetic image-text pairs by sampling from clusters in the joint embedding space. At the model level, it forms a mixed teacher by interpolating independently fine-tuned models in weight space according to their angular deviation from the pretrained anchor. At the loss level, it matches joint distributions on the unit hypersphere using a geometry-aware matching objective that exploits the joint features in the cross-modal agreement and discrepancy directions along with symmetric contrastive learning. Across image-text retrieval benchmarks with cross-architecture evaluation, MDM yields compact synthetic sets that preserve multimodal semantics, substantially reduce distillation cost, and remain robust across architectures.

Taewoo Kim, Yujeong Chae, Hyun-Kurl Jang et al.

Video Frame Interpolation (VFI) aims to generate intermediate video frames between consecutive input frames. Since the event cameras are bio-inspired sensors that only encode brightness changes with a micro-second temporal resolution, several works utilized the event camera to enhance the performance of VFI. However, existing methods estimate bidirectional inter-frame motion fields with only events or approximations, which can not consider the complex motion in real-world scenarios. In this paper, we propose a novel event-based VFI framework with cross-modal asymmetric bidirectional motion field estimation. In detail, our EIF-BiOFNet utilizes each valuable characteristic of the events and images for direct estimation of inter-frame motion fields without any approximation methods. Moreover, we develop an interactive attention-based frame synthesis network to efficiently leverage the complementary warping-based and synthesis-based features. Finally, we build a large-scale event-based VFI dataset, ERF-X170FPS, with a high frame rate, extreme motion, and dynamic textures to overcome the limitations of previous event-based VFI datasets. Extensive experimental results validate that our method shows significant performance improvement over the state-of-the-art VFI methods on various datasets. Our project pages are available at: https://github.com/intelpro/CBMNet

Hoonhee Cho, Giwon Lee, Jae-Young Kang et al.

End-to-end autonomous driving has emerged as a compelling alternative to traditional modular pipelines by directly mapping raw sensor data to driving actions. While recent approaches achieve strong performance on single-domain datasets, their performance degrades significantly when trained jointly across multiple heterogeneous domains. In practice, however, autonomous systems must operate across diverse environments with heterogeneous distributions, including different cities, sensor configurations, and traffic patterns, without domain-specific retraining. This gap highlights a key challenge in multi-domain learning: domain-specific variations across heterogeneous domains introduce conflicting learning signals, driving models toward compromised solutions that are suboptimal across domains. To address this, we propose a trajectory-driven learning paradigm that organizes training around planning trajectories, enabling the model to capture domain-invariant representations of driving intent. Furthermore, we incorporate a world model that predicts future latent features conditioned on ego actions, improving feature consistency and mitigating domain-induced biases. We evaluate our approach on three benchmarks, nuScenes, NAVSIM, and the Waymo end-to-end dataset, and show substantial improvements over existing methods across all domains. Our results demonstrate that a single unified model can be trained on heterogeneous datasets while maintaining strong performance within each domain, highlighting a step toward scalable real-world deployment. We will make our code publicly available.

Hunmin Yang, Jongoh Jeong, Kuk-Jin Yoon

Recent vision-language foundation models, such as CLIP, have demonstrated superior capabilities in learning representations that can be transferable across diverse range of downstream tasks and domains. With the emergence of such powerful models, it has become crucial to effectively leverage their capabilities in tackling challenging vision tasks. On the other hand, only a few works have focused on devising adversarial examples that transfer well to both unknown domains and model architectures. In this paper, we propose a novel transfer attack method called PDCL-Attack, which leverages the CLIP model to enhance the transferability of adversarial perturbations generated by a generative model-based attack framework. Specifically, we formulate an effective prompt-driven feature guidance by harnessing the semantic representation power of text, particularly from the ground-truth class labels of input images. To the best of our knowledge, we are the first to introduce prompt learning to enhance the transferable generative attacks. Extensive experiments conducted across various cross-domain and cross-model settings empirically validate our approach, demonstrating its superiority over state-of-the-art methods.

Hunmin Yang, Jongoh Jeong, Kuk-Jin Yoon

Deep neural networks are known to be vulnerable to security risks due to the inherent transferable nature of adversarial examples. Despite the success of recent generative model-based attacks demonstrating strong transferability, it still remains a challenge to design an efficient attack strategy in a real-world strict black-box setting, where both the target domain and model architectures are unknown. In this paper, we seek to explore a feature contrastive approach in the frequency domain to generate adversarial examples that are robust in both cross-domain and cross-model settings. With that goal in mind, we propose two modules that are only employed during the training phase: a Frequency-Aware Domain Randomization (FADR) module to randomize domain-variant low- and high-range frequency components and a Frequency-Augmented Contrastive Learning (FACL) module to effectively separate domain-invariant mid-frequency features of clean and perturbed image. We demonstrate strong transferability of our generated adversarial perturbations through extensive cross-domain and cross-model experiments, while keeping the inference time complexity.

