Xinze Chen

Zheng Zhu, Guan Huang, Jiankang Deng et al. · tsinghua

Face benchmarks empower the research community to train and evaluate high-performance face recognition systems. In this paper, we contribute a new million-scale recognition benchmark, containing uncurated 4M identities/260M faces (WebFace260M) and cleaned 2M identities/42M faces (WebFace42M) training data, as well as an elaborately designed time-constrained evaluation protocol. Firstly, we collect 4M name lists and download 260M faces from the Internet. Then, a Cleaning Automatically utilizing Self-Training (CAST) pipeline is devised to purify the tremendous WebFace260M, which is efficient and scalable. To the best of our knowledge, the cleaned WebFace42M is the largest public face recognition training set and we expect to close the data gap between academia and industry. Referring to practical deployments, Face Recognition Under Inference Time conStraint (FRUITS) protocol and a new test set with rich attributes are constructed. Besides, we gather a large-scale masked face sub-set for biometrics assessment under COVID-19. For a comprehensive evaluation of face matchers, three recognition tasks are performed under standard, masked and unbiased settings, respectively. Equipped with this benchmark, we delve into million-scale face recognition problems. A distributed framework is developed to train face recognition models efficiently without tampering with the performance. Enabled by WebFace42M, we reduce 40% failure rate on the challenging IJB-C set and rank 3rd among 430 entries on NIST-FRVT. Even 10% data (WebFace4M) shows superior performance compared with the public training sets. Furthermore, comprehensive baselines are established under the FRUITS-100/500/1000 milliseconds protocols. The proposed benchmark shows enormous potential on standard, masked and unbiased face recognition scenarios. Our WebFace260M website is https://www.face-benchmark.org.

Xiaofeng Wang, Zheng Zhu, Guan Huang et al.

World models, especially in autonomous driving, are trending and drawing extensive attention due to their capacity for comprehending driving environments. The established world model holds immense potential for the generation of high-quality driving videos, and driving policies for safe maneuvering. However, a critical limitation in relevant research lies in its predominant focus on gaming environments or simulated settings, thereby lacking the representation of real-world driving scenarios. Therefore, we introduce DriveDreamer, a pioneering world model entirely derived from real-world driving scenarios. Regarding that modeling the world in intricate driving scenes entails an overwhelming search space, we propose harnessing the powerful diffusion model to construct a comprehensive representation of the complex environment. Furthermore, we introduce a two-stage training pipeline. In the initial phase, DriveDreamer acquires a deep understanding of structured traffic constraints, while the subsequent stage equips it with the ability to anticipate future states. The proposed DriveDreamer is the first world model established from real-world driving scenarios. We instantiate DriveDreamer on the challenging nuScenes benchmark, and extensive experiments verify that DriveDreamer empowers precise, controllable video generation that faithfully captures the structural constraints of real-world traffic scenarios. Additionally, DriveDreamer enables the generation of realistic and reasonable driving policies, opening avenues for interaction and practical applications.

Angen Ye, Boyuan Wang, Chaojun Ni et al.

World-Action Models (WAM) initialized from pre-trained video generation backbones have demonstrated remarkable potential for robot policy learning. However, existing approaches face two critical bottlenecks that hinder performance and deployment. First, jointly reasoning over future visual dynamics and corresponding actions incurs substantial inference overhead. Second, joint modeling often entangles visual and motion representations, making motion prediction accuracy heavily dependent on the quality of future video forecasts. To address these issues, we introduce GigaWorld-Policy, an action-centered WAM that learns 2D pixel-action dynamics while enabling efficient action decoding, with optional video generation. Specifically, we formulate policy training into two coupled components: the model predicts future action sequences conditioned on the current observation, and simultaneously generates future videos conditioned on the predicted actions and the same observation. The policy is supervised by both action prediction and video generation, providing richer learning signals and encouraging physically plausible actions through visual-dynamics constraints. With a causal design that prevents future-video tokens from influencing action tokens, explicit future-video generation is optional at inference time, allowing faster action prediction during deployment. To support this paradigm, we curate a diverse, large-scale robot dataset to pre-train an action-centered video generation model, which is then adapted as the backbone for robot policy learning. Experimental results on real-world robotic platforms show that GigaWorld-Policy runs 9x faster than the leading WAM baseline, Motus, while improving task success rates by 7%. Moreover, compared with pi-0.5, GigaWorld-Policy improves performance by 95% on RoboTwin 2.0.

