Daily Papers

Chunked vision-language-action (VLA) policies predict multi-step robot controls, conditioning each update on the current visual observation alone. Yet robot actions cause contact, occlusion, and object motion, and the geometry that later decisions depend on can change before the next visual update arrives. Spatial VLAs improve current-frame geometry. Temporal VLAs aggregate past frames. Neither maintains an action-updated scene prior across chunks. We argue for a persistent action-updated scene state across control calls, and introduce EvoScene-VLA. Its recurrent scene prefix carries a geometry-aware scene state across chunks. At each vision-language model (VLM) call, the VLM combines scene information from the current observation with the action-updated prior from the previous chunk; the action decoder outputs both the next action chunk and a compact scene update. This update becomes the next prior, which the VLM corrects against the new observation when the next call arrives. Each control call therefore starts from a scene prior that reflects both recent actions and fresh visual evidence. During training, Scene Predictor supplies future scene-token targets, and Geometric Anchor aligns scene slots with frozen depth and 3D teachers. We discard both modules at deployment. On 31 RoboTwin tasks, EvoScene-VLA raises average success from 87.2% to 89.1% in fixed evaluation and from 86.1% to 88.5% in randomized evaluation. On the Galaxea R1-Lite real robot, EvoScene-VLA outperforms all baselines.

In the rapidly evolving domain of video understanding, Video Question Answering (VideoQA) remains a focal point. However, existing datasets exhibit gaps in temporal and spatial granularity, which consequently limits the capabilities of existing VideoQA methods. This paper introduces the Multi-Object Multi-Actor Question Answering (MOMA-QA) dataset, which is designed to address these shortcomings by emphasizing temporal localization, spatial relationship reasoning, and entity-centric queries. With ground truth scene graphs and temporal interval annotations, MOMA-QA is ideal for developing models for fine-grained video understanding. Furthermore, we present a novel video-language model, SGVLM, which incorporates a scene graph predictor, an efficient frame retriever, and a pre-trained large language model for temporal localization and fine-grained relationship understanding. Evaluations on MOMA-QA and other public datasets demonstrate the superior performance of our model, setting new benchmarks for VideoQA.

Generating realistic, room-level indoor scenes with semantically plausible and detailed appearances from in-the-wild images is crucial for various applications in VR, AR, and robotics. The success of NeRF-based generative methods indicates a promising direction to address this challenge. However, unlike their success at the object level, existing scene-level generative methods require additional information, such as multiple views, depth images, or semantic guidance, rather than relying solely on RGB images. This is because NeRF-based methods necessitate prior knowledge of camera poses, which is challenging to approximate for indoor scenes due to the complexity of defining alignment and the difficulty of globally estimating poses from a single image, given the unseen parts behind the camera. To address this challenge, we redefine global poses within the framework of Local-Pose-Alignment (LPA) -- an anchor-based multi-local-coordinate system that uses a selected number of anchors as the roots of these coordinates. Building on this foundation, we introduce LPA-GAN, a novel NeRF-based generative approach that incorporates specific modifications to estimate the priors of camera poses under LPA. It also co-optimizes the pose predictor and scene generation processes. Our ablation study and comparisons with straightforward extensions of NeRF-based object generative methods demonstrate the effectiveness of our approach. Furthermore, visual comparisons with other techniques reveal that our method achieves superior view-to-view consistency and semantic normality.

A faithful 3D world representation should account for layered geometry, where a single camera ray may contain multiple visible and geometrically valid surfaces. Monocular depth estimation, however, reduces this structure to one scalar depth per pixel. Transparent scenes make this ambiguity measurable: the same ray can pass through foreground glass and observe the background, turning the supervised target into a convention of annotation, data, and training rather than a scene-intrinsic truth. A learned predictor exposes this convention as its depth-layer preference. We introduce MultiDepth-3k (MD-3k), a sparse two-layer ordinal benchmark for measuring depth-layer preference and multi-layer spatial relationship accuracy (ML-SRA). On MD-3k, leading depth foundation models exhibit diverse layer preferences under standard RGB input, showing that the same layered geometry can be resolved differently across models. We further find that Laplacian Visual Prompting (LVP), a training-free spectral input transformation, can substantially change the reported layer for certain frozen models. The strongest RGB/LVP pair, DAv2-L, reaches 75.5% ML-SRA. These results suggest that depth foundation models may express complementary geometric hypotheses that standard RGB inference leaves unexpressed. We invite the community to rethink depth supervision and evaluation through an ambiguity-aware lens, where multiple valid 3D interpretations are treated as geometric structure to be measured, preserved, and expressed.

Current compositional image-to-3D scene generation approaches construct 3D scenes by time-consuming iterative layout optimization or inflexible joint object-layout generation. Moreover, most methods rely on limited field-of-view perspective images, hindering the creation of complete 360-degree environments. To address these limitations, we design Pano3DComposer, an efficient feed-forward framework for panoramic images. To decouple object generation from layout estimation, we propose a plug-and-play Object-World Transformation Predictor. This module converts the 3D objects generated by off-the-shelf image-to-3D models from local to world coordinates. To achieve this, we adapt the VGGT architecture to Alignment-VGGT by using target object crop, multi-view object renderings and camera parameters to predict the transformation. The predictor is trained using pseudo-geometric supervision to address the shape discrepancy between generated and ground-truth objects. For input images from unseen domains, we further introduce a Coarse-to-Fine (C2F) alignment mechanism for Pano3DComposer that iteratively refines geometric consistency with feedback of scene rendering. Our method achieves superior geometric accuracy for image/text-to-3D tasks on synthetic and real-world datasets. It can generate a high-fidelity 3D scene in approximately 20 seconds on an RTX 4090 GPU. Project page: https://qiuzidian.github.io/pano3dcomposer-page/.

Embodied AI agents that search for objects in large environments such as households often need to make efficient decisions by predicting object locations based on partial information. We pose this as a new type of link prediction problem: link prediction on partially observable dynamic graphs. Our graph is a representation of a scene in which rooms and objects are nodes, and their relationships are encoded in the edges; only parts of the changing graph are known to the agent at each timestep. This partial observability poses a challenge to existing link prediction approaches, which we address. We propose a novel state representation -- Scene Graph Memory (SGM) -- with captures the agent's accumulated set of observations, as well as a neural net architecture called a Node Edge Predictor (NEP) that extracts information from the SGM to search efficiently. We evaluate our method in the Dynamic House Simulator, a new benchmark that creates diverse dynamic graphs following the semantic patterns typically seen at homes, and show that NEP can be trained to predict the locations of objects in a variety of environments with diverse object movement dynamics, outperforming baselines both in terms of new scene adaptability and overall accuracy. The codebase and more can be found at https://www.scenegraphmemory.com.

Observing that the key for robotic action planning is to understand the target-object motion when its associated part is manipulated by the end effector, we propose to generate the 3D object-part scene flow and extract its transformations to solve the action trajectories for diverse embodiments. The advantage of our approach is that it derives the robot action explicitly from object motion prediction, yielding a more robust policy by understanding the object motions. Also, beyond policies trained on embodiment-centric data, our method is embodiment-agnostic, generalizable across diverse embodiments, and being able to learn from human demonstrations. Our method comprises three components: an object-part predictor to locate the part for the end effector to manipulate, an RGBD video generator to predict future RGBD videos, and a trajectory planner to extract embodiment-agnostic transformation sequences and solve the trajectory for diverse embodiments. Trained on videos even without trajectory data, our method still outperforms existing works significantly by 27.7% and 26.2% on the prevailing virtual environments MetaWorld and Franka-Kitchen, respectively. Furthermore, we conducted real-world experiments, showing that our policy, trained only with human demonstration, can be deployed to various embodiments.

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other. Despite increased attention to this issue, most approaches in trajectory prediction do not consider all of these factors sufficiently. We present SemanticFormer, an approach for predicting multimodal trajectories by reasoning over a semantic traffic scene graph using a hybrid approach. It utilizes high-level information in the form of meta-paths, i.e. trajectories on which an agent is allowed to drive from a knowledge graph which is then processed by a novel pipeline based on multiple attention mechanisms to predict accurate trajectories. SemanticFormer comprises a hierarchical heterogeneous graph encoder to capture spatio-temporal and relational information across agents as well as between agents and road elements. Further, it includes a predictor to fuse different encodings and decode trajectories with probabilities. Finally, a refinement module assesses permitted meta-paths of trajectories and speed profiles to obtain final predicted trajectories. Evaluation of the nuScenes benchmark demonstrates improved performance compared to several SOTA methods. In addition, we demonstrate that our knowledge graph can be easily added to two graph-based existing SOTA methods, namely VectorNet and Laformer, replacing their original homogeneous graphs. The evaluation results suggest that by adding our knowledge graph the performance of the original methods is enhanced by 5% and 4%, respectively.

Geolocating images of a ground-level scene entails estimating the location on Earth where the picture was taken, in absence of GPS or other location metadata. Typically, methods are evaluated by measuring the Great Circle Distance (GCD) between a predicted location and ground truth. However, this measurement is limited because it only evaluates a single point, not estimates of regions or score heatmaps. This is especially important in applications to rural, wilderness and under-sampled areas, where finding the exact location may not be possible, and when used in aggregate systems that progressively narrow down locations. In this paper, we introduce a novel metric, Recall vs Area (RvA), which measures the accuracy of estimated distributions of locations. RvA treats image geolocation results similarly to document retrieval, measuring recall as a function of area: For a ranked list of (possibly non-contiguous) predicted regions, we measure the accumulated area required for the region to contain the ground truth coordinate. This produces a curve similar to a precision-recall curve, where "precision" is replaced by square kilometers area, allowing evaluation of performance for different downstream search area budgets. Following directly from this view of the problem, we then examine a simple ensembling approach to global-scale image geolocation, which incorporates information from multiple sources to help address domain shift, and can readily incorporate multiple models, attribute predictors, and data sources. We study its effectiveness by combining the geolocation models GeoEstimation and the current SOTA GeoCLIP, with attribute predictors based on ORNL LandScan and ESA-CCI Land Cover. We find significant improvements in image geolocation for areas that are under-represented in the training set, particularly non-urban areas, on both Im2GPS3k and Street View images.

Controllable 3D scene generation has extensive applications in virtual reality and interior design, where the generated scenes should exhibit high levels of realism and controllability in terms of geometry. Scene graphs provide a suitable data representation that facilitates these applications. However, current graph-based methods for scene generation are constrained to text-based inputs and exhibit insufficient adaptability to flexible user inputs, hindering the ability to precisely control object geometry. To address this issue, we propose MMGDreamer, a dual-branch diffusion model for scene generation that incorporates a novel Mixed-Modality Graph, visual enhancement module, and relation predictor. The mixed-modality graph allows object nodes to integrate textual and visual modalities, with optional relationships between nodes. It enhances adaptability to flexible user inputs and enables meticulous control over the geometry of objects in the generated scenes. The visual enhancement module enriches the visual fidelity of text-only nodes by constructing visual representations using text embeddings. Furthermore, our relation predictor leverages node representations to infer absent relationships between nodes, resulting in more coherent scene layouts. Extensive experimental results demonstrate that MMGDreamer exhibits superior control of object geometry, achieving state-of-the-art scene generation performance. Project page: https://yangzhifeio.github.io/project/MMGDreamer.