Jaewoo Jeong, Daehee Park, Kuk-Jin Yoon

Human pose forecasting garners attention for its diverse applications. However, challenges in modeling the multi-modal nature of human motion and intricate interactions among agents persist, particularly with longer timescales and more agents. In this paper, we propose an interaction-aware trajectory-conditioned long-term multi-agent human pose forecasting model, utilizing a coarse-to-fine prediction approach: multi-modal global trajectories are initially forecasted, followed by respective local pose forecasts conditioned on each mode. In doing so, our Trajectory2Pose model introduces a graph-based agent-wise interaction module for a reciprocal forecast of local motion-conditioned global trajectory and trajectory-conditioned local pose. Our model effectively handles the multi-modality of human motion and the complexity of long-term multi-agent interactions, improving performance in complex environments. Furthermore, we address the lack of long-term (6s+) multi-agent (5+) datasets by constructing a new dataset from real-world images and 2D annotations, enabling a comprehensive evaluation of our proposed model. State-of-the-art prediction performance on both complex and simpler datasets confirms the generalized effectiveness of our method. The code is available at https://github.com/Jaewoo97/T2P.

Daehee Park, Jaeseok Jeong, Sung-Hoon Yoon et al.

Trajectory prediction is a challenging problem that requires considering interactions among multiple actors and the surrounding environment. While data-driven approaches have been used to address this complex problem, they suffer from unreliable predictions under distribution shifts during test time. Accordingly, several online learning methods have been proposed using regression loss from the ground truth of observed data leveraging the auto-labeling nature of trajectory prediction task. We mainly tackle the following two issues. First, previous works underfit and overfit as they only optimize the last layer of the motion decoder. To this end, we employ the masked autoencoder (MAE) for representation learning to encourage complex interaction modeling in shifted test distribution for updating deeper layers. Second, utilizing the sequential nature of driving data, we propose an actor-specific token memory that enables the test-time learning of actor-wise motion characteristics. Our proposed method has been validated across various challenging cross-dataset distribution shift scenarios including nuScenes, Lyft, Waymo, and Interaction. Our method surpasses the performance of existing state-of-the-art online learning methods in terms of both prediction accuracy and computational efficiency. The code is available at https://github.com/daeheepark/T4P.

Jihun Kim, Hoyong Kwon, Hyeokjun Kweon et al.

Fully supervised Video Semantic Segmentation (VSS) relies heavily on densely annotated video data, limiting practical applicability. Alternatively, applying pre-trained Image Semantic Segmentation (ISS) models frame-by-frame avoids annotation costs but ignores crucial temporal coherence. Recent foundation models such as SAM2 enable high-quality mask propagation yet remain impractical for direct VSS due to limited semantic understanding and computational overhead. In this paper, we propose DiTTA (Distillation-assisted Test-Time Adaptation), a novel framework that converts an ISS model into a temporally-aware VSS model through efficient test-time adaptation (TTA), without annotated videos. DiTTA distills SAM2's temporal segmentation knowledge into the ISS model during a brief, single-pass initialization phase, complemented by a lightweight temporal fusion module to aggregate cross-frame context. Crucially, DiTTA achieves robust generalization even when adapting with highly limited partial video snippets (e.g., initial 10%), significantly outperforming zero-shot refinement approaches that repeatedly invoke SAM2 during inference. Extensive experiments on VSPW and Cityscapes demonstrate DiTTA's effectiveness, achieving competitive or superior performance relative to fully-supervised VSS methods, thus providing a practical and annotation-free solution for real-world VSS tasks.

Hoonhee Cho, Jae-Young Kang, Yuhwan Jeong et al.

In this paper, we present DSERT-RoLL, a driving dataset that incorporates stereo event, RGB, and thermal cameras together with 4D radar and dual LiDAR, collected across diverse weather and illumination conditions. The dataset provides precise 2D and 3D bounding boxes with track IDs and ego vehicle odometry, enabling fair comparisons within and across sensor combinations. It is designed to alleviate data scarcity for novel sensors such as event cameras and 4D radar and to support systematic studies of their behavior. We establish unified 3D and 2D benchmarks that enable direct comparison of characteristics and strengths across sensor families and within each family. We report baselines for representative single modality and multimodal methods and provide protocols that encourage research on different fusion strategies and sensor combinations. In addition, we propose a fusion framework that integrates sensor specific cues into a unified feature space and improves 3D detection robustness under varied weather and lighting.

Minjun Kang, Inkyu Shin, Taeyeop Lee et al.

