Jiwen Lu

Wenliang Zhao, Minglei Shi, Xumin Yu et al.

Building on the success of diffusion models in visual generation, flow-based models reemerge as another prominent family of generative models that have achieved competitive or better performance in terms of both visual quality and inference speed. By learning the velocity field through flow-matching, flow-based models tend to produce a straighter sampling trajectory, which is advantageous during the sampling process. However, unlike diffusion models for which fast samplers are well-developed, efficient sampling of flow-based generative models has been rarely explored. In this paper, we propose a framework called FlowTurbo to accelerate the sampling of flow-based models while still enhancing the sampling quality. Our primary observation is that the velocity predictor's outputs in the flow-based models will become stable during the sampling, enabling the estimation of velocity via a lightweight velocity refiner. Additionally, we introduce several techniques including a pseudo corrector and sample-aware compilation to further reduce inference time. Since FlowTurbo does not change the multi-step sampling paradigm, it can be effectively applied for various tasks such as image editing, inpainting, etc. By integrating FlowTurbo into different flow-based models, we obtain an acceleration ratio of 53.1%$\sim$58.3% on class-conditional generation and 29.8%$\sim$38.5% on text-to-image generation. Notably, FlowTurbo reaches an FID of 2.12 on ImageNet with 100 (ms / img) and FID of 3.93 with 38 (ms / img), achieving the real-time image generation and establishing the new state-of-the-art. Code is available at https://github.com/shiml20/FlowTurbo.

Sicheng Zuo, Zixun Xie, Wenzhao Zheng et al.

End-to-end autonomous driving has evolved from the conventional paradigm based on sparse perception into vision-language-action (VLA) models, which focus on learning language descriptions as an auxiliary task to facilitate planning. In this paper, we propose an alternative Vision-Geometry-Action (VGA) paradigm that advocates dense 3D geometry as the critical cue for autonomous driving. As vehicles operate in a 3D world, we think dense 3D geometry provides the most comprehensive information for decision-making. However, most existing geometry reconstruction methods (e.g., DVGT) rely on computationally expensive batch processing of multi-frame inputs and cannot be applied to online planning. To address this, we introduce a streaming Driving Visual Geometry Transformer (DVGT-2), which processes inputs in an online manner and jointly outputs dense geometry and trajectory planning for the current frame. We employ temporal causal attention and cache historical features to support on-the-fly inference. To further enhance efficiency, we propose a sliding-window streaming strategy and use historical caches within a certain interval to avoid repetitive computations. Despite the faster speed, DVGT-2 achieves superior geometry reconstruction performance on various datasets. The same trained DVGT-2 can be directly applied to planning across diverse camera configurations without fine-tuning, including closed-loop NAVSIM and open-loop nuScenes benchmarks.

Chubin Zhang, Jianan Wang, Zifeng Gao et al.

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from visual entanglement, capturing noise rather than manipulation skills. To address this, we propose Contrastive Latent Action Pretraining (CLAP), a framework that aligns the visual latent space from videos with a proprioceptive latent space from robot trajectories. By employing contrastive learning, CLAP maps video transitions onto a quantized, physically executable codebook. Building on this representation, we introduce a dual-formulation VLA framework offering both CLAP-NTP, an autoregressive model excelling at instruction following and object generalization, and CLAP-RF, a Rectified Flow-based policy designed for high-frequency, precise manipulation. Furthermore, we propose a Knowledge Matching (KM) regularization strategy to mitigate catastrophic forgetting during fine-tuning. Extensive experiments demonstrate that CLAP significantly outperforms strong baselines, enabling the effective transfer of skills from human videos to robotic execution. Project page: https://lin-shan.com/CLAP/.

Zuyan Liu, Yuhao Dong, Jiahui Wang et al.