Yuan Xu, Jiabing Yang, Xiaofeng Wang et al.

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera, egocentric shifts simultaneously alter both the camera pose and the robot action coordinate frame, making it necessary to jointly transfer action trajectories and synthesize corresponding observations under novel egocentric viewpoints. To address this challenge, we present EgoDemoGen, a framework that generates paired observation--action demonstrations under novel egocentric viewpoints through two key components: 1{)} EgoTrajTransfer, which transfers robot trajectories to the novel egocentric coordinate frame through motion-skill segmentation, geometry-aware transformation, and inverse kinematics filtering; and 2{)} EgoViewTransfer, a conditional video generation model that fuses a novel-viewpoint reprojected scene video and a robot motion video rendered from the transferred trajectory to synthesize photorealistic observations, trained with a self-supervised double reprojection strategy without requiring multi-viewpoint data. Experiments in simulation and real-world settings show that EgoDemoGen consistently improves policy success rates under both standard and novel egocentric viewpoints, with absolute gains of +24.6\% and +16.9\% in simulation and +16.0\% and +23.0\% on the real robot. Moreover, EgoViewTransfer achieves superior video generation quality for novel egocentric observations.

GigaBrain Team, Boyuan Wang, Bohan Li et al.

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enhancing VLA learning. Therefore, we propose \textit{GigaBrain-0.5M*}, a VLA model trained via world model-based reinforcement learning. Built upon \textit{GigaBrain-0.5}, which is pre-trained on over 10,000 hours of robotic manipulation data, whose intermediate version currently ranks first on the international RoboChallenge benchmark. \textit{GigaBrain-0.5M*} further integrates world model-based reinforcement learning via \textit{RAMP} (Reinforcement leArning via world Model-conditioned Policy) to enable robust cross-task adaptation. Empirical results demonstrate that \textit{RAMP} achieves substantial performance gains over the RECAP baseline, yielding improvements of approximately 30\% on challenging tasks including \texttt{Laundry Folding}, \texttt{Box Packing}, and \texttt{Espresso Preparation}. Critically, \textit{GigaBrain-0.5M$^*$} exhibits reliable long-horizon execution, consistently accomplishing complex manipulation tasks without failure as validated by real-world deployment videos on our \href{https://gigabrain05m.github.io}{project page}.

Guosheng Zhao, Xiaofeng Wang, Zheng Zhu et al.

World models have demonstrated superiority in autonomous driving, particularly in the generation of multi-view driving videos. However, significant challenges still exist in generating customized driving videos. In this paper, we propose DriveDreamer-2, which builds upon the framework of DriveDreamer and incorporates a Large Language Model (LLM) to generate user-defined driving videos. Specifically, an LLM interface is initially incorporated to convert a user's query into agent trajectories. Subsequently, a HDMap, adhering to traffic regulations, is generated based on the trajectories. Ultimately, we propose the Unified Multi-View Model to enhance temporal and spatial coherence in the generated driving videos. DriveDreamer-2 is the first world model to generate customized driving videos, it can generate uncommon driving videos (e.g., vehicles abruptly cut in) in a user-friendly manner. Besides, experimental results demonstrate that the generated videos enhance the training of driving perception methods (e.g., 3D detection and tracking). Furthermore, video generation quality of DriveDreamer-2 surpasses other state-of-the-art methods, showcasing FID and FVD scores of 11.2 and 55.7, representing relative improvements of 30% and 50%.

Guosheng Zhao, Chaojun Ni, Xiaofeng Wang et al.