Novel view synthesis requires strong 3D geometric consistency and the ability to generate visually coherent images across diverse viewpoints. While recent camera-controlled video diffusion models show promising results, they often suffer from geometric distortions and limited camera controllability. To overcome these challenges, we introduce GeoNVS, a geometry-grounded novel-view synthesizer that enhances both geometric fidelity and camera controllability through explicit 3D geometric guidance. Our key innovation is the Gaussian Splat Feature Adapter (GS-Adapter), which lifts input-view diffusion features into 3D Gaussian representations, renders geometry-constrained novel-view features, and adaptively fuses them with diffusion features to correct geometrically inconsistent representations. Unlike prior methods that inject geometry at the input level, GS-Adapter operates in feature space, avoiding view-dependent color noise that degrades structural consistency. Its plug-and-play design enables zero-shot compatibility with diverse feed-forward geometry models without additional training, and can be adapted to other video diffusion backbones. Experiments across 9 scenes and 18 settings demonstrate state-of-the-art performance, achieving 11.3% and 14.9% improvements over SEVA and CameraCtrl, with up to 2x reduction in translation error and 7x in Chamfer Distance.

Hyun-Kurl Jang, Jihun Kim, Hyeokjun Kweon et al.

Semantic Scene Completion (SSC) aims to perform geometric completion and semantic segmentation simultaneously. Despite the promising results achieved by existing studies, the inherently ill-posed nature of the task presents significant challenges in diverse driving scenarios. This paper introduces TALoS, a novel test-time adaptation approach for SSC that excavates the information available in driving environments. Specifically, we focus on that observations made at a certain moment can serve as Ground Truth (GT) for scene completion at another moment. Given the characteristics of the LiDAR sensor, an observation of an object at a certain location confirms both 1) the occupation of that location and 2) the absence of obstacles along the line of sight from the LiDAR to that point. TALoS utilizes these observations to obtain self-supervision about occupancy and emptiness, guiding the model to adapt to the scene in test time. In a similar manner, we aggregate reliable SSC predictions among multiple moments and leverage them as semantic pseudo-GT for adaptation. Further, to leverage future observations that are not accessible at the current time, we present a dual optimization scheme using the model in which the update is delayed until the future observation is available. Evaluations on the SemanticKITTI validation and test sets demonstrate that TALoS significantly improves the performance of the pre-trained SSC model. Our code is available at https://github.com/blue-531/TALoS.

Hoonhee Cho, Jae-young Kang, Youngho Kim et al.

Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving system, algorithms that excel not only in accuracy but also in speed and low latency are essential. However, existing algorithms fail to meet these requirements due to the latency and bandwidth limitations of fixed frame rate sensors, e.g., LiDAR and camera. To address this limitation, we introduce asynchronous event cameras into 3D object detection for the first time. We leverage their high temporal resolution and low bandwidth to enable high-speed 3D object detection. Our method enables detection even during inter-frame intervals when synchronized data is unavailable, by retrieving previous 3D information through the event camera. Furthermore, we introduce the first event-based 3D object detection dataset, DSEC-3DOD, which includes ground-truth 3D bounding boxes at 100 FPS, establishing the first benchmark for event-based 3D detectors. The code and dataset are available at https://github.com/mickeykang16/Ev3DOD.

Jaewoo Jeong, Seohee Lee, Daehee Park et al.

Pedestrian trajectory forecasting is crucial in various applications such as autonomous driving and mobile robot navigation. In such applications, camera-based perception enables the extraction of additional modalities (human pose, text) to enhance prediction accuracy. Indeed, we find that textual descriptions play a crucial role in integrating additional modalities into a unified understanding. However, online extraction of text requires the use of VLM, which may not be feasible for resource-constrained systems. To address this challenge, we propose a multi-modal knowledge distillation framework: a student model with limited modality is distilled from a teacher model trained with full range of modalities. The comprehensive knowledge of a teacher model trained with trajectory, human pose, and text is distilled into a student model using only trajectory or human pose as a sole supplement. In doing so, we separately distill the core locomotion insights from intra-agent multi-modality and inter-agent interaction. Our generalizable framework is validated with two state-of-the-art models across three datasets on both ego-view (JRDB, SIT) and BEV-view (ETH/UCY) setups, utilizing both annotated and VLM-generated text captions. Distilled student models show consistent improvement in all prediction metrics for both full and instantaneous observations, improving up to ~13%. The code is available at https://github.com/Jaewoo97/KDTF.

Jae-Young Kang, Hoonehee Cho, Taeyeop Lee et al.

Event cameras provide microsecond latency, making them suitable for 6D object pose tracking in fast, dynamic scenes where conventional RGB and depth pipelines suffer from motion blur and large pixel displacements. We introduce EventTrack6D, an event-depth tracking framework that generalizes to novel objects without object-specific training by reconstructing both intensity and depth at arbitrary timestamps between depth frames. Conditioned on the most recent depth measurement, our dual reconstruction recovers dense photometric and geometric cues from sparse event streams. Our EventTrack6D operates at over 120 FPS and maintains temporal consistency under rapid motion. To support training and evaluation, we introduce a comprehensive benchmark suite: a large-scale synthetic dataset for training and two complementary evaluation sets, including real and simulated event datasets. Trained exclusively on synthetic data, EventTrack6D generalizes effectively to real-world scenarios without fine-tuning, maintaining accurate tracking across diverse objects and motion patterns. Our method and datasets validate the effectiveness of event cameras for event-based 6D pose tracking of novel objects. Code and datasets are publicly available at https://chohoonhee.github.io/Event6D.