Recent advances in large language models, particularly following GPT-4o, have sparked increasing interest in developing omni-modal models capable of understanding more modalities. While some open-source alternatives have emerged, there is still a notable lag behind specialized single-modality models in performance. In this paper, we present Ola, an Omni-modal Language model that achieves competitive performance across image, video, and audio understanding compared to specialized counterparts, pushing the frontiers of the omni-modal language model to a large extent. We conduct a comprehensive exploration of architectural design, data curation, and training strategies essential for building a robust omni-modal model. Ola incorporates advanced visual understanding and audio recognition capabilities through several critical and effective improvements over mainstream baselines. Moreover, we rethink inter-modal relationships during omni-modal training, emphasizing cross-modal alignment with video as a central bridge, and propose a progressive training pipeline that begins with the most distinct modalities and gradually moves towards closer modality alignment. Extensive experiments demonstrate that Ola surpasses existing open omni-modal LLMs across all modalities while achieving highly competitive performance compared to state-of-the-art specialized models of similar sizes. We aim to make Ola a fully open omni-modal understanding solution to advance future research in this emerging field. Model weights, code, and data are open-sourced at https://github.com/Ola-Omni/Ola.

Yifei Li, Haoyuan He, Yu Zheng et al.

The accessibility surge and abuse risks of user-friendly image editing models have created an urgent need for generalizable, up-to-date methods for Image Manipulation Detection and Localization (IMDL). Current IMDL research typically uses cross-dataset evaluation, where models trained on one benchmark are tested on others. However, this simplified evaluation approach conceals the fragility of existing methods when handling diverse AI-generated content, leading to misleading impressions of progress. This paper challenges this illusion by proposing NeXT-IMDL, a large-scale diagnostic benchmark designed not just to collect data, but to probe the generalization boundaries of current detectors systematically. Specifically, NeXT-IMDL categorizes AIGC-based manipulations along four fundamental axes: editing models, manipulation types, content semantics, and forgery granularity. Built upon this, NeXT-IMDL implements five rigorous cross-dimension evaluation protocols. Our extensive experiments on 11 representative models reveal a critical insight: while these models perform well in their original settings, they exhibit systemic failures and significant performance degradation when evaluated under our designed protocols that simulate real-world, various generalization scenarios. By providing this diagnostic toolkit and the new findings, we aim to advance the development towards building truly robust, next-generation IMDL models.

Sicheng Zuo, Wenzhao Zheng, Yuanhui Huang et al.

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D occupancy. However, they fail to consider the continuity of driving scenarios and ignore the strong prior provided by the evolution of 3D scenes (e.g., only dynamic objects move). In this paper, we propose a world-model-based framework to exploit the scene evolution for perception. We reformulate 3D occupancy prediction as a 4D occupancy forecasting problem conditioned on the current sensor input. We decompose the scene evolution into three factors: 1) ego motion alignment of static scenes; 2) local movements of dynamic objects; and 3) completion of newly-observed scenes. We then employ a Gaussian world model (GaussianWorld) to explicitly exploit these priors and infer the scene evolution in the 3D Gaussian space considering the current RGB observation. We evaluate the effectiveness of our framework on the widely used nuScenes dataset. Our GaussianWorld improves the performance of the single-frame counterpart by over 2% in mIoU without introducing additional computations. Code: https://github.com/zuosc19/GaussianWorld.

Yuanhui Huang, Amonnut Thammatadatrakoon, Wenzhao Zheng et al.

3D semantic occupancy prediction is an important task for robust vision-centric autonomous driving, which predicts fine-grained geometry and semantics of the surrounding scene. Most existing methods leverage dense grid-based scene representations, overlooking the spatial sparsity of the driving scenes. Although 3D semantic Gaussian serves as an object-centric sparse alternative, most of the Gaussians still describe the empty region with low efficiency. To address this, we propose a probabilistic Gaussian superposition model which interprets each Gaussian as a probability distribution of its neighborhood being occupied and conforms to probabilistic multiplication to derive the overall geometry. Furthermore, we adopt the exact Gaussian mixture model for semantics calculation to avoid unnecessary overlapping of Gaussians. To effectively initialize Gaussians in non-empty region, we design a distribution-based initialization module which learns the pixel-aligned occupancy distribution instead of the depth of surfaces. We conduct extensive experiments on nuScenes and KITTI-360 datasets and our GaussianFormer-2 achieves state-of-the-art performance with high efficiency. Code: https://github.com/huang-yh/GaussianFormer.