Shoeprints are a common type of evidence found at crime scenes and are used regularly in forensic investigations. However, existing methods cannot effectively employ deep learning techniques to match noisy and occluded crime-scene shoeprints to a shoe database due to a lack of training data. Moreover, all existing methods match crime-scene shoeprints to clean reference prints, yet our analysis shows matching to more informative tread depth maps yields better retrieval results. The matching task is further complicated by the necessity to identify similarities only in corresponding regions (heels, toes, etc) of prints and shoe treads. To overcome these challenges, we leverage shoe tread images from online retailers and utilize an off-the-shelf predictor to estimate depth maps and clean prints. Our method, named CriSp, matches crime-scene shoeprints to tread depth maps by training on this data. CriSp incorporates data augmentation to simulate crime-scene shoeprints, an encoder to learn spatially-aware features, and a masking module to ensure only visible regions of crime-scene prints affect retrieval results. To validate our approach, we introduce two validation sets by reprocessing existing datasets of crime-scene shoeprints and establish a benchmarking protocol for comparison. On this benchmark, CriSp significantly outperforms state-of-the-art methods in both automated shoeprint matching and image retrieval tailored to this task.

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such generalist robots. Unlike typical robot learning approaches which directly learn how a robot should act from interaction data, we adopt a factorized approach that can leverage large-scale human videos to learn how a human would accomplish a desired task (a human plan), followed by translating this plan to the robots embodiment. Specifically, we learn a human plan predictor that, given a current image of a scene and a goal image, predicts the future hand and object configurations. We combine this with a translation module that learns a plan-conditioned robot manipulation policy, and allows following humans plans for generic manipulation tasks in a zero-shot manner with no deployment-time training. Importantly, while the plan predictor can leverage large-scale human videos for learning, the translation module only requires a small amount of in-domain data, and can generalize to tasks not seen during training. We show that our learned system can perform over 16 manipulation skills that generalize to 40 objects, encompassing 100 real-world tasks for table-top manipulation and diverse in-the-wild manipulation. https://homangab.github.io/hopman/

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.

Human trajectory prediction is typically posed as a zero-shot generalization problem: a predictor is learnt on a dataset of human motion in training scenes, and then deployed on unseen test scenes. While this paradigm has yielded tremendous progress, it fundamentally assumes that trends in human behavior within the deployment scene are constant over time. As such, current prediction models are unable to adapt to scene-specific transient human behaviors, such as crowds temporarily gathering to see buskers, pedestrians hurrying through the rain and avoiding puddles, or a protest breaking out. We formalize the problem of scene-specific adaptive trajectory prediction and propose a new adaptation approach inspired by prompt tuning called latent corridors. By augmenting the input of any pre-trained human trajectory predictor with learnable image prompts, the predictor can improve in the deployment scene by inferring trends from extremely small amounts of new data (e.g., 2 humans observed for 30 seconds). With less than 0.1% additional model parameters, we see up to 23.9% ADE improvement in MOTSynth simulated data and 16.4% ADE in MOT and Wildtrack real pedestrian data. Qualitatively, we observe that latent corridors imbue predictors with an awareness of scene geometry and scene-specific human behaviors that non-adaptive predictors struggle to capture. The project website can be found at https://neerja.me/atp_latent_corridors/.

Recovering ego-camera orientation from manipulation video is a prerequisite for disentangling hand motion from camera motion, a key step in imitation learning from egocentric demonstrations. The obvious approach, inferring orientation from scene geometry, fails when hands occlude the frame: VGGT, a 1B-parameter scene reconstruction model, scores worse than a constant predictor on the TACO benchmark. We identify an alternative visual concept that is present precisely when scene geometry is absent: kinematic coupling dynamics, the structured physical relationship between wrist motion and camera orientation imposed by the arm-shoulder-head chain. We find that this concept is compact (4D inter-wrist features outperform 126D full hand keypoints), temporal (requiring a GRU over short windows rather than per-frame retrieval), and physically grounded (transferring zero-shot across datasets because it is rooted in anatomy rather than scene appearance). Trained only on tabletop manipulation, WristCompass transfers zero-shot to Epic Kitchens cooking video, achieving 14.3^circ median geodesic error and approaching the performance of a 1B-parameter scene model at 200K GRU parameters.

Image-to-3D methods often trade off faithfulness and completeness: depth estimators are anchored to input pixels but stop at the visible surface, while image-to-3D models generate complete shapes that are often misaligned with the input. We introduce World Tracing, a generative pixel-aligned geometry representation that predicts 3D points aligned with observed pixels while completing geometry beyond the visible surface. For each input pixel, World Tracing predicts an ordered stack of camera-space 3D points, where the first layer represents the visible surface and subsequent layers represent front-to-back intersections with occluded surfaces. We instantiate this representation with a world-tracing diffusion transformer, WT-DiT, which treats multiple geometry layers as separate denoising tokens coupled through factorized and global attention. WT-DiT is trained with pixel-space flow matching and a mixed noise schedule that balances visible-surface reconstruction with occluded-geometry generation. World Tracing achieves strong performance on visible-surface reconstruction and complete geometry generation across object, scene, and dynamic benchmarks, outperforming both depth predictors and image-to-3D generators. It also preserves 2D-to-3D correspondence, enabling text-driven 3D scene editing, geometry-conditioned novel-view video synthesis, and training-free integration with textured-mesh generators.

Multi-agent motion prediction is challenging because it aims to foresee the future trajectories of multiple agents (e.g. pedestrians) simultaneously in a complicated scene. Existing work addressed this challenge by either learning social spatial interactions represented by the positions of a group of pedestrians, while ignoring their temporal coherence (i.e. dependencies between different long trajectories), or by understanding the complicated scene layout (e.g. scene segmentation) to ensure safe navigation. However, unlike previous work that isolated the spatial interaction, temporal coherence, and scene layout, this paper designs a new mechanism, i.e., Dynamic and Static Context-aware Motion Predictor (DSCMP), to integrates these rich information into the long-short-term-memory (LSTM). It has three appealing benefits. (1) DSCMP models the dynamic interactions between agents by learning both their spatial positions and temporal coherence, as well as understanding the contextual scene layout.(2) Different from previous LSTM models that predict motions by propagating hidden features frame by frame, limiting the capacity to learn correlations between long trajectories, we carefully design a differentiable queue mechanism in DSCMP, which is able to explicitly memorize and learn the correlations between long trajectories. (3) DSCMP captures the context of scene by inferring latent variable, which enables multimodal predictions with meaningful semantic scene layout. Extensive experiments show that DSCMP outperforms state-of-the-art methods by large margins, such as 9.05\% and 7.62\% relative improvements on the ETH-UCY and SDD datasets respectively.

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to miss placement modes. We introduce a system which helps to address this flaw. We design a Domain Specific Language (DSL) that specifies object relational constraints. Upon execution, programs from our language predict possible placements from a partial scene and object. We design a generative model which writes these programs automatically. Available 3D scene datasets do not contain programs to train on, and naively extracted programs only predict the original placement location of scene objects. Training on these programs results in subpar performance so we introduce a new program bootstrapping algorithm that improves our system's performance compared to the naive approach. To quantify our qualitative observations, we introduce a new evaluation procedure which captures how well a system models per-object location distributions. We ask human annotators to label all the possible places an object can go in a scene and compare this set against locations produced by the system in question. Our system produces per-object location distributions more consistent with human annotators than those produced by existing data-driven approaches and a zero-shot approach using an LLM. While other systems degrade in performance when training data is sparse, our system does not degrade to the same degree.

We introduce the Scene Language, a visual scene representation that concisely and precisely describes the structure, semantics, and identity of visual scenes. It represents a scene with three key components: a program that specifies the hierarchical and relational structure of entities in the scene, words in natural language that summarize the semantic class of each entity, and embeddings that capture the visual identity of each entity. This representation can be inferred from pre-trained language models via a training-free inference technique, given text or image inputs. The resulting scene can be rendered into images using traditional, neural, or hybrid graphics renderers. Together, this forms a robust, automated system for high-quality 3D and 4D scene generation. Compared with existing representations like scene graphs, our proposed Scene Language generates complex scenes with higher fidelity, while explicitly modeling the scene structures to enable precise control and editing.

Despite recent advances in text-conditioned 3D indoor scene generation, there remain gaps in the evaluation of these methods. Existing metrics primarily assess the realism of generated scenes by comparing them to a set of ground-truth scenes, often overlooking alignment with the input text - a critical factor in determining how effectively a method meets user requirements. We present SceneEval, an evaluation framework designed to address this limitation. SceneEval includes metrics for both explicit user requirements, such as the presence of specific objects and their attributes described in the input text, and implicit expectations, like the absence of object collisions, providing a comprehensive assessment of scene quality. To facilitate evaluation, we introduce SceneEval-100, a dataset of scene descriptions with annotated ground-truth scene properties. We evaluate recent scene generation methods using SceneEval and demonstrate its ability to provide detailed assessments of the generated scenes, highlighting strengths and areas for improvement across multiple dimensions. Our results show that current methods struggle at generating scenes that meet user requirements, underscoring the need for further research in this direction.

Different objects in the same scene are more or less related to each other, but only a limited number of these relationships are noteworthy. Inspired by DETR, which excels in object detection, we view scene graph generation as a set prediction problem and propose an end-to-end scene graph generation model RelTR which has an encoder-decoder architecture. The encoder reasons about the visual feature context while the decoder infers a fixed-size set of triplets subject-predicate-object using different types of attention mechanisms with coupled subject and object queries. We design a set prediction loss performing the matching between the ground truth and predicted triplets for the end-to-end training. In contrast to most existing scene graph generation methods, RelTR is a one-stage method that predicts a set of relationships directly only using visual appearance without combining entities and labeling all possible predicates. Extensive experiments on the Visual Genome and Open Images V6 datasets demonstrate the superior performance and fast inference of our model.

Scene synthesis and editing has emerged as a promising direction in computer graphics. Current trained approaches for 3D indoor scenes either oversimplify object semantics through one-hot class encodings (e.g., 'chair' or 'table'), require masked diffusion for editing, ignore room boundaries, or rely on floor plan renderings that fail to capture complex layouts. In contrast, LLM-based methods enable richer semantics via natural language (e.g., 'modern studio with light wood furniture') but do not support editing, remain limited to rectangular layouts or rely on weak spatial reasoning from implicit world models. We introduce ReSpace, a generative framework for text-driven 3D indoor scene synthesis and editing using autoregressive language models. Our approach features a compact structured scene representation with explicit room boundaries that frames scene editing as a next-token prediction task. We leverage a dual-stage training approach combining supervised fine-tuning and preference alignment, enabling a specially trained language model for object addition that accounts for user instructions, spatial geometry, object semantics, and scene-level composition. For scene editing, we employ a zero-shot LLM to handle object removal and prompts for addition. We further introduce a novel voxelization-based evaluation that captures fine-grained geometry beyond 3D bounding boxes. Experimental results surpass state-of-the-art on object addition while maintaining competitive results on full scene synthesis.