Jongoh Jeong, Taek-Jin Song, Jong-Hwan Kim et al.

Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions (e.g., weather and daylight). However, existing road driving datasets provide large-scale images acquired in either normal or adverse scenarios only, and often do not contain the road obstacles captured in the same visual domain as for the other classes. To address this, we introduce a new dataset called AVOID, the Adverse Visual Conditions Dataset, for real-time obstacle detection collected in a simulated environment. AVOID consists of a large set of unexpected road obstacles located along each path captured under various weather and time conditions. Each image is coupled with the corresponding semantic and depth maps, raw and semantic LiDAR data, and waypoints, thereby supporting most visual perception tasks. We benchmark the results on high-performing real-time networks for the obstacle detection task, and also propose and conduct ablation studies using a comprehensive multi-task network for semantic segmentation, depth and waypoint prediction tasks.

Changgyoon Oh, Jongoh Jeong, Jegyeong Cho et al.

Denoising diffusion probabilistic models have brought tremendous advances in generative tasks, achieving state-of-the-art performance thus far. Current diffusion model-based applications exploit the power of learned visual representations from multistep forward-backward Markovian processes for single-task prediction tasks by attaching a task-specific decoder. However, the heuristic selection of diffusion timestep features still heavily relies on empirical intuition, often leading to sub-optimal performance biased towards certain tasks. To alleviate this constraint, we investigate the significance of versatile diffusion timestep features by adaptively selecting timesteps best suited for the few-shot dense prediction task, evaluated on an arbitrary unseen task. To this end, we propose two modules: Task-aware Timestep Selection (TTS) to select ideal diffusion timesteps based on timestep-wise losses and similarity scores, and Timestep Feature Consolidation (TFC) to consolidate the selected timestep features to improve the dense predictive performance in a few-shot setting. Accompanied by our parameter-efficient fine-tuning adapter, our framework effectively achieves superiority in dense prediction performance given only a few support queries. We empirically validate our learnable timestep consolidation method on the large-scale challenging Taskonomy dataset for dense prediction, particularly for practical universal and few-shot learning scenarios.

Jongoh Jeong, Youngjin Oh, Gyeongrae Nam et al.

Object detection is one of the key target tasks of interest in the context of civil and military applications. In particular, the real-world deployment of target detection methods is pivotal in the decision-making process during military command and reconnaissance. However, current domain adaptive object detection algorithms consider adapting one domain to another similar one only within the scope of natural or autonomous driving scenes. Since military domains often deal with a mixed variety of environments, detecting objects from multiple varying target domains poses a greater challenge. Several studies for armored military target detection have made use of synthetic aperture radar (SAR) data due to its robustness to all weather, long range, and high-resolution characteristics. Nevertheless, the costs of SAR data acquisition and processing are still much higher than those of the conventional RGB camera, which is a more affordable alternative with significantly lower data processing time. Furthermore, the lack of military target detection datasets limits the use of such a low-cost approach. To mitigate these issues, we propose to generate RGB-based synthetic data using a photorealistic visual tool, Unreal Engine, for military target detection in a cross-domain setting. To this end, we conducted synthetic-to-real transfer experiments by training our synthetic dataset and validating on our web-collected real military target datasets. We benchmark the state-of-the-art domain adaptation methods distinguished by the degree of supervision on our proposed train-val dataset pair, and find that current methods using minimal hints on the image (e.g., object class) achieve a substantial improvement over unsupervised or semi-supervised DA methods. From these observations, we recognize the current challenges that remain to be overcome.

Jae-Young Kang, Hoonhee Cho, Kuk-Jin Yoon

3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event cameras, with their asynchronous nature and high temporal resolution, offer a solution by capturing motion continuously. The recent approach, which integrates event cameras with conventional sensors for continuous-time detection, struggles in fast-motion scenarios due to its dependency on synchronized sensors. We propose a novel stereo 3D object detection framework that relies solely on event cameras, eliminating the need for conventional 3D sensors. To compensate for the lack of semantic and geometric information in event data, we introduce a dual filter mechanism that extracts both. Additionally, we enhance regression by aligning bounding boxes with object-centric information. Experiments show that our method outperforms prior approaches in dynamic environments, demonstrating the potential of event cameras for robust, continuous-time 3D perception. The code is available at https://github.com/mickeykang16/Ev-Stereo3D.