Closed-loop simulation is essential for advancing end-to-end autonomous driving systems. Contemporary sensor simulation methods, such as NeRF and 3DGS, rely predominantly on conditions closely aligned with training data distributions, which are largely confined to forward-driving scenarios. Consequently, these methods face limitations when rendering complex maneuvers (e.g., lane change, acceleration, deceleration). Recent advancements in autonomous-driving world models have demonstrated the potential to generate diverse driving videos. However, these approaches remain constrained to 2D video generation, inherently lacking the spatiotemporal coherence required to capture intricacies of dynamic driving environments. In this paper, we introduce DriveDreamer4D, which enhances 4D driving scene representation leveraging world model priors. Specifically, we utilize the world model as a data machine to synthesize novel trajectory videos, where structured conditions are explicitly leveraged to control the spatial-temporal consistency of traffic elements. Besides, the cousin data training strategy is proposed to facilitate merging real and synthetic data for optimizing 4DGS. To our knowledge, DriveDreamer4D is the first to utilize video generation models for improving 4D reconstruction in driving scenarios. Experimental results reveal that DriveDreamer4D significantly enhances generation quality under novel trajectory views, achieving a relative improvement in FID by 32.1%, 46.4%, and 16.3% compared to PVG, S3Gaussian, and Deformable-GS. Moreover, DriveDreamer4D markedly enhances the spatiotemporal coherence of driving agents, which is verified by a comprehensive user study and the relative increases of 22.6%, 43.5%, and 15.6% in the NTA-IoU metric.

Boyuan Wang, Xiaofeng Wang, Chaojun Ni et al.

Human-motion video generation has been a challenging task, primarily due to the difficulty inherent in learning human body movements. While some approaches have attempted to drive human-centric video generation explicitly through pose control, these methods typically rely on poses derived from existing videos, thereby lacking flexibility. To address this, we propose HumanDreamer, a decoupled human video generation framework that first generates diverse poses from text prompts and then leverages these poses to generate human-motion videos. Specifically, we propose MotionVid, the largest dataset for human-motion pose generation. Based on the dataset, we present MotionDiT, which is trained to generate structured human-motion poses from text prompts. Besides, a novel LAMA loss is introduced, which together contribute to a significant improvement in FID by 62.4%, along with respective enhancements in R-precision for top1, top2, and top3 by 41.8%, 26.3%, and 18.3%, thereby advancing both the Text-to-Pose control accuracy and FID metrics. Our experiments across various Pose-to-Video baselines demonstrate that the poses generated by our method can produce diverse and high-quality human-motion videos. Furthermore, our model can facilitate other downstream tasks, such as pose sequence prediction and 2D-3D motion lifting.

Chaojun Ni, Guosheng Zhao, Xiaofeng Wang et al.

Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial simulation-to-reality (sim2real) gap. To bridge this gap, some approaches utilize scene reconstruction techniques to create photorealistic environments as a simulator. While this improves realistic sensor simulation, these methods are inherently constrained by the distribution of the training data, making it difficult to render high-quality sensor data for novel trajectories or corner case scenarios. Therefore, we propose ReconDreamer-RL, a framework designed to integrate video diffusion priors into scene reconstruction to aid reinforcement learning, thereby enhancing end-to-end autonomous driving training. Specifically, in ReconDreamer-RL, we introduce ReconSimulator, which combines the video diffusion prior for appearance modeling and incorporates a kinematic model for physical modeling, thereby reconstructing driving scenarios from real-world data. This narrows the sim2real gap for closed-loop evaluation and reinforcement learning. To cover more corner-case scenarios, we introduce the Dynamic Adversary Agent (DAA), which adjusts the trajectories of surrounding vehicles relative to the ego vehicle, autonomously generating corner-case traffic scenarios (e.g., cut-in). Finally, the Cousin Trajectory Generator (CTG) is proposed to address the issue of training data distribution, which is often biased toward simple straight-line movements. Experiments show that ReconDreamer-RL improves end-to-end autonomous driving training, outperforming imitation learning methods with a 5x reduction in the Collision Ratio.

Zhehao Dong, Xiaofeng Wang, Zheng Zhu et al.