Siqi Pei, Liang Tang, Tiaonan Duan et al.

GUI grounding is a critical capability for vision-language models (VLMs) that enables automated interaction with graphical user interfaces by locating target elements from natural language instructions. However, grounding on GUI screenshots remains challenging due to high-resolution images, small UI elements, and ambiguous user instructions. In this work, we propose AdaZoom-GUI, an adaptive zoom-based GUI grounding framework that improves both localization accuracy and instruction understanding. Our approach introduces an instruction refinement module that rewrites natural language commands into explicit and detailed descriptions, allowing the grounding model to focus on precise element localization. In addition, we design a conditional zoom-in strategy that selectively performs a second-stage inference on predicted small elements, improving localization accuracy while avoiding unnecessary computation and context loss on simpler cases. To support this framework, we construct a high-quality GUI grounding dataset and train the grounding model using Group Relative Policy Optimization (GRPO), enabling the model to predict both click coordinates and element bounding boxes. Experiments on public benchmarks demonstrate that our method achieves state-of-the-art performance among models with comparable or even larger parameter sizes, highlighting its effectiveness for high-resolution GUI understanding and practical GUI agent deployment.

Weijia Dou, Wenzhao Zheng, Weiliang Chen et al.

Recent generative models can produce high-fidelity videos, yet they often exhibit 3D spatial geometric inconsistencies. Existing evaluation methods fail to accurately characterize these inconsistencies: fidelity-centric metrics like FVD are insensitive to geometric distortions, while consistency-focused benchmarks often penalize valid foreground dynamics. To address this gap, we introduce SGC, a metric for evaluating 3D \textbf{S}patial \textbf{G}eometric \textbf{C}onsistency in dynamically generated videos. We quantify geometric consistency by measuring the divergence among multiple camera poses estimated from distinct local regions. Our approach first separates static from dynamic regions, then partitions the static background into spatially coherent sub-regions. We predict depth for each pixel, estimate a local camera pose for each subregion, and compute the divergence among these poses to quantify geometric consistency. Experiments on real and generative videos demonstrate that SGC robustly quantifies geometric inconsistencies, effectively identifying critical failures missed by existing metrics.

Xin Fei, Wenzhao Zheng, Yueqi Duan et al.

We propose PixelGaussian, an efficient feed-forward framework for learning generalizable 3D Gaussian reconstruction from arbitrary views. Most existing methods rely on uniform pixel-wise Gaussian representations, which learn a fixed number of 3D Gaussians for each view and cannot generalize well to more input views. Differently, our PixelGaussian dynamically adapts both the Gaussian distribution and quantity based on geometric complexity, leading to more efficient representations and significant improvements in reconstruction quality. Specifically, we introduce a Cascade Gaussian Adapter to adjust Gaussian distribution according to local geometry complexity identified by a keypoint scorer. CGA leverages deformable attention in context-aware hypernetworks to guide Gaussian pruning and splitting, ensuring accurate representation in complex regions while reducing redundancy. Furthermore, we design a transformer-based Iterative Gaussian Refiner module that refines Gaussian representations through direct image-Gaussian interactions. Our PixelGaussian can effectively reduce Gaussian redundancy as input views increase. We conduct extensive experiments on the large-scale ACID and RealEstate10K datasets, where our method achieves state-of-the-art performance with good generalization to various numbers of views. Code: https://github.com/Barrybarry-Smith/PixelGaussian.

Xin Fei, Wenzhao Zheng, Yueqi Duan et al.