Current scene graph datasets suffer from strong long-tail distributions of their predicate classes. Due to a very low number of some predicate classes in the test sets, no reliable metrics can be retrieved for the rarest classes. We construct a new panoptic scene graph dataset and a set of metrics that are designed as a benchmark for the predictive performance especially on rare predicate classes. To construct the new dataset, we propose a model-assisted annotation pipeline that efficiently finds rare predicate classes that are hidden in a large set of images like needles in a haystack. Contrary to prior scene graph datasets, Haystack contains explicit negative annotations, i.e. annotations that a given relation does not have a certain predicate class. Negative annotations are helpful especially in the field of scene graph generation and open up a whole new set of possibilities to improve current scene graph generation models. Haystack is 100% compatible with existing panoptic scene graph datasets and can easily be integrated with existing evaluation pipelines. Our dataset and code can be found here: https://lorjul.github.io/haystack/. It includes annotation files and simple to use scripts and utilities, to help with integrating our dataset in existing work.

Scene coordinate regression (SCR) methods are a family of visual localization methods that directly regress 2D-3D matches for camera pose estimation. They are effective in small-scale scenes but face significant challenges in large-scale scenes that are further amplified in the absence of ground truth 3D point clouds for supervision. Here, the model can only rely on reprojection constraints and needs to implicitly triangulate the points. The challenges stem from a fundamental dilemma: The network has to be invariant to observations of the same landmark at different viewpoints and lighting conditions, etc., but at the same time discriminate unrelated but similar observations. The latter becomes more relevant and severe in larger scenes. In this work, we tackle this problem by introducing the concept of co-visibility to the network. We propose GLACE, which integrates pre-trained global and local encodings and enables SCR to scale to large scenes with only a single small-sized network. Specifically, we propose a novel feature diffusion technique that implicitly groups the reprojection constraints with co-visibility and avoids overfitting to trivial solutions. Additionally, our position decoder parameterizes the output positions for large-scale scenes more effectively. Without using 3D models or depth maps for supervision, our method achieves state-of-the-art results on large-scale scenes with a low-map-size model. On Cambridge landmarks, with a single model, we achieve 17% lower median position error than Poker, the ensemble variant of the state-of-the-art SCR method ACE. Code is available at: https://github.com/cvg/glace.

We present SceneTok, a novel tokenizer for encoding view sets of scenes into a compressed and diffusable set of unstructured tokens. Existing approaches for 3D scene representation and generation commonly use 3D data structures or view-aligned fields. In contrast, we introduce the first method that encodes scene information into a small set of permutation-invariant tokens that is disentangled from the spatial grid. The scene tokens are predicted by a multi-view tokenizer given many context views and rendered into novel views by employing a light-weight rectified flow decoder. We show that the compression is 1-3 orders of magnitude stronger than for other representations while still reaching state-of-the-art reconstruction quality. Further, our representation can be rendered from novel trajectories, including ones deviating from the input trajectory, and we show that the decoder gracefully handles uncertainty. Finally, the highly-compressed set of unstructured latent scene tokens enables simple and efficient scene generation in 5 seconds, achieving a much better quality-speed trade-off than previous paradigms.

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them. The problem is aggravated when images of a particular scene class are notably different. Convolutional Neural Networks (CNNs) have significantly boosted performance in scene recognition, albeit it is still far below from other recognition tasks (e.g., object or image recognition). In this paper, we describe a novel approach for scene recognition based on an end-to-end multi-modal CNN that combines image and context information by means of an attention module. Context information, in the shape of semantic segmentation, is used to gate features extracted from the RGB image by leveraging on information encoded in the semantic representation: the set of scene objects and stuff, and their relative locations. This gating process reinforces the learning of indicative scene content and enhances scene disambiguation by refocusing the receptive fields of the CNN towards them. Experimental results on four publicly available datasets show that the proposed approach outperforms every other state-of-the-art method while significantly reducing the number of network parameters. All the code and data used along this paper is available at https://github.com/vpulab/Semantic-Aware-Scene-Recognition

We propose CARFF: Conditional Auto-encoded Radiance Field for 3D Scene Forecasting, a method for predicting future 3D scenes given past observations, such as 2D ego-centric images. Our method maps an image to a distribution over plausible 3D latent scene configurations using a probabilistic encoder, and predicts the evolution of the hypothesized scenes through time. Our latent scene representation conditions a global Neural Radiance Field (NeRF) to represent a 3D scene model, which enables explainable predictions and straightforward downstream applications. This approach extends beyond previous neural rendering work by considering complex scenarios of uncertainty in environmental states and dynamics. We employ a two-stage training of Pose-Conditional-VAE and NeRF to learn 3D representations. Additionally, we auto-regressively predict latent scene representations as a partially observable Markov decision process, utilizing a mixture density network. We demonstrate the utility of our method in realistic scenarios using the CARLA driving simulator, where CARFF can be used to enable efficient trajectory and contingency planning in complex multi-agent autonomous driving scenarios involving visual occlusions.

Recent unified models for joint understanding and generation have significantly advanced visual generation capabilities. However, their focus on conventional tasks like text-to-video generation has left the temporal reasoning potential of unified models largely underexplored. To address this gap, we introduce Next Scene Prediction (NSP), a new task that pushes unified video models toward temporal and causal reasoning. Unlike text-to-video generation, NSP requires predicting plausible futures from preceding context, demanding deeper understanding and reasoning. To tackle this task, we propose a unified framework combining Qwen-VL for comprehension and LTX for synthesis, bridged by a latent query embedding and a connector module. This model is trained in three stages on our newly curated, large-scale NSP dataset: text-to-video pre-training, supervised fine-tuning, and reinforcement learning (via GRPO) with our proposed causal consistency reward. Experiments demonstrate our model achieves state-of-the-art performance on our benchmark, advancing the capability of generalist multimodal systems to anticipate what happens next.

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP), a spatially aware pretext regression task that predicts the relative position and scale between a pair of disentangled local views from the same image. By modeling part-to-part relationships in a continuous geometric space, SP encourages representations to capture fine-grained spatial dependencies beyond invariant categorical semantics, thereby learning the compositional structure of visual scenes. SP is implemented as a decoupled plug-in and can be seamlessly integrated into diverse SSL frameworks. Extensive experiments show consistent improvements across image recognition, fine-grained classification, semantic segmentation, and depth estimation, as well as substantial gains in out-of-distribution robustness for object recognition. To evaluate spatial reasoning, we introduce (1) a position and scale prediction task on image patch pairs and (2) a jigsaw understanding task requiring patch reordering and recognition after reconstruction. Strong performance on these tasks indicates improved spatial structure and geometric awareness. Overall, explicitly modeling spatial information provides an effective inductive bias for SSL, leading to more structured representations and better generalization. Code and models will be released.

In this work, we present SceneDreamer, an unconditional generative model for unbounded 3D scenes, which synthesizes large-scale 3D landscapes from random noise. Our framework is learned from in-the-wild 2D image collections only, without any 3D annotations. At the core of SceneDreamer is a principled learning paradigm comprising 1) an efficient yet expressive 3D scene representation, 2) a generative scene parameterization, and 3) an effective renderer that can leverage the knowledge from 2D images. Our approach begins with an efficient bird's-eye-view (BEV) representation generated from simplex noise, which includes a height field for surface elevation and a semantic field for detailed scene semantics. This BEV scene representation enables 1) representing a 3D scene with quadratic complexity, 2) disentangled geometry and semantics, and 3) efficient training. Moreover, we propose a novel generative neural hash grid to parameterize the latent space based on 3D positions and scene semantics, aiming to encode generalizable features across various scenes. Lastly, a neural volumetric renderer, learned from 2D image collections through adversarial training, is employed to produce photorealistic images. Extensive experiments demonstrate the effectiveness of SceneDreamer and superiority over state-of-the-art methods in generating vivid yet diverse unbounded 3D worlds.

In this paper we propose a neural message passing approach to augment an input 3D indoor scene with new objects matching their surroundings. Given an input, potentially incomplete, 3D scene and a query location, our method predicts a probability distribution over object types that fit well in that location. Our distribution is predicted though passing learned messages in a dense graph whose nodes represent objects in the input scene and edges represent spatial and structural relationships. By weighting messages through an attention mechanism, our method learns to focus on the most relevant surrounding scene context to predict new scene objects. We found that our method significantly outperforms state-of-the-art approaches in terms of correctly predicting objects missing in a scene based on our experiments in the SUNCG dataset. We also demonstrate other applications of our method, including context-based 3D object recognition and iterative scene generation.

Recent text-to-image models have revolutionized image generation, but they still struggle with maintaining concept consistency across generated images. While existing works focus on character consistency, they often overlook the crucial role of scenes in storytelling, which restricts their creativity in practice. This paper introduces scene-oriented story generation, addressing two key challenges: (i) scene planning, where current methods fail to ensure scene-level narrative coherence by relying solely on text descriptions, and (ii) scene consistency, which remains largely unexplored in terms of maintaining scene consistency across multiple stories. We propose SceneDecorator, a training-free framework that employs VLM-Guided Scene Planning to ensure narrative coherence across different scenes in a ``global-to-local'' manner, and Long-Term Scene-Sharing Attention to maintain long-term scene consistency and subject diversity across generated stories. Extensive experiments demonstrate the superior performance of SceneDecorator, highlighting its potential to unleash creativity in the fields of arts, films, and games.

We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning. In contrast to prior works, SceneDiffuser is intrinsically scene-aware, physics-based, and goal-oriented. With an iterative sampling strategy, SceneDiffuser jointly formulates the scene-aware generation, physics-based optimization, and goal-oriented planning via a diffusion-based denoising process in a fully differentiable fashion. Such a design alleviates the discrepancies among different modules and the posterior collapse of previous scene-conditioned generative models. We evaluate SceneDiffuser with various 3D scene understanding tasks, including human pose and motion generation, dexterous grasp generation, path planning for 3D navigation, and motion planning for robot arms. The results show significant improvements compared with previous models, demonstrating the tremendous potential of SceneDiffuser for the broad community of 3D scene understanding.