Vision-language-action (VLA) models increasingly rely on diverse training data to achieve robust generalization. However, collecting large-scale real-world robot manipulation data across varied object appearances and environmental conditions remains prohibitively time-consuming and expensive. To overcome this bottleneck, we propose Embodied Manipulation Media Adaptation (EMMA), a VLA policy enhancement framework that integrates a generative data engine with an effective training pipeline. We introduce DreamTransfer, a diffusion Transformer-based framework for generating multi-view consistent, geometrically grounded embodied manipulation videos. DreamTransfer enables text-controlled visual editing of robot videos, transforming foreground, background, and lighting conditions without compromising 3D structure or geometrical plausibility. Furthermore, we explore hybrid training with real and generated data, and introduce AdaMix, a hard-sample-aware training strategy that dynamically reweights training batches to focus optimization on perceptually or kinematically challenging samples. Extensive experiments show that videos generated by DreamTransfer significantly outperform prior video generation methods in multi-view consistency, geometric fidelity, and text-conditioning accuracy. Crucially, VLAs trained with generated data enable robots to generalize to unseen object categories and novel visual domains using only demonstrations from a single appearance. In real-world robotic manipulation tasks with zero-shot visual domains, our approach achieves over a 200% relative performance gain compared to training on real data alone, and further improves by 13% with AdaMix, demonstrating its effectiveness in boosting policy generalization.

Haoyun Li, Ivan Zhang, Runqi Ouyang et al.

Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more scalable and cost-efficient to collect, and recent studies confirm their effectiveness in training VLA models. However, a significant domain gap persists between human videos and robot-executed videos, including unstable camera viewpoints, visual discrepancies between human hands and robotic arms, and differences in motion dynamics. To bridge this gap, we propose MimicDreamer, a framework that turns fast, low-cost human demonstrations into robot-usable supervision by jointly aligning vision, viewpoint, and actions to directly support policy training. For visual alignment, we propose H2R Aligner, a video diffusion model that generates high-fidelity robot demonstration videos by transferring motion from human manipulation footage. For viewpoint stabilization, EgoStabilizer is proposed, which canonicalizes egocentric videos via homography and inpaints occlusions and distortions caused by warping. For action alignment, we map human hand trajectories to the robot frame and apply a constrained inverse kinematics solver to produce feasible, low-jitter joint commands with accurate pose tracking. Empirically, VLA models trained purely on our synthesized human-to-robot videos achieve few-shot execution on real robots. Moreover, scaling training with human data significantly boosts performance compared to models trained solely on real robot data; our approach improves the average success rate by 14.7\% across six representative manipulation tasks.

GigaBrain Team, Angen Ye, Boyuan Wang et al.

Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the scalability, and generalization capacity of current VLA systems. To address this challenge, we introduce GigaBrain-0, a novel VLA foundation model empowered by world model-generated data (e.g., video generation, real2real transfer, human transfer, view transfer, sim2real transfer data). By leveraging world models to generate diverse data at scale, GigaBrain-0 significantly reduces reliance on real robot data while improving cross-task generalization. Our approach further improves policy robustness through RGBD input modeling and embodied Chain-of-Thought (CoT) supervision, enabling the model to reason about spatial geometry, object states, and long-horizon dependencies during task execution. This leads to substantial gains in real-world performance on dexterous, long-horizon, and mobile manipulation tasks. Extensive experiments demonstrate that GigaBrain-0 achieves superior generalization across variations in appearances (e.g., textures, colors), object placements, and camera viewpoints. Additionally, we present GigaBrain-0-Small, an optimized lightweight variant designed to run efficiently on devices such as the NVIDIA Jetson AGX Orin.

GigaWorld Team, Angen Ye, Boyuan Wang et al.