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose Driv3R, a DUSt3R-based framework that directly regresses per-frame point maps from multi-view image sequences. To achieve streaming dense reconstruction, we maintain a memory pool to reason both spatial relationships across sensors and dynamic temporal contexts to enhance multi-view 3D consistency and temporal integration. Furthermore, we employ a 4D flow predictor to identify moving objects within the scene to direct our network focus more on reconstructing these dynamic regions. Finally, we align all per-frame pointmaps consistently to the world coordinate system in an optimization-free manner. We conduct extensive experiments on the large-scale nuScenes dataset to evaluate the effectiveness of our method. Driv3R outperforms previous frameworks in 4D dynamic scene reconstruction, achieving 15x faster inference speed compared to methods requiring global alignment. Code: https://github.com/Barrybarry-Smith/Driv3R.

Haoyuan He, Yu Zheng, Jie Zhou et al.

Robust watermarking is critical for intellectual property protection, whereas existing methods face a severe vulnerability against regeneration-based AIGC attacks. We identify that existing methods fail because they entangle the watermark with high-frequency cover texture, which is susceptible to being rewritten during generative purification. To address this, we propose WaterVIB, a theoretically grounded framework that reformulates the encoder as an information sieve via the Variational Information Bottleneck. Instead of overfitting to fragile cover details, our approach forces the model to learn a Minimal Sufficient Statistic of the message. This effectively filters out redundant cover nuances prone to generative shifts, retaining only the essential signal invariant to regeneration. We theoretically prove that optimizing this bottleneck is a necessary condition for robustness against distribution-shifting attacks. Extensive experiments demonstrate that WaterVIB significantly outperforms state-of-the-art methods, achieving superior zero-shot resilience against unknown diffusion-based editing.

Jiajun Dong, Chengkun Wang, Wenzhao Zheng et al.

Effective image tokenization is crucial for both multi-modal understanding and generation tasks due to the necessity of the alignment with discrete text data. To this end, existing approaches utilize vector quantization (VQ) to project pixels onto a discrete codebook and reconstruct images from the discrete representation. However, compared with the continuous latent space, the limited discrete codebook space significantly restrict the representational ability of these image tokenizers. In this paper, we propose GaussianToken: An Effective Image Tokenizer with 2D Gaussian Splatting as a solution. We first represent the encoded samples as multiple flexible featured 2D Gaussians characterized by positions, rotation angles, scaling factors, and feature coefficients. We adopt the standard quantization for the Gaussian features and then concatenate the quantization results with the other intrinsic Gaussian parameters before the corresponding splatting operation and the subsequent decoding module. In general, GaussianToken integrates the local influence of 2D Gaussian distribution into the discrete space and thus enhances the representation capability of the image tokenizer. Competitive reconstruction performances on CIFAR, Mini-ImageNet, and ImageNet-1K demonstrate the effectiveness of our framework. Our code is available at: https://github.com/ChrisDong-THU/GaussianToken.

Tengbo Yu, Guanxing Lu, Zaijia Yang et al.

Multi-task robotic bimanual manipulation is becoming increasingly popular as it enables sophisticated tasks that require diverse dual-arm collaboration patterns. Compared to unimanual manipulation, bimanual tasks pose challenges to understanding the multi-body spatiotemporal dynamics. An existing method ManiGaussian pioneers encoding the spatiotemporal dynamics into the visual representation via Gaussian world model for single-arm settings, which ignores the interaction of multiple embodiments for dual-arm systems with significant performance drop. In this paper, we propose ManiGaussian++, an extension of ManiGaussian framework that improves multi-task bimanual manipulation by digesting multi-body scene dynamics through a hierarchical Gaussian world model. To be specific, we first generate task-oriented Gaussian Splatting from intermediate visual features, which aims to differentiate acting and stabilizing arms for multi-body spatiotemporal dynamics modeling. We then build a hierarchical Gaussian world model with the leader-follower architecture, where the multi-body spatiotemporal dynamics is mined for intermediate visual representation via future scene prediction. The leader predicts Gaussian Splatting deformation caused by motions of the stabilizing arm, through which the follower generates the physical consequences resulted from the movement of the acting arm. As a result, our method significantly outperforms the current state-of-the-art bimanual manipulation techniques by an improvement of 20.2% in 10 simulated tasks, and achieves 60% success rate on average in 9 challenging real-world tasks. Our code is available at https://github.com/April-Yz/ManiGaussian_Bimanual.