We propose pixelNeRF, a learning framework that predicts a continuous neural scene representation conditioned on one or few input images. The existing approach for constructing neural radiance fields involves optimizing the representation to every scene independently, requiring many calibrated views and significant compute time. We take a step towards resolving these shortcomings by introducing an architecture that conditions a NeRF on image inputs in a fully convolutional manner. This allows the network to be trained across multiple scenes to learn a scene prior, enabling it to perform novel view synthesis in a feed-forward manner from a sparse set of views (as few as one). Leveraging the volume rendering approach of NeRF, our model can be trained directly from images with no explicit 3D supervision. We conduct extensive experiments on ShapeNet benchmarks for single image novel view synthesis tasks with held-out objects as well as entire unseen categories. We further demonstrate the flexibility of pixelNeRF by demonstrating it on multi-object ShapeNet scenes and real scenes from the DTU dataset. In all cases, pixelNeRF outperforms current state-of-the-art baselines for novel view synthesis and single image 3D reconstruction. For the video and code, please visit the project website: https://alexyu.net/pixelnerf

Spatio-temporal scene graphs represent interactions in a video by decomposing scenes into individual objects and their pair-wise temporal relationships. Long-term anticipation of the fine-grained pair-wise relationships between objects is a challenging problem. To this end, we introduce the task of Scene Graph Anticipation (SGA). We adapt state-of-the-art scene graph generation methods as baselines to anticipate future pair-wise relationships between objects and propose a novel approach SceneSayer. In SceneSayer, we leverage object-centric representations of relationships to reason about the observed video frames and model the evolution of relationships between objects. We take a continuous time perspective and model the latent dynamics of the evolution of object interactions using concepts of NeuralODE and NeuralSDE, respectively. We infer representations of future relationships by solving an Ordinary Differential Equation and a Stochastic Differential Equation, respectively. Extensive experimentation on the Action Genome dataset validates the efficacy of the proposed methods.

Understanding a visual scene goes beyond recognizing individual objects in isolation. Relationships between objects also constitute rich semantic information about the scene. In this work, we explicitly model the objects and their relationships using scene graphs, a visually-grounded graphical structure of an image. We propose a novel end-to-end model that generates such structured scene representation from an input image. The model solves the scene graph inference problem using standard RNNs and learns to iteratively improves its predictions via message passing. Our joint inference model can take advantage of contextual cues to make better predictions on objects and their relationships. The experiments show that our model significantly outperforms previous methods for generating scene graphs using Visual Genome dataset and inferring support relations with NYU Depth v2 dataset.

General scene perception has progressed from object recognition toward open-vocabulary grounding, part localization, and affordance prediction. Yet these capabilities are often realized as isolated predictions that localize objects, parts, or interaction points without capturing the structured dependencies needed for interaction-oriented scene understanding. To address this gap, we introduce Hierarchical Scene Parsing, an interaction-oriented parsing task that represents physical scenes as explicit scene -> object -> part -> affordance hierarchies with cross-level bindings. We instantiate this task with SceneParser, a VLM-based parser trained for unified hierarchical generation with structural-completion pseudo labels and curriculum learning. To support training and evaluation, we construct SceneParser-Bench, a large-scale benchmark built with a scalable hierarchical data engine, containing 110K training images, a 5K validation split, 777K objects, 1.14M parts, 1.74M affordance annotations, and 1.74M valid object-part-affordance chain instances. We further introduce Level-1 to Level-3 conditional metrics and ParseRate to evaluate localization, cross-level binding, and hierarchical completeness. Experiments show that existing MLLMs and perception-stitching pipelines struggle with hierarchical parsing on our SceneParser-Bench, while SceneParser achieves stronger structure-aware performance. Besides, ablations, evaluations on COCO and AGD20K, and a downstream planning probe demonstrate that our SceneParser is compatible with conventional tasks and provides an actionable representation for visual understanding.

With the success of new computational architectures for visual processing, such as convolutional neural networks (CNN) and access to image databases with millions of labeled examples (e.g., ImageNet, Places), the state of the art in computer vision is advancing rapidly. One important factor for continued progress is to understand the representations that are learned by the inner layers of these deep architectures. Here we show that object detectors emerge from training CNNs to perform scene classification. As scenes are composed of objects, the CNN for scene classification automatically discovers meaningful objects detectors, representative of the learned scene categories. With object detectors emerging as a result of learning to recognize scenes, our work demonstrates that the same network can perform both scene recognition and object localization in a single forward-pass, without ever having been explicitly taught the notion of objects.

We address the problem of gaze target estimation, which aims to predict where a person is looking in a scene. Predicting a person's gaze target requires reasoning both about the person's appearance and the contents of the scene. Prior works have developed increasingly complex, hand-crafted pipelines for gaze target estimation that carefully fuse features from separate scene encoders, head encoders, and auxiliary models for signals like depth and pose. Motivated by the success of general-purpose feature extractors on a variety of visual tasks, we propose Gaze-LLE, a novel transformer framework that streamlines gaze target estimation by leveraging features from a frozen DINOv2 encoder. We extract a single feature representation for the scene, and apply a person-specific positional prompt to decode gaze with a lightweight module. We demonstrate state-of-the-art performance across several gaze benchmarks and provide extensive analysis to validate our design choices. Our code is available at: http://github.com/fkryan/gazelle .

Due to the demand for personalizing image generation, subject-driven text-to-image generation method, which creates novel renditions of an input subject based on text prompts, has received growing research interest. Existing methods often learn subject representation and incorporate it into the prompt embedding to guide image generation, but they struggle with preserving subject fidelity. To solve this issue, this paper approaches a novel framework named SceneBooth for subject-preserved text-to-image generation, which consumes inputs of a subject image, object phrases and text prompts. Instead of learning the subject representation and generating a subject, our SceneBooth fixes the given subject image and generates its background image guided by the text prompts. To this end, our SceneBooth introduces two key components, i.e., a multimodal layout generation module and a background painting module. The former determines the position and scale of the subject by generating appropriate scene layouts that align with text captions, object phrases, and subject visual information. The latter integrates two adapters (ControlNet and Gated Self-Attention) into the latent diffusion model to generate a background that harmonizes with the subject guided by scene layouts and text descriptions. In this manner, our SceneBooth ensures accurate preservation of the subject's appearance in the output. Quantitative and qualitative experimental results demonstrate that SceneBooth significantly outperforms baseline methods in terms of subject preservation, image harmonization and overall quality.

We introduce SceneScript, a method that directly produces full scene models as a sequence of structured language commands using an autoregressive, token-based approach. Our proposed scene representation is inspired by recent successes in transformers & LLMs, and departs from more traditional methods which commonly describe scenes as meshes, voxel grids, point clouds or radiance fields. Our method infers the set of structured language commands directly from encoded visual data using a scene language encoder-decoder architecture. To train SceneScript, we generate and release a large-scale synthetic dataset called Aria Synthetic Environments consisting of 100k high-quality in-door scenes, with photorealistic and ground-truth annotated renders of egocentric scene walkthroughs. Our method gives state-of-the art results in architectural layout estimation, and competitive results in 3D object detection. Lastly, we explore an advantage for SceneScript, which is the ability to readily adapt to new commands via simple additions to the structured language, which we illustrate for tasks such as coarse 3D object part reconstruction.

Indoor scene synthesis involves automatically picking and placing furniture appropriately on a floor plan, so that the scene looks realistic and is functionally plausible. Such scenes can serve as homes for immersive 3D experiences, or be used to train embodied agents. Existing methods for this task rely on labeled categories of furniture, e.g. bed, chair or table, to generate contextually relevant combinations of furniture. Whether heuristic or learned, these methods ignore instance-level visual attributes of objects, and as a result may produce visually less coherent scenes. In this paper, we introduce an auto-regressive scene model which can output instance-level predictions, using general purpose image embedding based on CLIP. This allows us to learn visual correspondences such as matching color and style, and produce more functionally plausible and aesthetically pleasing scenes. Evaluated on the 3D-FRONT dataset, our model achieves SOTA results in scene synthesis and improves auto-completion metrics by over 50%. Moreover, our embedding-based approach enables zero-shot text-guided scene synthesis and editing, which easily generalizes to furniture not seen during training.

We describe a method to parse a complex, cluttered indoor scene into primitives which offer a parsimonious abstraction of scene structure. Our primitives are simple convexes. Our method uses a learned regression procedure to parse a scene into a fixed number of convexes from RGBD input, and can optionally accept segmentations to improve the decomposition. The result is then polished with a descent method which adjusts the convexes to produce a very good fit, and greedily removes superfluous primitives. Because the entire scene is parsed, we can evaluate using traditional depth, normal, and segmentation error metrics. Our evaluation procedure demonstrates that the error from our primitive representation is comparable to that of predicting depth from a single image.

Long video understanding (LVU) remains a core challenge in multimodal learning. Although recent vision-language models (VLMs) have made notable progress, existing benchmarks mainly focus on either fine-grained perception or coarse summarization, offering limited insight into temporal understanding over long contexts. In this work, we define a scene as a coherent segment of a video in which both visual and semantic contexts remain consistent, aligning with human perception. This leads us to a key question: can current VLMs reason effectively over long, scene-level contexts? To answer this, we introduce a new benchmark, SceneBench, designed to provide scene-level challenges. Our evaluation reveals a sharp drop in accuracy when VLMs attempt to answer scene-level questions, indicating significant forgetting of long-range context. To further validate these findings, we propose Scene Retrieval-Augmented Generation (Scene-RAG), which constructs a dynamic scene memory by retrieving and integrating relevant context across scenes. This Scene-RAG improves VLM performance by +2.50%, confirming that current models still struggle with long-context retention. We hope SceneBench will encourage future research toward VLMs with more robust, human-like video comprehension.

Scene graphs offer a structured, hierarchical representation of images, with nodes and edges symbolizing objects and the relationships among them. It can serve as a natural interface for image editing, dramatically improving precision and flexibility. Leveraging this benefit, we introduce a new framework that integrates large language model (LLM) with Text2Image generative model for scene graph-based image editing. This integration enables precise modifications at the object level and creative recomposition of scenes without compromising overall image integrity. Our approach involves two primary stages: 1) Utilizing a LLM-driven scene parser, we construct an image's scene graph, capturing key objects and their interrelationships, as well as parsing fine-grained attributes such as object masks and descriptions. These annotations facilitate concept learning with a fine-tuned diffusion model, representing each object with an optimized token and detailed description prompt. 2) During the image editing phase, a LLM editing controller guides the edits towards specific areas. These edits are then implemented by an attention-modulated diffusion editor, utilizing the fine-tuned model to perform object additions, deletions, replacements, and adjustments. Through extensive experiments, we demonstrate that our framework significantly outperforms existing image editing methods in terms of editing precision and scene aesthetics.

Evaluating neural network performance is critical to deep neural network design but a costly procedure. Neural predictors provide an efficient solution by treating architectures as samples and learning to estimate their performance on a given task. However, existing predictors are task-dependent, predominantly estimating neural network performance on image classification benchmarks. They are also search-space dependent; each predictor is designed to make predictions for a specific architecture search space with predefined topologies and set of operations. In this paper, we propose a novel All-in-One Predictor (AIO-P), which aims to pretrain neural predictors on architecture examples from multiple, separate computer vision (CV) task domains and multiple architecture spaces, and then transfer to unseen downstream CV tasks or neural architectures. We describe our proposed techniques for general graph representation, efficient predictor pretraining and knowledge infusion techniques, as well as methods to transfer to downstream tasks/spaces. Extensive experimental results show that AIO-P can achieve Mean Absolute Error (MAE) and Spearman's Rank Correlation (SRCC) below 1% and above 0.5, respectively, on a breadth of target downstream CV tasks with or without fine-tuning, outperforming a number of baselines. Moreover, AIO-P can directly transfer to new architectures not seen during training, accurately rank them and serve as an effective performance estimator when paired with an algorithm designed to preserve performance while reducing FLOPs.