Youngho Kim, Hoonhee Cho, Kuk-Jin Yoon

Human pose estimation is critical for applications such as rehabilitation, sports analytics, and AR/VR systems. However, rapid motion and low-light conditions often introduce motion blur, significantly degrading pose estimation due to the domain gap between sharp and blurred images. Most datasets assume stable conditions, making models trained on sharp images struggle in blurred environments. To address this, we introduce a novel domain adaptation approach that leverages event cameras, which capture high temporal resolution motion data and are inherently robust to motion blur. Using event-based augmentation, we generate motion-aware blurred images, effectively bridging the domain gap between sharp and blurred domains without requiring paired annotations. Additionally, we develop a student-teacher framework that iteratively refines pseudo-labels, leveraging mutual uncertainty masking to eliminate incorrect labels and enable more effective learning. Experimental results demonstrate that our approach outperforms conventional domain-adaptive human pose estimation methods, achieving robust pose estimation under motion blur without requiring annotations in the target domain. Our findings highlight the potential of event cameras as a scalable and effective solution for domain adaptation in real-world motion blur environments. Our project codes are available at https://github.com/kmax2001/EvSharp2Blur.

Wooseong Jeong, Wonyoung Lee, Kuk-Jin Yoon

Merging multiple Low-Rank Adaptation (LoRA) modules is promising for constructing general-purpose systems, yet challenging because LoRA update directions span different subspaces and contribute unevenly. When merged naively, such mismatches can weaken the directions most critical to certain task losses while overemphasizing relatively less important ones, ultimately reducing the model's ability to represent all tasks faithfully. We revisit this problem through two perspectives: subspace coverage, which captures how broadly LoRA directions cover diverse representational directions, and anisotropy, which reflects the imbalance of influence across those directions. We propose TARA-Merging (Task-Rank Anisotropy Alignment), which aligns merging weights using a preference-weighted cross-entropy pseudo-loss while preserving task-relevant LoRA subspaces. This ensures broad subspace coverage and mitigates anisotropy via direction-wise reweighting. Across eight vision and six NLI benchmarks, TARA-Merging consistently outperforms vanilla and LoRA-aware baselines, demonstrating strong robustness and generalization, and highlighting the importance of addressing both subspace coverage and anisotropy in LoRA merging.

Wonyoung Lee, Wooseong Jeong, Kuk-Jin Yoon

Model merging combines independently fine-tuned checkpoints without joint multi-task training. In the era of foundation-model, fine-tuning with Low-Rank Adaptation (LoRA) is prevalent, making LoRA merging a promising target. Existing approaches can work in homogeneous settings where all target tasks are classification but often fail when tasks span classification and regression. Approaches using entropy-based surrogates do not apply to regression and are costly for large language models due to long token sequences. We introduce Null-Space Compression (NSC) Merging, a label-free, output-agnostic method that sets merge weights from adapter geometry. Our key observation is that during LoRA finetuning the down-projection factor $A$ in $ΔW = BA$ compresses its null space, and the compression correlates with performance. NSC uses this as an optimization signal for merging that can generalize across classification, regression, and sequence generation. NSC achieves state-of-the-art performance across twenty heterogeneous vision tasks with balanced gains where prior methods overfit subsets of tasks. It also outperforms baselines on six NLI benchmarks and on vision-language evaluations for VQA and image captioning, demonstrating scalability and effectiveness.

Daehee Park, Jaewoo Jeong, Kuk-Jin Yoon

Multi-agent trajectory prediction is crucial for various practical applications, spurring the construction of many large-scale trajectory datasets, including vehicles and pedestrians. However, discrepancies exist among datasets due to external factors and data acquisition strategies. External factors include geographical differences and driving styles, while data acquisition strategies include data acquisition rate, history/prediction length, and detector/tracker error. Consequently, the proficient performance of models trained on large-scale datasets has limited transferability on other small-size datasets, bounding the utilization of existing large-scale datasets. To address this limitation, we propose a method based on continuous and stochastic representations of Neural Stochastic Differential Equations (NSDE) for alleviating discrepancies due to data acquisition strategy. We utilize the benefits of continuous representation for handling arbitrary time steps and the use of stochastic representation for handling detector/tracker errors. Additionally, we propose a dataset-specific diffusion network and its training framework to handle dataset-specific detection/tracking errors. The effectiveness of our method is validated against state-of-the-art trajectory prediction models on the popular benchmark datasets: nuScenes, Argoverse, Lyft, INTERACTION, and Waymo Open Motion Dataset (WOMD). Improvement in performance gain on various source and target dataset configurations shows the generalized competence of our approach in addressing cross-dataset discrepancies.

Taeyeop Lee, Bowen Wen, Minjun Kang et al.

We introduce Any6D, a model-free framework for 6D object pose estimation that requires only a single RGB-D anchor image to estimate both the 6D pose and size of unknown objects in novel scenes. Unlike existing methods that rely on textured 3D models or multiple viewpoints, Any6D leverages a joint object alignment process to enhance 2D-3D alignment and metric scale estimation for improved pose accuracy. Our approach integrates a render-and-compare strategy to generate and refine pose hypotheses, enabling robust performance in scenarios with occlusions, non-overlapping views, diverse lighting conditions, and large cross-environment variations. We evaluate our method on five challenging datasets: REAL275, Toyota-Light, HO3D, YCBINEOAT, and LM-O, demonstrating its effectiveness in significantly outperforming state-of-the-art methods for novel object pose estimation. Project page: https://taeyeop.com/any6d