Sicheng Zuo, Yuxuan Li, Wenzhao Zheng et al.

Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the flexibility to follow diverse user instructions for personalized driving. To address this, we first construct a large-scale driving dataset (InstructScene) containing around 100,000 scenes annotated with diverse driving instructions with the corresponding trajectories. We then propose a unified Vision-Language-World-Action model, Vega, for instruction-based generation and planning. We employ the autoregressive paradigm to process visual inputs (vision) and language instructions (language) and the diffusion paradigm to generate future predictions (world modeling) and trajectories (action). We perform joint attention to enable interactions between the modalities and use individual projection layers for different modalities for more capabilities. Extensive experiments demonstrate that our method not only achieves superior planning performance but also exhibits strong instruction-following abilities, paving the way for more intelligent and personalized driving systems.

Ziyi Wang, Yanbo Wang, Xumin Yu et al.

Existing methodologies in open vocabulary 3D semantic segmentation primarily concentrate on establishing a unified feature space encompassing 3D, 2D, and textual modalities. Nevertheless, traditional techniques such as global feature alignment or vision-language model distillation tend to impose only approximate correspondence, struggling notably with delineating fine-grained segmentation boundaries. To address this gap, we propose a more meticulous mask-level alignment between 3D features and the 2D-text embedding space through a cross-modal mask reasoning framework, XMask3D. In our approach, we developed a mask generator based on the denoising UNet from a pre-trained diffusion model, leveraging its capability for precise textual control over dense pixel representations and enhancing the open-world adaptability of the generated masks. We further integrate 3D global features as implicit conditions into the pre-trained 2D denoising UNet, enabling the generation of segmentation masks with additional 3D geometry awareness. Subsequently, the generated 2D masks are employed to align mask-level 3D representations with the vision-language feature space, thereby augmenting the open vocabulary capability of 3D geometry embeddings. Finally, we fuse complementary 2D and 3D mask features, resulting in competitive performance across multiple benchmarks for 3D open vocabulary semantic segmentation. Code is available at https://github.com/wangzy22/XMask3D.

Dong Zhuo, Wenzhao Zheng, Sicheng Zuo et al.

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed for monocular and 2D scenes, leading to inefficiency and inter-view inconsistency when applied to high-resolution multi-view driving scenes. To address this, we propose DriveTok, an efficient 3D driving scene tokenizer for unified multi-view reconstruction and understanding. DriveTok first obtains semantically rich visual features from vision foundation models and then transforms them into the scene tokens with 3D deformable cross-attention. For decoding, we employ a multi-view transformer to reconstruct multi-view features from the scene tokens and use multiple heads to obtain RGB, depth, and semantic reconstructions. We also add a 3D head directly on the scene tokens for 3D semantic occupancy prediction for better spatial awareness. With the multiple training objectives, DriveTok learns unified scene tokens that integrate semantic, geometric, and textural information for efficient multi-view tokenization. Extensive experiments on the widely used nuScenes dataset demonstrate that the scene tokens from DriveTok perform well on image reconstruction, semantic segmentation, depth prediction, and 3D occupancy prediction tasks.

Haoyu Wei, Xiuwei Xu, Ziyang Cheng et al.

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency causes generated actions to inevitably lag behind the real-time environment. This issue is particularly exacerbated in dynamic scenarios, where such temporal misalignment severely compromises the policy's ability to interpret and react to rapidly evolving surroundings. In this paper, we propose a novel framework that leverages predicted object flow to synthesize future observations, incorporating a flow-based contrastive learning objective to align the visual feature representations of predicted observations with ground-truth future states. Empowered by this anticipated visual context, our asynchronous policy gains the capacity for proactive planning and motion, enabling it to explicitly compensate for latency and robustly execute manipulation tasks involving actively moving objects. Experimental results demonstrate that our approach significantly enhances responsiveness and success rates in complex dynamic manipulation tasks.