We present a system for generating indoor scenes in response to text prompts. The prompts are not limited to a fixed vocabulary of scene descriptions, and the objects in generated scenes are not restricted to a fixed set of object categories -- we call this setting indoor scene generation. Unlike most prior work on indoor scene generation, our system does not require a large training dataset of existing 3D scenes. Instead, it leverages the world knowledge encoded in pre-trained large language models (LLMs) to synthesize programs in a domain-specific layout language that describe objects and spatial relations between them. Executing such a program produces a specification of a constraint satisfaction problem, which the system solves using a gradient-based optimization scheme to produce object positions and orientations. To produce object geometry, the system retrieves 3D meshes from a database. Unlike prior work which uses databases of category-annotated, mutually-aligned meshes, we develop a pipeline using vision-language models (VLMs) to retrieve meshes from massive databases of un-annotated, inconsistently-aligned meshes. Experimental evaluations show that our system outperforms generative models trained on 3D data for traditional, closed-universe scene generation tasks; it also outperforms a recent LLM-based layout generation method on open-universe scene generation.

Video prediction is increasingly viewed as a path toward generalizable world models, yet it remains unclear whether these systems learn underlying causal structure or merely exploit superficial visual correlations for future prediction. We introduce CRONOS, an intervention-based benchmark designed to evaluate counterfactual physical consistency: whether a model's predictions of physical events respond appropriately to controlled changes in the visual input, such as variations of scene context, viewpoint, object appearance, and object category. Built in a photorealistic Unreal Engine environment, CRONOS enables controlled, high-fidelity generation of videos across diverse scenes and dynamics. In contrast to previous benchmarks, CRONOS systematically intervenes on four key factors - viewpoint, scene, object category, and object appearance - while keeping the underlying physical event type, such as a collision, occlusion, or fall, fixed. Our evaluation of recent open-source video generators reveals substantial failures in counterfactual physical consistency: prediction quality for the same physical event type is affected by appearance, environment, and, particularly by viewpoint changes. CRONOS provides a controlled and reproducible testbed for diagnosing how the quality of generated videos changes for different interventions, establishing a concrete target for developing models that perform consistently across changes of multiple conditions. The dataset and code are available at our project page.

We address the task of indoor scene generation by generating a sequence of objects, along with their locations and orientations conditioned on a room layout. Large-scale indoor scene datasets allow us to extract patterns from user-designed indoor scenes, and generate new scenes based on these patterns. Existing methods rely on the 2D or 3D appearance of these scenes in addition to object positions, and make assumptions about the possible relations between objects. In contrast, we do not use any appearance information, and implicitly learn object relations using the self-attention mechanism of transformers. We show that our model design leads to faster scene generation with similar or improved levels of realism compared to previous methods. Our method is also flexible, as it can be conditioned not only on the room layout but also on text descriptions of the room, using only the cross-attention mechanism of transformers. Our user study shows that our generated scenes are preferred to the state-of-the-art FastSynth scenes 53.9% and 56.7% of the time for bedroom and living room scenes, respectively. At the same time, we generate a scene in 1.48 seconds on average, 20% faster than FastSynth.

Predictive world models that simulate future observations under explicit camera control are fundamental to interactive AI. Despite rapid advances, current systems lack spatial persistence: they fail to maintain stable scene structures over long trajectories, frequently hallucinating details when cameras revisit previously observed locations. We identify that this geometric drift stems from reliance on screen-space positional embeddings, which conflict with the projective geometry required for 3D consistency. We introduce ViewRope, a geometry-aware encoding that injects camera-ray directions directly into video transformer self-attention layers. By parameterizing attention with relative ray geometry rather than pixel locality, ViewRope provides a model-native inductive bias for retrieving 3D-consistent content across temporal gaps. We further propose Geometry-Aware Frame-Sparse Attention, which exploits these geometric cues to selectively attend to relevant historical frames, improving efficiency without sacrificing memory consistency. We also present ViewBench, a diagnostic suite measuring loop-closure fidelity and geometric drift. Our results demonstrate that ViewRope substantially improves long-term consistency while reducing computational costs.

Forecasting the evolution of 3D scenes and generating unseen scenarios via occupancy-based world models offers substantial potential for addressing corner cases in autonomous driving systems. While tokenization has revolutionized image and video generation, efficiently tokenizing complex 3D scenes remains a critical challenge for 3D world models. To address this, we propose I^{2}-World, an efficient framework for 4D occupancy forecasting. Our method decouples scene tokenization into intra-scene and inter-scene tokenizers. The intra-scene tokenizer employs a multi-scale residual quantization strategy to hierarchically compress 3D scenes while preserving spatial details. The inter-scene tokenizer residually aggregates temporal dependencies across timesteps. This dual design preserves the compactness of 3D tokenizers while retaining the dynamic expressiveness of 4D tokenizers. Unlike decoder-only GPT-style autoregressive models, I^{2}-World adopts an encoder-decoder architecture. The encoder aggregates spatial context from the current scene and predicts a transformation matrix to enable high-level control over scene generation. The decoder, conditioned on this matrix and historical tokens, ensures temporal consistency during generation. Experiments demonstrate that I^{2}-World achieves state-of-the-art performance, outperforming existing methods by 25.1\% in mIoU and 36.9\% in IoU for 4D occupancy forecasting while exhibiting exceptional computational efficiency: it requires merely 2.9 GB of training memory and achieves real-time inference at 37.0 FPS. Our code is available on https://github.com/lzzzzzm/II-World.

We propose a knowledge-enhanced approach, ERNIE-ViL, which incorporates structured knowledge obtained from scene graphs to learn joint representations of vision-language. ERNIE-ViL tries to build the detailed semantic connections (objects, attributes of objects and relationships between objects) across vision and language, which are essential to vision-language cross-modal tasks. Utilizing scene graphs of visual scenes, ERNIE-ViL constructs Scene Graph Prediction tasks, i.e., Object Prediction, Attribute Prediction and Relationship Prediction tasks in the pre-training phase. Specifically, these prediction tasks are implemented by predicting nodes of different types in the scene graph parsed from the sentence. Thus, ERNIE-ViL can learn the joint representations characterizing the alignments of the detailed semantics across vision and language. After pre-training on large scale image-text aligned datasets, we validate the effectiveness of ERNIE-ViL on 5 cross-modal downstream tasks. ERNIE-ViL achieves state-of-the-art performances on all these tasks and ranks the first place on the VCR leaderboard with an absolute improvement of 3.7%.

Natural scenes provide us with rich contexts for object recognition and reference. In particular, knowing what type of scene one is looking at generates expectations about which objects will occur, and what their spatial configuration should be. Do Vision-Language Models (VLMs) learn to rely on scene contexts in a similar way, when generating references to objects? To address this question, we introduce the Common Objects Out-of-Context (COOCO) dataset and test to what extent VLMs rely on scene context to refer to objects under different degrees of scene-object congruency, and different perturbations. Our findings show that models leverage scene context adaptively, depending on both the semantic relatedness between object and scene and the level of noise. In particular, models rely more on context under high target-scene congruence or when objects are degraded. Attention analysis reveals that successful object categorisation involves increased focus on the target in mid-level layers, especially under moderate noise, suggesting that VLMs dynamically balance local and contextual information for reference generation. We make our dataset, code and models available at https://github.com/cs-nlp-uu/scenereg{https://github.com/cs-nlp-uu/scenereg}.

Scene regression methods, such as VGGT, solve the Structure-from-Motion (SfM) problem by directly regressing camera poses and 3D scene structures from input images. They demonstrate impressive performance in handling images under extreme viewpoint changes. However, these methods struggle to handle a large number of input images. To address this problem, we introduce SAIL-Recon, a feed-forward Transformer for large scale SfM, by augmenting the scene regression network with visual localization capabilities. Specifically, our method first computes a neural scene representation from a subset of anchor images. The regression network is then fine-tuned to reconstruct all input images conditioned on this neural scene representation. Comprehensive experiments show that our method not only scales efficiently to large-scale scenes, but also achieves state-of-the-art results on both camera pose estimation and novel view synthesis benchmarks, including TUM-RGBD, CO3Dv2, and Tanks & Temples. We will publish our model and code. Code and models are publicly available at: https://hkust-sail.github.io/ sail-recon/.

Accurately anticipating how complex, diverse scenes will evolve requires models that represent uncertainty, simulate along extended interaction chains, and efficiently explore many plausible futures. Yet most existing approaches rely on dense video or latent-space prediction, expending substantial capacity on dense appearance rather than on the underlying sparse trajectories of points in the scene. This makes large-scale exploration of future hypotheses costly and limits performance when long-horizon, multi-modal motion is essential. We address this by formulating the prediction of open-set future scene dynamics as step-wise inference over sparse point trajectories. Our autoregressive diffusion model advances these trajectories through short, locally predictable transitions, explicitly modeling the growth of uncertainty over time. This dynamics-centric representation enables fast rollout of thousands of diverse futures from a single image, optionally guided by initial constraints on motion, while maintaining physical plausibility and long-range coherence. We further introduce OWM, a benchmark for open-set motion prediction based on diverse in-the-wild videos, to evaluate accuracy and variability of predicted trajectory distributions under real-world uncertainty. Our method matches or surpasses dense simulators in predictive accuracy while achieving orders-of-magnitude higher sampling speed, making open-set future prediction both scalable and practical. Project page: http://compvis.github.io/myriad.

Image captioning models tend to describe images in an object-centric way, emphasising visible objects. But image descriptions can also abstract away from objects and describe the type of scene depicted. In this paper, we explore the potential of a state-of-the-art Vision and Language model, VinVL, to caption images at the scene level using (1) a novel dataset which pairs images with both object-centric and scene descriptions. Through (2) an in-depth analysis of the effect of the fine-tuning, we show (3) that a small amount of curated data suffices to generate scene descriptions without losing the capability to identify object-level concepts in the scene; the model acquires a more holistic view of the image compared to when object-centric descriptions are generated. We discuss the parallels between these results and insights from computational and cognitive science research on scene perception.

Forecasting from partial observations is central to world modeling. Many recent methods represent the world through images, and reduce forecasting to stochastic video generation. Although such methods excel at realism and visual fidelity, predicting pixels is computationally intensive and not directly useful in many applications, as it requires translating RGB into signals useful for decision making. An alternative approach uses features from vision foundation models (VFMs) as world representations, performing deterministic regression to predict future world states. These features can be directly translated into actionable signals such as semantic segmentation and depth, while remaining computationally efficient. However, deterministic regression averages over multiple plausible futures, undermining forecast accuracy by failing to capture uncertainty. To address this crucial limitation, we introduce a generative forecaster that performs autoregressive flow matching in VFM feature space. Our key insight is that generative modeling in this space requires encoding VFM features into a compact latent space suitable for diffusion. We show that this latent space preserves information more effectively than previously used PCA-based alternatives, both for forecasting and other applications, such as image generation. Our latent predictions can be easily decoded into multiple useful and interpretable output modalities: semantic segmentation, depth, surface normals, and even RGB. With matched architecture and compute, our method produces sharper and more accurate predictions than regression across all modalities. Our results suggest that stochastic conditional generation of VFM features offers a promising and scalable foundation for future world models.