World models are emerging as a foundational paradigm for scalable, data-efficient embodied AI. In this work, we present GigaWorld-0, a unified world model framework designed explicitly as a data engine for Vision-Language-Action (VLA) learning. GigaWorld-0 integrates two synergistic components: GigaWorld-0-Video, which leverages large-scale video generation to produce diverse, texture-rich, and temporally coherent embodied sequences under fine-grained control of appearance, camera viewpoint, and action semantics; and GigaWorld-0-3D, which combines 3D generative modeling, 3D Gaussian Splatting reconstruction, physically differentiable system identification, and executable motion planning to ensure geometric consistency and physical realism. Their joint optimization enables the scalable synthesis of embodied interaction data that is visually compelling, spatially coherent, physically plausible, and instruction-aligned. Training at scale is made feasible through our efficient GigaTrain framework, which exploits FP8-precision and sparse attention to drastically reduce memory and compute requirements. We conduct comprehensive evaluations showing that GigaWorld-0 generates high-quality, diverse, and controllable data across multiple dimensions. Critically, VLA model (e.g., GigaBrain-0) trained on GigaWorld-0-generated data achieve strong real-world performance, significantly improving generalization and task success on physical robots without any real-world interaction during training.

Weijie Wang, Jiagang Zhu, Zeyu Zhang et al.

We present DriveGen3D, a novel framework for generating high-quality and highly controllable dynamic 3D driving scenes that addresses critical limitations in existing methodologies. Current approaches to driving scene synthesis either suffer from prohibitive computational demands for extended temporal generation, focus exclusively on prolonged video synthesis without 3D representation, or restrict themselves to static single-scene reconstruction. Our work bridges this methodological gap by integrating accelerated long-term video generation with large-scale dynamic scene reconstruction through multimodal conditional control. DriveGen3D introduces a unified pipeline consisting of two specialized components: FastDrive-DiT, an efficient video diffusion transformer for high-resolution, temporally coherent video synthesis under text and Bird's-Eye-View (BEV) layout guidance; and FastRecon3D, a feed-forward reconstruction module that rapidly builds 3D Gaussian representations across time, ensuring spatial-temporal consistency. Together, these components enable real-time generation of extended driving videos (up to $424\times800$ at 12 FPS) and corresponding dynamic 3D scenes, achieving SSIM of 0.811 and PSNR of 22.84 on novel view synthesis, all while maintaining parameter efficiency.

Xiaoyi Bao, Jindi Lv, Xiaofeng Wang et al.

Recent progress in diffusion models has greatly enhanced video generation quality, yet these models still require fine-tuning to improve specific dimensions like instance preservation, motion rationality, composition, and physical plausibility. Existing fine-tuning approaches often rely on human annotations and large-scale computational resources, limiting their practicality. In this work, we propose GigaVideo-1, an efficient fine-tuning framework that advances video generation without additional human supervision. Rather than injecting large volumes of high-quality data from external sources, GigaVideo-1 unlocks the latent potential of pre-trained video diffusion models through automatic feedback. Specifically, we focus on two key aspects of the fine-tuning process: data and optimization. To improve fine-tuning data, we design a prompt-driven data engine that constructs diverse, weakness-oriented training samples. On the optimization side, we introduce a reward-guided training strategy, which adaptively weights samples using feedback from pre-trained vision-language models with a realism constraint. We evaluate GigaVideo-1 on the VBench-2.0 benchmark using Wan2.1 as the baseline across 17 evaluation dimensions. Experiments show that GigaVideo-1 consistently improves performance on almost all the dimensions with an average gain of about 4% using only 4 GPU-hours. Requiring no manual annotations and minimal real data, GigaVideo-1 demonstrates both effectiveness and efficiency. Code, model, and data will be publicly available.

Xiaofeng Wang, Zheng Zhu, Guan Huang et al.

World models play a crucial role in understanding and predicting the dynamics of the world, which is essential for video generation. However, existing world models are confined to specific scenarios such as gaming or driving, limiting their ability to capture the complexity of general world dynamic environments. Therefore, we introduce WorldDreamer, a pioneering world model to foster a comprehensive comprehension of general world physics and motions, which significantly enhances the capabilities of video generation. Drawing inspiration from the success of large language models, WorldDreamer frames world modeling as an unsupervised visual sequence modeling challenge. This is achieved by mapping visual inputs to discrete tokens and predicting the masked ones. During this process, we incorporate multi-modal prompts to facilitate interaction within the world model. Our experiments show that WorldDreamer excels in generating videos across different scenarios, including natural scenes and driving environments. WorldDreamer showcases versatility in executing tasks such as text-to-video conversion, image-tovideo synthesis, and video editing. These results underscore WorldDreamer's effectiveness in capturing dynamic elements within diverse general world environments.