Ziyang Cheng, Haoyu Wei, Hang Yin et al.

While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by sensor noise or infeasible user commands. To improve robustness against these perturbations without sacrificing task performance and continuity, we propose Competence Manifold Projection (CMP). Specifically, we utilize a Frame-Wise Safety Scheme that transforms the infinite-horizon safety constraint into a computationally efficient single-step manifold inclusion. To instantiate this competence manifold, we employ a Lower-Bounded Safety Estimator that distinguishes unmastered intentions from the training distribution. We then introduce an Isomorphic Latent Space (ILS) that aligns manifold geometry with safety probability, enabling efficient O(1) seamless defense against arbitrary OOD intents. Experiments demonstrate that CMP achieves up to a 10-fold survival rate improvement in typical OOD scenarios where baselines suffer catastrophic failure, incurring under 10% tracking degradation. Notably, the system exhibits emergent ``best-effort'' generalization behaviors to progressively accomplish OOD goals by adhering to the competence boundaries. Result videos are available at: https://shepherd1226.github.io/CMP.

Yifu Ding, Xianglong Liu, Shenghao Jin et al.

Ultra low-bit quantization brings substantial efficiency for Transformer-based models, but the accuracy degradation and limited GPU support hinder its wide usage. In this paper, we analyze zero-point distortion in binarization and propose a Binary Weights & Ternary Activations (BWTA) quantization scheme, which projects tiny values to zero and preserves the accuracy of extremely low-bit models. For training, we propose Smooth Multi-Stage Quantization, combining a Levelwise Degradation Strategy and a Magnitude-Alignment Projection Factor to enable stable and fast convergence. For inference, we develop a BWTA MatMul CUDA kernel with instruction-level parallel bit-packing and comprehensive binary/ternary MatMul implementations for both linear and attention operators, allowing seamless integration across Transformer architectures. Experiments show that BWTA approaches full-precision performance for BERT, with an average 3.5% drop on GLUE and less than 2% drop on five tasks, and achieves comparable perplexity and accuracy for LLMs. In efficiency, it delivers 16 to 24 times kernel-level speedup over FP16 on NVIDIA GPUs, and 216 to 330 tokens/s end-to-end prefill speedup with lower memory footprint on LLMs. As an algorithm-hardware co-design, BWTA demonstrates practical, low-latency ultra-low-bit inference without sacrificing model quality.

Hao Wang, Linqing Zhao, Xiuwei Xu et al.

Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing approaches typically rely on an iterative \textit{render-compare-refine} loop, where candidate views are first rendered using NeRF or Gaussian Splatting, then compared against the target image, and finally, discrepancies are used to update the pose. This multi-round process incurs significant computational overhead, hindering real-time performance in robotics. In this paper, we propose iGaussian, a two-stage feed-forward framework that achieves real-time camera pose estimation through direct 3D Gaussian inversion. Our method first regresses a coarse 6DoF pose using a Gaussian Scene Prior-based Pose Regression Network with spatial uniform sampling and guided attention mechanisms, then refines it through feature matching and multi-model fusion. The key contribution lies in our cross-correlation module that aligns image embeddings with 3D Gaussian attributes without differentiable rendering, coupled with a Weighted Multiview Predictor that fuses features from Multiple strategically sampled viewpoints. Experimental results on the NeRF Synthetic, Mip-NeRF 360, and T\&T+DB datasets demonstrate a significant performance improvement over previous methods, reducing median rotation errors to 0.2° while achieving 2.87 FPS tracking on mobile robots, which is an impressive 10 times speedup compared to optimization-based approaches. Code: https://github.com/pythongod-exe/iGaussian

Yixuan Zhu, Wenliang Zhao, Ao Li et al.