Generalization remains the central challenge for interactive 3D scene generation. Existing learning-based approaches ground spatial understanding in limited scene dataset, restricting generalization to new layouts. We instead reprogram a pre-trained 3D instance generator to act as a scene level learner, replacing dataset-bounded supervision with model-centric spatial supervision. This reprogramming unlocks the generator transferable spatial knowledge, enabling generalization to unseen layouts and novel object compositions. Remarkably, spatial reasoning still emerges even when the training scenes are randomly composed objects. This demonstrates that the generator's transferable scene prior provides a rich learning signal for inferring proximity, support, and symmetry from purely geometric cues. Replacing widely used canonical space, we instantiate this insight with a view-centric formulation of the scene space, yielding a fully feed-forward, generalizable scene generator that learns spatial relations directly from the instance model. Quantitative and qualitative results show that a 3D instance generator is an implicit spatial learner and reasoner, pointing toward foundation models for interactive 3D scene understanding and generation. Project page: https://luling06.github.io/I-Scene-project/

View-predictive generative models provide strong priors for lifting object-centric images and videos into 3D and 4D through rendering and score distillation objectives. A question then remains: what about lifting complete multi-object dynamic scenes? There are two challenges in this direction: First, rendering error gradients are often insufficient to recover fast object motion, and second, view predictive generative models work much better for objects than whole scenes, so, score distillation objectives cannot currently be applied at the scene level directly. We present DreamScene4D, the first approach to generate 3D dynamic scenes of multiple objects from monocular videos via 360-degree novel view synthesis. Our key insight is a "decompose-recompose" approach that factorizes the video scene into the background and object tracks, while also factorizing object motion into 3 components: object-centric deformation, object-to-world-frame transformation, and camera motion. Such decomposition permits rendering error gradients and object view-predictive models to recover object 3D completions and deformations while bounding box tracks guide the large object movements in the scene. We show extensive results on challenging DAVIS, Kubric, and self-captured videos with quantitative comparisons and a user preference study. Besides 4D scene generation, DreamScene4D obtains accurate 2D persistent point track by projecting the inferred 3D trajectories to 2D. We will release our code and hope our work will stimulate more research on fine-grained 4D understanding from videos.

Designing high-quality indoor 3D scenes is important in many practical applications, such as room planning or game development. Conventionally, this has been a time-consuming process which requires both artistic skill and familiarity with professional software, making it hardly accessible for layman users. However, recent advances in generative AI have established solid foundation for democratizing 3D design. In this paper, we propose a pioneering approach for text-based 3D room design. Given a prompt in natural language describing the object placement in the room, our method produces a high-quality 3D scene corresponding to it. With an additional text prompt the users can change the appearance of the entire scene or of individual objects in it. Built using in-context learning, CAD model retrieval and 3D-Gaussian-Splatting-based stylization, our turnkey pipeline produces state-of-the-art 3D scenes, while being easy to use even for novices. Our project page is available at https://sceneteller.github.io/.

Text-based person retrieval aims to identify a target individual from an image gallery using a natural language description. Existing methods primarily focus on appearance-driven cross-modal retrieval, yet face significant challenges due to the visual complexity of scenes and the inherent ambiguity of textual descriptions. The contextual information, such as landmarks and relational cues, provides complementary cues that can offer valuable complementary insights for retrieval, but remains underexploited in current approaches. Motivated by this limitation, we propose a novel paradigm: scene-aware text-based person retrieval, which explicitly integrates both individual appearance and global scene context to improve retrieval accuracy. To support this, we first introduce ScenePerson-13W, a large-scale benchmark dataset comprising over 100,000 real-world scenes with rich annotations encompassing both pedestrian attributes and scene context. Based on this dataset, we further present SA-Person, a two-stage retrieval framework. In the first stage, SA-Person performs discriminative appearance grounding by aligning textual descriptions with pedestrian-specific regions. In the second stage, it introduces SceneRanker, a training-free, scene-aware re-ranking module that refines retrieval results by jointly reasoning over pedestrian appearance and the global scene context. Extensive experiments on ScenePerson-13W and existing benchmarks demonstrate the effectiveness of our proposed SA-Person. Both the dataset and code will be publicly released to facilitate future research.

Accurate future video prediction requires both high visual fidelity and consistent scene semantics, particularly in complex dynamic environments such as autonomous driving. We present Re2Pix, a hierarchical video prediction framework that decomposes forecasting into two stages: semantic representation prediction and representation-guided visual synthesis. Instead of directly predicting future RGB frames, our approach first forecasts future scene structure in the feature space of a frozen vision foundation model, and then conditions a latent diffusion model on these predicted representations to render photorealistic frames. This decomposition enables the model to focus first on scene dynamics and then on appearance generation. A key challenge arises from the train-test mismatch between ground-truth representations available during training and predicted ones used at inference. To address this, we introduce two conditioning strategies, nested dropout and mixed supervision, that improve robustness to imperfect autoregressive predictions. Experiments on challenging driving benchmarks demonstrate that the proposed semantics-first design significantly improves temporal semantic consistency, perceptual quality, and training efficiency compared to strong diffusion baselines. We provide the implementation code at https://github.com/Sta8is/Re2Pix

In this paper, we target the adaptive source driven 3D scene editing task by proposing a CustomNeRF model that unifies a text description or a reference image as the editing prompt. However, obtaining desired editing results conformed with the editing prompt is nontrivial since there exist two significant challenges, including accurate editing of only foreground regions and multi-view consistency given a single-view reference image. To tackle the first challenge, we propose a Local-Global Iterative Editing (LGIE) training scheme that alternates between foreground region editing and full-image editing, aimed at foreground-only manipulation while preserving the background. For the second challenge, we also design a class-guided regularization that exploits class priors within the generation model to alleviate the inconsistency problem among different views in image-driven editing. Extensive experiments show that our CustomNeRF produces precise editing results under various real scenes for both text- and image-driven settings.

Joint-Embedding Predictive Architecture (JEPA) has emerged as a promising self-supervised approach that learns by leveraging a world model. While previously limited to predicting missing parts of an input, we explore how to generalize the JEPA prediction task to a broader set of corruptions. We introduce Image World Models, an approach that goes beyond masked image modeling and learns to predict the effect of global photometric transformations in latent space. We study the recipe of learning performant IWMs and show that it relies on three key aspects: conditioning, prediction difficulty, and capacity. Additionally, we show that the predictive world model learned by IWM can be adapted through finetuning to solve diverse tasks; a fine-tuned IWM world model matches or surpasses the performance of previous self-supervised methods. Finally, we show that learning with an IWM allows one to control the abstraction level of the learned representations, learning invariant representations such as contrastive methods, or equivariant representations such as masked image modelling.

Scene Text Recognition (STR) is an important and challenging upstream task for building structured information databases, that involves recognizing text within images of natural scenes. Although current state-of-the-art (SOTA) models for STR exhibit high performance, they typically suffer from low inference efficiency due to their reliance on hybrid architectures comprised of visual encoders and sequence decoders. In this work, we propose a VIsion Permutable extractor for fast and efficient Scene Text Recognition (SVIPTR), which achieves an impressive balance between high performance and rapid inference speeds in the domain of STR. Specifically, SVIPTR leverages a visual-semantic extractor with a pyramid structure, characterized by the Permutation and combination of local and global self-attention layers. This design results in a lightweight and efficient model and its inference is insensitive to input length. Extensive experimental results on various standard datasets for both Chinese and English scene text recognition validate the superiority of SVIPTR. Notably, the SVIPTR-T (Tiny) variant delivers highly competitive accuracy on par with other lightweight models and achieves SOTA inference speeds. Meanwhile, the SVIPTR-L (Large) attains SOTA accuracy in single-encoder-type models, while maintaining a low parameter count and favorable inference speed. Our proposed method provides a compelling solution for the STR challenge, which greatly benefits real-world applications requiring fast and efficient STR. The code is publicly available at https://github.com/cxfyxl/VIPTR.

Recent end-to-end trainable methods for scene text spotting, integrating detection and recognition, showed much progress. However, most of the current arbitrary-shape scene text spotters use region proposal networks (RPN) to produce proposals. RPN relies heavily on manually designed anchors and its proposals are represented with axis-aligned rectangles. The former presents difficulties in handling text instances of extreme aspect ratios or irregular shapes, and the latter often includes multiple neighboring instances into a single proposal, in cases of densely oriented text. To tackle these problems, we propose Mask TextSpotter v3, an end-to-end trainable scene text spotter that adopts a Segmentation Proposal Network (SPN) instead of an RPN. Our SPN is anchor-free and gives accurate representations of arbitrary-shape proposals. It is therefore superior to RPN in detecting text instances of extreme aspect ratios or irregular shapes. Furthermore, the accurate proposals produced by SPN allow masked RoI features to be used for decoupling neighboring text instances. As a result, our Mask TextSpotter v3 can handle text instances of extreme aspect ratios or irregular shapes, and its recognition accuracy won't be affected by nearby text or background noise. Specifically, we outperform state-of-the-art methods by 21.9 percent on the Rotated ICDAR 2013 dataset (rotation robustness), 5.9 percent on the Total-Text dataset (shape robustness), and achieve state-of-the-art performance on the MSRA-TD500 dataset (aspect ratio robustness). Code is available at: https://github.com/MhLiao/MaskTextSpotterV3

Both indoor and outdoor environments are inherently structured and repetitive. Traditional modeling pipelines keep an asset library storing unique object templates, which is both versatile and memory efficient in practice. Inspired by this observation, we propose AssetField, a novel neural scene representation that learns a set of object-aware ground feature planes to represent the scene, where an asset library storing template feature patches can be constructed in an unsupervised manner. Unlike existing methods which require object masks to query spatial points for object editing, our ground feature plane representation offers a natural visualization of the scene in the bird-eye view, allowing a variety of operations (e.g. translation, duplication, deformation) on objects to configure a new scene. With the template feature patches, group editing is enabled for scenes with many recurring items to avoid repetitive work on object individuals. We show that AssetField not only achieves competitive performance for novel-view synthesis but also generates realistic renderings for new scene configurations.

Panoptic Scene Graph Generation (PSG) aims at achieving a comprehensive image understanding by simultaneously segmenting objects and predicting relations among objects. However, the long-tail problem among relations leads to unsatisfactory results in real-world applications. Prior methods predominantly rely on vision information or utilize limited language information, such as object or relation names, thereby overlooking the utility of language information. Leveraging the recent progress in Large Language Models (LLMs), we propose to use language information to assist relation prediction, particularly for rare relations. To this end, we propose the Vision-Language Prompting (VLPrompt) model, which acquires vision information from images and language information from LLMs. Then, through a prompter network based on attention mechanism, it achieves precise relation prediction. Our extensive experiments show that VLPrompt significantly outperforms previous state-of-the-art methods on the PSG dataset, proving the effectiveness of incorporating language information and alleviating the long-tail problem of relations.