Wooseong Jeong, Kuk-Jin Yoon

Multi-task learning enables the acquisition of task-generic knowledge by training multiple tasks within a unified architecture. However, training all tasks together in a single architecture can lead to performance degradation, known as negative transfer, which is a main concern in multi-task learning. Previous works have addressed this issue by optimizing the multi-task network through gradient manipulation or weighted loss adjustments. However, their optimization strategy focuses on addressing task imbalance in shared parameters, neglecting the learning of task-specific parameters. As a result, they show limitations in mitigating negative transfer, since the learning of shared space and task-specific information influences each other during optimization. To address this, we propose a different approach to enhance multi-task performance by selectively grouping tasks and updating them for each batch during optimization. We introduce an algorithm that adaptively determines how to effectively group tasks and update them during the learning process. To track inter-task relations and optimize multi-task networks simultaneously, we propose proximal inter-task affinity, which can be measured during the optimization process. We provide a theoretical analysis on how dividing tasks into multiple groups and updating them sequentially significantly affects multi-task performance by enhancing the learning of task-specific parameters. Our methods substantially outperform previous multi-task optimization approaches and are scalable to different architectures and various numbers of tasks.

Hoonhee Cho, Jae-Young Kang, Giwon Lee et al.

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common real-world challenge due to diverse vehicle configurations, remains an open problem. In this work, we propose VR-Drive, a novel E2E-AD framework that addresses viewpoint generalization by jointly learning 3D scene reconstruction as an auxiliary task to enable planning-aware view synthesis. Unlike prior scene-specific synthesis approaches, VR-Drive adopts a feed-forward inference strategy that supports online training-time augmentation from sparse views without additional annotations. To further improve viewpoint consistency, we introduce a viewpoint-mixed memory bank that facilitates temporal interaction across multiple viewpoints and a viewpoint-consistent distillation strategy that transfers knowledge from original to synthesized views. Trained in a fully end-to-end manner, VR-Drive effectively mitigates synthesis-induced noise and improves planning under viewpoint shifts. In addition, we release a new benchmark dataset to evaluate E2E-AD performance under novel camera viewpoints, enabling comprehensive analysis. Our results demonstrate that VR-Drive is a scalable and robust solution for the real-world deployment of end-to-end autonomous driving systems.

Taeyeop Lee, Gyuree Kang, Bowen Wen et al.

Despite the prevalence of transparent object interactions in human everyday life, transparent robotic manipulation research remains limited to short-horizon tasks and basic grasping capabilities.Although some methods have partially addressed these issues, most of them have limitations in generalizability to novel objects and are insufficient for precise long-horizon robot manipulation. To address this limitation, we propose DeLTa (Demonstration and Language-Guided Novel Transparent Object Manipulation), a novel framework that integrates depth estimation, 6D pose estimation, and vision-language planning for precise long-horizon manipulation of transparent objects guided by natural task instructions. A key advantage of our method is its single-demonstration approach, which generalizes 6D trajectories to novel transparent objects without requiring category-level priors or additional training. Additionally, we present a task planner that refines the VLM-generated plan to account for the constraints of a single-arm, eye-in-hand robot for long-horizon object manipulation tasks. Through comprehensive evaluation, we demonstrate that our method significantly outperforms existing transparent object manipulation approaches, particularly in long-horizon scenarios requiring precise manipulation capabilities. Project page: https://sites.google.com/view/DeLTa25/

Minjun Kang, Inkyu Shin, Taeyeop Lee et al.

We introduce Drag4D, an interactive framework that integrates object motion control within text-driven 3D scene generation. This framework enables users to define 3D trajectories for the 3D objects generated from a single image, seamlessly integrating them into a high-quality 3D background. Our Drag4D pipeline consists of three stages. First, we enhance text-to-3D background generation by applying 2D Gaussian Splatting with panoramic images and inpainted novel views, resulting in dense and visually complete 3D reconstructions. In the second stage, given a reference image of the target object, we introduce a 3D copy-and-paste approach: the target instance is extracted in a full 3D mesh using an off-the-shelf image-to-3D model and seamlessly composited into the generated 3D scene. The object mesh is then positioned within the 3D scene via our physics-aware object position learning, ensuring precise spatial alignment. Lastly, the spatially aligned object is temporally animated along a user-defined 3D trajectory. To mitigate motion hallucination and ensure view-consistent temporal alignment, we develop a part-augmented, motion-conditioned video diffusion model that processes multiview image pairs together with their projected 2D trajectories. We demonstrate the effectiveness of our unified architecture through evaluations at each stage and in the final results, showcasing the harmonized alignment of user-controlled object motion within a high-quality 3D background.

Daehee Park, Monu Surana, Pranav Desai et al.