Image enhancement holds extensive applications in real-world scenarios due to complex environments and limitations of imaging devices. Conventional methods are often constrained by their tailored models, resulting in diminished robustness when confronted with challenging degradation conditions. In response, we propose FlowIE, a simple yet highly effective flow-based image enhancement framework that estimates straight-line paths from an elementary distribution to high-quality images. Unlike previous diffusion-based methods that suffer from long-time inference, FlowIE constructs a linear many-to-one transport mapping via conditioned rectified flow. The rectification straightens the trajectories of probability transfer, accelerating inference by an order of magnitude. This design enables our FlowIE to fully exploit rich knowledge in the pre-trained diffusion model, rendering it well-suited for various real-world applications. Moreover, we devise a faster inference algorithm, inspired by Lagrange's Mean Value Theorem, harnessing midpoint tangent direction to optimize path estimation, ultimately yielding visually superior results. Thanks to these designs, our FlowIE adeptly manages a diverse range of enhancement tasks within a concise sequence of fewer than 5 steps. Our contributions are rigorously validated through comprehensive experiments on synthetic and real-world datasets, unveiling the compelling efficacy and efficiency of our proposed FlowIE. Code is available at https://github.com/EternalEvan/FlowIE.

Zixun Xie, Sicheng Zuo, Wenzhao Zheng et al.

Modeling the evolutions of driving scenarios is important for the evaluation and decision-making of autonomous driving systems. Most existing methods focus on one aspect of scene evolution such as map generation, motion prediction, and trajectory planning. In this paper, we propose a unified Generative Pre-training for Driving (GPD-1) model to accomplish all these tasks altogether without additional fine-tuning. We represent each scene with ego, agent, and map tokens and formulate autonomous driving as a unified token generation problem. We adopt the autoregressive transformer architecture and use a scene-level attention mask to enable intra-scene bi-directional interactions. For the ego and agent tokens, we propose a hierarchical positional tokenizer to effectively encode both 2D positions and headings. For the map tokens, we train a map vector-quantized autoencoder to efficiently compress ego-centric semantic maps into discrete tokens. We pre-train our GPD-1 on the large-scale nuPlan dataset and conduct extensive experiments to evaluate its effectiveness. With different prompts, our GPD-1 successfully generalizes to various tasks without finetuning, including scene generation, traffic simulation, closed-loop simulation, map prediction, and motion planning. Code: https://github.com/wzzheng/GPD.

Wenxuan Guo, Xiuwei Xu, Hang Yin et al.

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the geometric relationship between the explored 3D environment and the goal image. In order to efficiently and accurately localize the goal image in 3D space, we build our navigation system upon the renderable 3D gaussian (3DGS) representation. However, due to the computational intensity of 3DGS optimization and the large search space of 6-DoF camera pose, directly leveraging 3DGS for image localization during agent exploration process is prohibitively inefficient. To this end, we propose IGL-Nav, an Incremental 3D Gaussian Localization framework for efficient and 3D-aware image-goal navigation. Specifically, we incrementally update the scene representation as new images arrive with feed-forward monocular prediction. Then we coarsely localize the goal by leveraging the geometric information for discrete space matching, which can be equivalent to efficient 3D convolution. When the agent is close to the goal, we finally solve the fine target pose with optimization via differentiable rendering. The proposed IGL-Nav outperforms existing state-of-the-art methods by a large margin across diverse experimental configurations. It can also handle the more challenging free-view image-goal setting and be deployed on real-world robotic platform using a cellphone to capture goal image at arbitrary pose. Project page: https://gwxuan.github.io/IGL-Nav/.

Yuanhui Huang, Weiliang Chen, Wenzhao Zheng et al.

Autoregressive visual generation has garnered increasing attention due to its scalability and compatibility with other modalities compared with diffusion models. Most existing methods construct visual sequences as spatial patches for autoregressive generation. However, image patches are inherently parallel, contradicting the causal nature of autoregressive modeling. To address this, we propose a Spectral AutoRegressive (SpectralAR) visual generation framework, which realizes causality for visual sequences from the spectral perspective. Specifically, we first transform an image into ordered spectral tokens with Nested Spectral Tokenization, representing lower to higher frequency components. We then perform autoregressive generation in a coarse-to-fine manner with the sequences of spectral tokens. By considering different levels of detail in images, our SpectralAR achieves both sequence causality and token efficiency without bells and whistles. We conduct extensive experiments on ImageNet-1K for image reconstruction and autoregressive generation, and SpectralAR achieves 3.02 gFID with only 64 tokens and 310M parameters. Project page: https://huang-yh.github.io/spectralar/.