Panoramic image enables deeper understanding and more holistic perception of 360^circ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made lots of effort to solve the scene understanding task in a bottom-up form, thus each sub-task is processed separately and few correlations are explored in this procedure. In this paper, we propose a novel method using depth prior for holistic indoor scene understanding which recovers the objects' shapes, oriented bounding boxes and the 3D room layout simultaneously from a single panorama. In order to fully utilize the rich context information, we design a transformer-based context module to predict the representation and relationship among each component of the scene. In addition, we introduce a real-world dataset for scene understanding, including photo-realistic panoramas, high-fidelity depth images, accurately annotated room layouts, and oriented object bounding boxes and shapes. Experiments on the synthetic and real-world datasets demonstrate that our method outperforms previous panoramic scene understanding methods in terms of both layout estimation and 3D object detection.

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced dynamic environments. In this paper, we analyze these challenges and their underlying causes. To address them, we propose a novel regularization framework called VoxelSplat. This framework leverages recent developments in 3D Gaussian Splatting to enhance model performance in two key ways: (i) Enhanced Semantics Supervision through 2D Projection: During training, our method decodes sparse semantic 3D Gaussians from 3D representations and projects them onto the 2D camera view. This provides additional supervision signals in the camera-visible space, allowing 2D labels to improve the learning of 3D semantics. (ii) Scene Flow Learning: Our framework uses the predicted scene flow to model the motion of Gaussians, and is thus able to learn the scene flow of moving objects in a self-supervised manner using the labels of adjacent frames. Our method can be seamlessly integrated into various existing occupancy models, enhancing performance without increasing inference time. Extensive experiments on benchmark datasets demonstrate the effectiveness of VoxelSplat in improving the accuracy of both semantic occupancy and scene flow estimation. The project page and codes are available at https://zzy816.github.io/VoxelSplat-Demo/.

3D indoor scene generation is an important problem for the design of digital and real-world environments. To automate this process, a scene generation model should be able to not only generate plausible scene layouts, but also take into consideration visual features and style preferences. Existing methods for this task exhibit very limited control over these attributes, only allowing text inputs in the form of simple object-level descriptions or pairwise spatial relationships. Our proposed method Decorum enables users to control the scene generation process with natural language by adopting language-based representations at each stage. This enables us to harness recent advancements in Large Language Models (LLMs) to model language-to-language mappings. In addition, we show that using a text-based representation allows us to select furniture for our scenes using a novel object retrieval method based on multimodal LLMs. Evaluations on the benchmark 3D-FRONT dataset show that our methods achieve improvements over existing work in text-conditioned scene synthesis and object retrieval.

Short-Term object-interaction Anticipation consists of detecting the location of the next-active objects, the noun and verb categories of the interaction, and the time to contact from the observation of egocentric video. This ability is fundamental for wearable assistants or human robot interaction to understand the user goals, but there is still room for improvement to perform STA in a precise and reliable way. In this work, we improve the performance of STA predictions with two contributions: 1. We propose STAformer, a novel attention-based architecture integrating frame guided temporal pooling, dual image-video attention, and multiscale feature fusion to support STA predictions from an image-input video pair. 2. We introduce two novel modules to ground STA predictions on human behavior by modeling affordances.First, we integrate an environment affordance model which acts as a persistent memory of interactions that can take place in a given physical scene. Second, we predict interaction hotspots from the observation of hands and object trajectories, increasing confidence in STA predictions localized around the hotspot. Our results show significant relative Overall Top-5 mAP improvements of up to +45% on Ego4D and +42% on a novel set of curated EPIC-Kitchens STA labels. We will release the code, annotations, and pre extracted affordances on Ego4D and EPIC- Kitchens to encourage future research in this area.

Text-driven 3D scene editing has gained significant attention owing to its convenience and user-friendliness. However, existing methods still lack accurate control of the specified appearance and location of the editing result due to the inherent limitations of the text description. To this end, we propose a 3D scene editing framework, TIPEditor, that accepts both text and image prompts and a 3D bounding box to specify the editing region. With the image prompt, users can conveniently specify the detailed appearance/style of the target content in complement to the text description, enabling accurate control of the appearance. Specifically, TIP-Editor employs a stepwise 2D personalization strategy to better learn the representation of the existing scene and the reference image, in which a localization loss is proposed to encourage correct object placement as specified by the bounding box. Additionally, TIPEditor utilizes explicit and flexible 3D Gaussian splatting as the 3D representation to facilitate local editing while keeping the background unchanged. Extensive experiments have demonstrated that TIP-Editor conducts accurate editing following the text and image prompts in the specified bounding box region, consistently outperforming the baselines in editing quality, and the alignment to the prompts, qualitatively and quantitatively.

Procedural video representation learning is an active research area where the objective is to learn an agent which can anticipate and forecast the future given the present video input, typically in conjunction with textual annotations. Prior works often rely on large-scale pretraining of visual encoders and prediction models with language supervision. However, the necessity and effectiveness of extending compute intensive pretraining to learn video clip sequences with noisy text supervision have not yet been fully validated by previous works. In this work, we show that a strong off-the-shelf frozen pretrained visual encoder, along with a well designed prediction model, can achieve state-of-the-art (SoTA) performance in forecasting and procedural planning without the need for pretraining the prediction model, nor requiring additional supervision from language or ASR. Instead of learning representations from pixel space, our method utilizes the latent embedding space of publicly available vision encoders. By conditioning on frozen clip-level embeddings from observed steps to predict the actions of unseen steps, our prediction model is able to learn robust representations for forecasting through iterative denoising - leveraging the recent advances in diffusion transformers (Peebles & Xie, 2023). Empirical studies over a total of five procedural learning tasks across four datasets (NIV, CrossTask, COIN and Ego4D-v2) show that our model advances the strong baselines in long-horizon action anticipation (+2.6% in Verb ED@20, +3.1% in Noun ED@20), and significantly improves the SoTA in step forecasting (+5.0%), task classification (+3.8%), and procedure planning tasks (up to +2.28% in success rate, +3.39% in mAcc, and +0.90% in mIoU).

Recent advancements in predictive models have demonstrated exceptional capabilities in predicting the future state of objects and scenes. However, the lack of categorization based on inherent characteristics continues to hinder the progress of predictive model development. Additionally, existing benchmarks are unable to effectively evaluate higher-capability, highly embodied predictive models from an embodied perspective. In this work, we classify the functionalities of predictive models into a hierarchy and take the first step in evaluating World Simulators by proposing a dual evaluation framework called WorldSimBench. WorldSimBench includes Explicit Perceptual Evaluation and Implicit Manipulative Evaluation, encompassing human preference assessments from the visual perspective and action-level evaluations in embodied tasks, covering three representative embodied scenarios: Open-Ended Embodied Environment, Autonomous, Driving, and Robot Manipulation. In the Explicit Perceptual Evaluation, we introduce the HF-Embodied Dataset, a video assessment dataset based on fine-grained human feedback, which we use to train a Human Preference Evaluator that aligns with human perception and explicitly assesses the visual fidelity of World Simulators. In the Implicit Manipulative Evaluation, we assess the video-action consistency of World Simulators by evaluating whether the generated situation-aware video can be accurately translated into the correct control signals in dynamic environments. Our comprehensive evaluation offers key insights that can drive further innovation in video generation models, positioning World Simulators as a pivotal advancement toward embodied artificial intelligence.

We consider the problem of forecasting motion from a single image, i.e., predicting how objects in the world are likely to move, without the ability to observe other parameters such as the object velocities or the forces applied to them. We formulate this task as conditional generation of dense trajectory grids with a model that closely follows the architecture of modern video generators but outputs motion trajectories instead of pixels. This approach captures scene-wide dynamics and uncertainty, yielding more accurate and diverse predictions than prior regressors and generators. We extensively evaluate our method on simulated data, demonstrate its effectiveness on downstream applications such as robotics, and show promising accuracy on real-world intuitive physics datasets. Although recent state-of-the-art video generators are often regarded as world models, we show that they struggle with forecasting motion from a single image, even in simple physical scenarios such as falling blocks or mechanical object interactions, despite fine-tuning on such data. We show that this limitation arises from the overhead of generating pixels rather than directly modeling motion.

Existing scene text spotters are designed to locate and transcribe texts from images. However, it is challenging for a spotter to achieve precise detection and recognition of scene texts simultaneously. Inspired by the glimpse-focus spotting pipeline of human beings and impressive performances of Pre-trained Language Models (PLMs) on visual tasks, we ask: 1) "Can machines spot texts without precise detection just like human beings?", and if yes, 2) "Is text block another alternative for scene text spotting other than word or character?" To this end, our proposed scene text spotter leverages advanced PLMs to enhance performance without fine-grained detection. Specifically, we first use a simple detector for block-level text detection to obtain rough positional information. Then, we finetune a PLM using a large-scale OCR dataset to achieve accurate recognition. Benefiting from the comprehensive language knowledge gained during the pre-training phase, the PLM-based recognition module effectively handles complex scenarios, including multi-line, reversed, occluded, and incomplete-detection texts. Taking advantage of the fine-tuned language model on scene recognition benchmarks and the paradigm of text block detection, extensive experiments demonstrate the superior performance of our scene text spotter across multiple public benchmarks. Additionally, we attempt to spot texts directly from an entire scene image to demonstrate the potential of PLMs, even Large Language Models (LLMs).

Amazing progress has been made in controllable generative modeling, especially over the last few years. However, some challenges remain. One of them is precise and iterative object editing. In many of the current methods, trying to edit the generated image (for example, changing the color of a particular object in the scene or changing the background while keeping other elements unchanged) by changing the conditioning signals often leads to unintended global changes in the scene. In this work, we take the first steps to address the above challenges. Taking inspiration from the Universal Scene Descriptor (USD) standard developed in the computer graphics community, we introduce the "Neural Universal Scene Descriptor" or Neural USD. In this framework, we represent scenes and objects in a structured, hierarchical manner. This accommodates diverse signals, minimizes model-specific constraints, and enables per-object control over appearance, geometry, and pose. We further apply a fine-tuning approach which ensures that the above control signals are disentangled from one another. We evaluate several design considerations for our framework, demonstrating how Neural USD enables iterative and incremental workflows. More information at: https://escontrela.me/neural_usd .

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face scalability issues due to per-point feature vector learning, limiting their efficacy with complex queries. Our method overcomes these limitations by incrementally building instance-level 3D scene representations using 2D foundation models, efficiently aggregating instance-level details such as masks, feature vectors, names, and captions. We introduce fusion schemes for feature vectors to enhance their contextual knowledge and performance on complex queries. Additionally, we explore large language models for robust automatic annotation and spatial reasoning tasks. We evaluate our proposed approach on multiple scenes from ScanNet and Replica datasets demonstrating zero-shot generalization capabilities, exceeding current state-of-the-art methods in open world 3D scene understanding.