While data-driven trajectory prediction has enhanced the reliability of autonomous driving systems, it still struggles with rarely observed long-tail scenarios. Prior works addressed this by modifying model architectures, such as using hypernetworks. In contrast, we propose refining the training process to unlock each model's potential without altering its structure. We introduce Generative Active Learning for Trajectory prediction (GALTraj), the first method to successfully deploy generative active learning into trajectory prediction. It actively identifies rare tail samples where the model fails and augments these samples with a controllable diffusion model during training. In our framework, generating scenarios that are diverse, realistic, and preserve tail-case characteristics is paramount. Accordingly, we design a tail-aware generation method that applies tailored diffusion guidance to generate trajectories that both capture rare behaviors and respect traffic rules. Unlike prior simulation methods focused solely on scenario diversity, GALTraj is the first to show how simulator-driven augmentation benefits long-tail learning in trajectory prediction. Experiments on multiple trajectory datasets (WOMD, Argoverse2) with popular backbones (QCNet, MTR) confirm that our method significantly boosts performance on tail samples and also enhances accuracy on head samples.

Yuhwan Jeong, Yunseo Yang, Youngho Yoon et al.

Adverse weather conditions cause diverse and complex degradation patterns, driving the development of All-in-One (AiO) models. However, recent AiO solutions still struggle to capture diverse degradations, since global filtering methods like direct operations on the frequency domain fail to handle highly variable and localized distortions. To address these issue, we propose Spectral-based Spatial Grouping Transformer (SSGformer), a novel approach that leverages spectral decomposition and group-wise attention for multi-weather image restoration. SSGformer decomposes images into high-frequency edge features using conventional edge detection and low-frequency information via Singular Value Decomposition. We utilize multi-head linear attention to effectively model the relationship between these features. The fused features are integrated with the input to generate a grouping-mask that clusters regions based on the spatial similarity and image texture. To fully leverage this mask, we introduce a group-wise attention mechanism, enabling robust adverse weather removal and ensuring consistent performance across diverse weather conditions. We also propose a Spatial Grouping Transformer Block that uses both channel attention and spatial attention, effectively balancing feature-wise relationships and spatial dependencies. Extensive experiments show the superiority of our approach, validating its effectiveness in handling the varied and intricate adverse weather degradations.

Wooseong Jeong, Jegyeong Cho, Youngho Yoon et al.

Generalizing neural networks to unseen target domains is a significant challenge in real-world deployments. Test-time training (TTT) addresses this by using an auxiliary self-supervised task to reduce the domain gap caused by distribution shifts between the source and target. However, we find that when models are required to perform multiple tasks under domain shifts, conventional TTT methods suffer from unsynchronized task behavior, where the adaptation steps needed for optimal performance in one task may not align with the requirements of other tasks. To address this, we propose a novel TTT approach called Synchronizing Tasks for Test-time Training (S4T), which enables the concurrent handling of multiple tasks. The core idea behind S4T is that predicting task relations across domain shifts is key to synchronizing tasks during test time. To validate our approach, we apply S4T to conventional multi-task benchmarks, integrating it with traditional TTT protocols. Our empirical results show that S4T outperforms state-of-the-art TTT methods across various benchmarks.

Wooseong Jeong, Kuk-Jin Yoon

Multi-Task Learning (MTL) enables multiple tasks to be learned within a shared network, but differences in objectives across tasks can cause negative transfer, where the learning of one task degrades another task's performance. While pre-trained transformers significantly improve MTL performance, their fixed network capacity and rigid structure limit adaptability. Previous dynamic network architectures attempt to address this but are inefficient as they directly convert shared parameters into task-specific ones. We propose Dynamic Token Modulation and Expansion (DTME-MTL), a framework applicable to any transformer-based MTL architecture. DTME-MTL enhances adaptability and reduces overfitting by identifying gradient conflicts in token space and applying adaptive solutions based on conflict type. Unlike prior methods that mitigate negative transfer by duplicating network parameters, DTME-MTL operates entirely in token space, enabling efficient adaptation without excessive parameter growth. Extensive experiments demonstrate that DTME-MTL consistently improves multi-task performance with minimal computational overhead, offering a scalable and effective solution for enhancing transformer-based MTL models.

Giwon Lee, Wooseong Jeong, Daehee Park et al.

Motion planning is a crucial component of autonomous robot driving. While various trajectory datasets exist, effectively utilizing them for a target domain remains challenging due to differences in agent interactions and environmental characteristics. Conventional approaches, such as domain adaptation or ensemble learning, leverage multiple source datasets but suffer from domain imbalance, catastrophic forgetting, and high computational costs. To address these challenges, we propose Interaction-Merged Motion Planning (IMMP), a novel approach that leverages parameter checkpoints trained on different domains during adaptation to the target domain. IMMP follows a two-step process: pre-merging to capture agent behaviors and interactions, sufficiently extracting diverse information from the source domain, followed by merging to construct an adaptable model that efficiently transfers diverse interactions to the target domain. Our method is evaluated on various planning benchmarks and models, demonstrating superior performance compared to conventional approaches.

Jihun Kim, Hoyong Kwon, Hyeokjun Kweon et al.