Tianqi Zhang, Ziyi Wang, Wenzhao Zheng et al.

Video diffusion models, trained on large-scale datasets, naturally capture correspondences of shared features across frames. Recent works have exploited this property for tasks such as optical flow prediction and tracking in a zero-shot setting. Motivated by these findings, we investigate whether supervised training can more fully harness the tracking capability of video diffusion models. To this end, we propose Moaw, a framework that unleashes motion awareness for video diffusion models and leverages it to facilitate motion transfer. Specifically, we train a diffusion model for motion perception, shifting its modality from image-to-video generation to video-to-dense-tracking. We then construct a motion-labeled dataset to identify features that encode the strongest motion information, and inject them into a structurally identical video generation model. Owing to the homogeneity between the two networks, these features can be naturally adapted in a zero-shot manner, enabling motion transfer without additional adapters. Our work provides a new paradigm for bridging generative modeling and motion understanding, paving the way for more unified and controllable video learning frameworks.

Weiliang Chen, Wenzhao Zheng, Yu Zheng et al.

The flourishing of video generation technologies has endangered the credibility of real-world information and intensified the demand for AI-generated video detectors. Despite some progress, the lack of high-quality real-world datasets hinders the development of trustworthy detectors. In this paper, we propose GenWorld, a large-scale, high-quality, and real-world simulation dataset for AI-generated video detection. GenWorld features the following characteristics: (1) Real-world Simulation: GenWorld focuses on videos that replicate real-world scenarios, which have a significant impact due to their realism and potential influence; (2) High Quality: GenWorld employs multiple state-of-the-art video generation models to provide realistic and high-quality forged videos; (3) Cross-prompt Diversity: GenWorld includes videos generated from diverse generators and various prompt modalities (e.g., text, image, video), offering the potential to learn more generalizable forensic features. We analyze existing methods and find they fail to detect high-quality videos generated by world models (i.e., Cosmos), revealing potential drawbacks of ignoring real-world clues. To address this, we propose a simple yet effective model, SpannDetector, to leverage multi-view consistency as a strong criterion for real-world AI-generated video detection. Experiments show that our method achieves superior results, highlighting a promising direction for explainable AI-generated video detection based on physical plausibility. We believe that GenWorld will advance the field of AI-generated video detection. Project Page: https://chen-wl20.github.io/GenWorld

Yanbo Wang, Ziyi Wang, Wenzhao Zheng et al.

Reconstructing semantic-aware 3D scenes from sparse views is a challenging yet essential research direction, driven by the demands of emerging applications such as virtual reality and embodied AI. Existing per-scene optimization methods require dense input views and incur high computational costs, while generalizable approaches often struggle to reconstruct regions outside the input view cone. In this paper, we propose OGGSplat, an open Gaussian growing method that expands the field-of-view in generalizable 3D reconstruction. Our key insight is that the semantic attributes of open Gaussians provide strong priors for image extrapolation, enabling both semantic consistency and visual plausibility. Specifically, once open Gaussians are initialized from sparse views, we introduce an RGB-semantic consistent inpainting module applied to selected rendered views. This module enforces bidirectional control between an image diffusion model and a semantic diffusion model. The inpainted regions are then lifted back into 3D space for efficient and progressive Gaussian parameter optimization. To evaluate our method, we establish a Gaussian Outpainting (GO) benchmark that assesses both semantic and generative quality of reconstructed open-vocabulary scenes. OGGSplat also demonstrates promising semantic-aware scene reconstruction capabilities when provided with two view images captured directly from a smartphone camera.