Zheng Zhu, Guan Huang, Jiankang Deng et al.

According to WHO statistics, there are more than 204,617,027 confirmed COVID-19 cases including 4,323,247 deaths worldwide till August 12, 2021. During the coronavirus epidemic, almost everyone wears a facial mask. Traditionally, face recognition approaches process mostly non-occluded faces, which include primary facial features such as the eyes, nose, and mouth. Removing the mask for authentication in airports or laboratories will increase the risk of virus infection, posing a huge challenge to current face recognition systems. Due to the sudden outbreak of the epidemic, there are yet no publicly available real-world masked face recognition (MFR) benchmark. To cope with the above-mentioned issue, we organize the Face Bio-metrics under COVID Workshop and Masked Face Recognition Challenge in ICCV 2021. Enabled by the ultra-large-scale WebFace260M benchmark and the Face Recognition Under Inference Time conStraint (FRUITS) protocol, this challenge (WebFace260M Track) aims to push the frontiers of practical MFR. Since public evaluation sets are mostly saturated or contain noise, a new test set is gathered consisting of elaborated 2,478 celebrities and 60,926 faces. Meanwhile, we collect the world-largest real-world masked test set. In the first phase of WebFace260M Track, 69 teams (total 833 solutions) participate in the challenge and 49 teams exceed the performance of our baseline. There are second phase of the challenge till October 1, 2021 and on-going leaderboard. We will actively update this report in the future.

Zheng Zhu, Guan Huang, Jiankang Deng et al.

In this paper, we contribute a new million-scale face benchmark containing noisy 4M identities/260M faces (WebFace260M) and cleaned 2M identities/42M faces (WebFace42M) training data, as well as an elaborately designed time-constrained evaluation protocol. Firstly, we collect 4M name list and download 260M faces from the Internet. Then, a Cleaning Automatically utilizing Self-Training (CAST) pipeline is devised to purify the tremendous WebFace260M, which is efficient and scalable. To the best of our knowledge, the cleaned WebFace42M is the largest public face recognition training set and we expect to close the data gap between academia and industry. Referring to practical scenarios, Face Recognition Under Inference Time conStraint (FRUITS) protocol and a test set are constructed to comprehensively evaluate face matchers. Equipped with this benchmark, we delve into million-scale face recognition problems. A distributed framework is developed to train face recognition models efficiently without tampering with the performance. Empowered by WebFace42M, we reduce relative 40% failure rate on the challenging IJB-C set, and ranks the 3rd among 430 entries on NIST-FRVT. Even 10% data (WebFace4M) shows superior performance compared with public training set. Furthermore, comprehensive baselines are established on our rich-attribute test set under FRUITS-100ms/500ms/1000ms protocol, including MobileNet, EfficientNet, AttentionNet, ResNet, SENet, ResNeXt and RegNet families. Benchmark website is https://www.face-benchmark.org.

Yanwei Li, Xinze Chen, Zheng Zhu et al.

This paper studies panoptic segmentation, a recently proposed task which segments foreground (FG) objects at the instance level as well as background (BG) contents at the semantic level. Existing methods mostly dealt with these two problems separately, but in this paper, we reveal the underlying relationship between them, in particular, FG objects provide complementary cues to assist BG understanding. Our approach, named the Attention-guided Unified Network (AUNet), is a unified framework with two branches for FG and BG segmentation simultaneously. Two sources of attentions are added to the BG branch, namely, RPN and FG segmentation mask to provide object-level and pixel-level attentions, respectively. Our approach is generalized to different backbones with consistent accuracy gain in both FG and BG segmentation, and also sets new state-of-the-arts both in the MS-COCO (46.5% PQ) and Cityscapes (59.0% PQ) benchmarks.