Interactive segmentation (IS) allows users to iteratively refine object boundaries with minimal cues, such as positive and negative clicks. While the Segment Anything Model (SAM) has garnered attention in the IS community for its promptable segmentation capabilities, it often struggles in specialized domains or when handling complex scenarios (e.g., camouflaged or multi-part objects). To overcome these challenges, we propose DC-TTA, a novel test-time adaptation (TTA) framework that adapts SAM on a per-sample basis by leveraging user interactions as supervision. Instead of forcing a single model to incorporate all user clicks at once, DC-TTA partitions the clicks into more coherent subsets, each processed independently via TTA with a separated model. This Divide-and-Conquer strategy reduces conflicts among diverse cues and enables more localized updates. Finally, we merge the adapted models to form a unified predictor that integrates the specialized knowledge from each subset. Experimental results across various benchmarks demonstrate that DC-TTA significantly outperforms SAM's zero-shot results and conventional TTA methods, effectively handling complex tasks such as camouflaged object segmentation with fewer interactions and improved accuracy.

Jongoh Jeong, Hunmin Yang, Jaeseok Jeong et al.

Transfer attacks optimize on a surrogate and deploy to a black-box target. While iterative optimization attacks in this paradigm are limited by their per-input cost limits efficiency and scalability due to multistep gradient updates for each input, generative attacks alleviate these by producing adversarial examples in a single forward pass at test time. However, current generative attacks still adhere to optimizing surrogate losses (e.g., feature divergence) and overlook the generator's internal dynamics, underexploring how the generator's internal representations shape transferable perturbations. To address this, we enforce semantic consistency by aligning the early generator's intermediate features to an EMA teacher, stabilizing object-aligned representations and improving black-box transfer without inference-time overhead. To ground the mechanism, we quantify semantic stability as the standard deviation of foreground IoU between cluster-derived activation masks and foreground masks across generator blocks, and observe reduced semantic drift under our method. For more reliable evaluation, we also introduce Accidental Correction Rate (ACR) to separate inadvertent corrections from intended misclassifications, complementing the inherent blind spots in traditional Attack Success Rate (ASR), Fooling Rate (FR), and Accuracy metrics. Across architectures, domains, and tasks, our approach can be seamlessly integrated into existing generative attacks with consistent improvements in black-box transfer, while maintaining test-time efficiency.

Wooseong Jeong, Kuk-Jin Yoon

The goal of multi-task learning is to learn diverse tasks within a single unified network. As each task has its own unique objective function, conflicts emerge during training, resulting in negative transfer among them. Earlier research identified these conflicting gradients in shared parameters between tasks and attempted to realign them in the same direction. However, we prove that such optimization strategies lead to sub-optimal Pareto solutions due to their inability to accurately determine the individual contributions of each parameter across various tasks. In this paper, we propose the concept of task priority to evaluate parameter contributions across different tasks. To learn task priority, we identify the type of connections related to links between parameters influenced by task-specific losses during backpropagation. The strength of connections is gauged by the magnitude of parameters to determine task priority. Based on these, we present a new method named connection strength-based optimization for multi-task learning which consists of two phases. The first phase learns the task priority within the network, while the second phase modifies the gradients while upholding this priority. This ultimately leads to finding new Pareto optimal solutions for multiple tasks. Through extensive experiments, we show that our approach greatly enhances multi-task performance in comparison to earlier gradient manipulation methods.

Inkyu Shin, Qihang Yu, Xiaohui Shen et al.

Recent advancements in zero-shot video diffusion models have shown promise for text-driven video editing, but challenges remain in achieving high temporal consistency. To address this, we introduce Video-3DGS, a 3D Gaussian Splatting (3DGS)-based video refiner designed to enhance temporal consistency in zero-shot video editors. Our approach utilizes a two-stage 3D Gaussian optimizing process tailored for editing dynamic monocular videos. In the first stage, Video-3DGS employs an improved version of COLMAP, referred to as MC-COLMAP, which processes original videos using a Masked and Clipped approach. For each video clip, MC-COLMAP generates the point clouds for dynamic foreground objects and complex backgrounds. These point clouds are utilized to initialize two sets of 3D Gaussians (Frg-3DGS and Bkg-3DGS) aiming to represent foreground and background views. Both foreground and background views are then merged with a 2D learnable parameter map to reconstruct full views. In the second stage, we leverage the reconstruction ability developed in the first stage to impose the temporal constraints on the video diffusion model. To demonstrate the efficacy of Video-3DGS on both stages, we conduct extensive experiments across two related tasks: Video Reconstruction and Video Editing. Video-3DGS trained with 3k iterations significantly improves video reconstruction quality (+3 PSNR, +7 PSNR increase) and training efficiency (x1.9, x4.5 times faster) over NeRF-based and 3DGS-based state-of-art methods on DAVIS dataset, respectively. Moreover, it enhances video editing by ensuring temporal consistency across 58 dynamic monocular videos.