Considering the complementarity of scene flow estimation in the spatial domain's focusing capability and 3D object tracking in the temporal domain's coherence, this study aims to address a comprehensive new task that can simultaneously capture fine-grained and long-term 3D motion in an online manner: long-term scene flow estimation (LSFE). We introduce SceneTracker, a novel learning-based LSFE network that adopts an iterative approach to approximate the optimal trajectory. Besides, it dynamically indexes and constructs appearance and depth correlation features simultaneously and employs the Transformer to explore and utilize long-range connections within and between trajectories. With detailed experiments, SceneTracker shows superior capabilities in handling 3D spatial occlusion and depth noise interference, highly tailored to the LSFE task's needs. Finally, we build the first real-world evaluation dataset, LSFDriving, further substantiating SceneTracker's commendable generalization capacity. The code and data for SceneTracker is available at https://github.com/wwsource/SceneTracker.

Recent advances in Multimodal Large Language Models (MLLMs) and diffusion-based generative models have substantially improved prompt-driven image editing. However, scene text editing remains challenging, as it requires models to precisely modify textual content while preserving visual realism and non-target regions. Current open-source models still lag behind proprietary systems, largely due to the scarcity of high-quality training data and the lack of standardized benchmarks tailored to text editing. To address these challenges, we present TextSculptor, a comprehensive framework for data construction and evaluation of scene text editing. We first develop an automated data construction pipeline that combines text-aware image synthesis with programmatic text rendering and compositing. Based on this pipeline, we build TextSculpt-Data, a large-scale dataset containing 3.2M training samples, including 1.2M OCR-verified text-to-image samples and 2M paired text editing samples with naturally aligned source-target images and strong background consistency. We further introduce TextSculpt-Bench, a benchmark covering four fundamental text editing tasks: text addition, text replacement, text removal, and hybrid editing. To support reliable evaluation, we design a tailored protocol that measures text accuracy, visual quality, and background preservation through OCR-based text alignment, multimodal judgment, and background-region similarity. Extensive experiments show that TextSculptor improves open-source text editing performance and narrows the gap to proprietary models. The data and benchmark are available at https://github.com/linyiheng123/TextSculptor.

Monocular 3D object detection typically relies on pseudo-labeling techniques to reduce dependency on real-world annotations. Recent advances demonstrate that deterministic linguistic cues can serve as effective auxiliary weak supervision signals, providing complementary semantic context. However, hand-crafted textual descriptions struggle to capture the inherent visual diversity of individuals across scenes, limiting the model's ability to learn scene-aware representations. To address this challenge, we propose Visual-referred Probabilistic Prompt Learning (VirPro), an adaptive multi-modal pretraining paradigm that can be seamlessly integrated into diverse weakly supervised monocular 3D detection frameworks. Specifically, we generate a diverse set of learnable, instance-conditioned prompts across scenes and store them in an Adaptive Prompt Bank (APB). Subsequently, we introduce Multi-Gaussian Prompt Modeling (MGPM), which incorporates scene-based visual features into the corresponding textual embeddings, allowing the text prompts to express visual uncertainties. Then, from the fused vision-language embeddings, we decode a prompt-targeted Gaussian, from which we derive a unified object-level prompt embedding for each instance. RoI-level contrastive matching is employed to enforce modality alignment, bringing embeddings of co-occurring objects within the same scene closer in the latent space, thus enhancing semantic coherence. Extensive experiments on the KITTI benchmark demonstrate that integrating our pretraining paradigm consistently yields substantial performance gains, achieving up to a 4.8% average precision improvement than the baseline. Code is available at https://github.com/AustinLCP/VirPro.

We address the task of predicting what parts of an object can open and how they move when they do so. The input is a single image of an object, and as output we detect what parts of the object can open, and the motion parameters describing the articulation of each openable part. To tackle this task, we create two datasets of 3D objects: OPDSynth based on existing synthetic objects, and OPDReal based on RGBD reconstructions of real objects. We then design OPDRCNN, a neural architecture that detects openable parts and predicts their motion parameters. Our experiments show that this is a challenging task especially when considering generalization across object categories, and the limited amount of information in a single image. Our architecture outperforms baselines and prior work especially for RGB image inputs. Short video summary at https://www.youtube.com/watch?v=P85iCaD0rfc

Scene text spotting has attracted the enthusiasm of relative researchers in recent years. Most existing scene text spotters follow the detection-then-recognition paradigm, where the vanilla detection module hardly determines the reading order and leads to failure recognition. After rethinking the auto-regressive scene text recognition method, we find that a well-trained recognizer can implicitly perceive the local semantics of all characters in a complete word or a sentence without a character-level detection module. Local semantic knowledge not only includes text content but also spatial information in the right reading order. Motivated by the above analysis, we propose the Local Semantics Guided scene text Spotter (LSGSpotter), which auto-regressively decodes the position and content of characters guided by the local semantics. Specifically, two effective modules are proposed in LSGSpotter. On the one hand, we design a Start Point Localization Module (SPLM) for locating text start points to determine the right reading order. On the other hand, a Multi-scale Adaptive Attention Module (MAAM) is proposed to adaptively aggregate text features in a local area. In conclusion, LSGSpotter achieves the arbitrary reading order spotting task without the limitation of sophisticated detection, while alleviating the cost of computational resources with the grid sampling strategy. Extensive experiment results show LSGSpotter achieves state-of-the-art performance on the InverseText benchmark. Moreover, our spotter demonstrates superior performance on English benchmarks for arbitrary-shaped text, achieving improvements of 0.7\% and 2.5\% on Total-Text and SCUT-CTW1500, respectively. These results validate our text spotter is effective for scene texts in arbitrary reading order and shape.

This paper introduces SceneCraft, a Large Language Model (LLM) Agent converting text descriptions into Blender-executable Python scripts which render complex scenes with up to a hundred 3D assets. This process requires complex spatial planning and arrangement. We tackle these challenges through a combination of advanced abstraction, strategic planning, and library learning. SceneCraft first models a scene graph as a blueprint, detailing the spatial relationships among assets in the scene. SceneCraft then writes Python scripts based on this graph, translating relationships into numerical constraints for asset layout. Next, SceneCraft leverages the perceptual strengths of vision-language foundation models like GPT-V to analyze rendered images and iteratively refine the scene. On top of this process, SceneCraft features a library learning mechanism that compiles common script functions into a reusable library, facilitating continuous self-improvement without expensive LLM parameter tuning. Our evaluation demonstrates that SceneCraft surpasses existing LLM-based agents in rendering complex scenes, as shown by its adherence to constraints and favorable human assessments. We also showcase the broader application potential of SceneCraft by reconstructing detailed 3D scenes from the Sintel movie and guiding a video generative model with generated scenes as intermediary control signal.

Language models have demonstrated impressive ability in context understanding and generative performance. Inspired by the recent success of language foundation models, in this paper, we propose LMTraj (Language-based Multimodal Trajectory predictor), which recasts the trajectory prediction task into a sort of question-answering problem. Departing from traditional numerical regression models, which treat the trajectory coordinate sequence as continuous signals, we consider them as discrete signals like text prompts. Specially, we first transform an input space for the trajectory coordinate into the natural language space. Here, the entire time-series trajectories of pedestrians are converted into a text prompt, and scene images are described as text information through image captioning. The transformed numerical and image data are then wrapped into the question-answering template for use in a language model. Next, to guide the language model in understanding and reasoning high-level knowledge, such as scene context and social relationships between pedestrians, we introduce an auxiliary multi-task question and answering. We then train a numerical tokenizer with the prompt data. We encourage the tokenizer to separate the integer and decimal parts well, and leverage it to capture correlations between the consecutive numbers in the language model. Lastly, we train the language model using the numerical tokenizer and all of the question-answer prompts. Here, we propose a beam-search-based most-likely prediction and a temperature-based multimodal prediction to implement both deterministic and stochastic inferences. Applying our LMTraj, we show that the language-based model can be a powerful pedestrian trajectory predictor, and outperforms existing numerical-based predictor methods. Code is publicly available at https://github.com/inhwanbae/LMTrajectory .

Text-to-3D scene generation from natural language is highly desirable for digital content creation. However, existing methods are largely domain-restricted or reliant on predefined spatial relationships, limiting their capacity for unconstrained, open-vocabulary 3D scene synthesis. In this paper, we introduce SceneAssistant, a visual-feedback-driven agent designed for open-vocabulary 3D scene generation. Our framework leverages modern 3D object generation model along with the spatial reasoning and planning capabilities of Vision-Language Models (VLMs). To enable open-vocabulary scene composition, we provide the VLMs with a comprehensive set of atomic operations (e.g., Scale, Rotate, FocusOn). At each interaction step, the VLM receives rendered visual feedback and takes actions accordingly, iteratively refining the scene to achieve more coherent spatial arrangements and better alignment with the input text. Experimental results demonstrate that our method can generate diverse, open-vocabulary, and high-quality 3D scenes. Both qualitative analysis and quantitative human evaluations demonstrate the superiority of our approach over existing methods. Furthermore, our method allows users to instruct the agent to edit existing scenes based on natural language commands. Our code is available at https://github.com/ROUJINN/SceneAssistant

Scene-level 3D generation is a challenging research topic, with most existing methods generating only partial scenes and offering limited navigational freedom. We introduce WorldPrompter, a novel generative pipeline for synthesizing traversable 3D scenes from text prompts. We leverage panoramic videos as an intermediate representation to model the 360{\deg} details of a scene. WorldPrompter incorporates a conditional 360{\deg} panoramic video generator, capable of producing a 128-frame video that simulates a person walking through and capturing a virtual environment. The resulting video is then reconstructed as Gaussian splats by a fast feedforward 3D reconstructor, enabling a true walkable experience within the 3D scene. Experiments demonstrate that our panoramic video generation model achieves convincing view consistency across frames, enabling high-quality panoramic Gaussian splat reconstruction and facilitating traversal over an area of the scene. Qualitative and quantitative results also show it outperforms the state-of-the-art 360{\deg} video generators and 3D scene generation models.

We investigate the problem of producing structured graph representations of visual scenes. Our work analyzes the role of motifs: regularly appearing substructures in scene graphs. We present new quantitative insights on such repeated structures in the Visual Genome dataset. Our analysis shows that object labels are highly predictive of relation labels but not vice-versa. We also find that there are recurring patterns even in larger subgraphs: more than 50% of graphs contain motifs involving at least two relations. Our analysis motivates a new baseline: given object detections, predict the most frequent relation between object pairs with the given labels, as seen in the training set. This baseline improves on the previous state-of-the-art by an average of 3.6% relative improvement across evaluation settings. We then introduce Stacked Motif Networks, a new architecture designed to capture higher order motifs in scene graphs that further improves over our strong baseline by an average 7.1% relative gain. Our code is available at github.com/rowanz/neural-motifs.

We investigate a challenging task of dynamic scene geometry estimation, which requires representing both spatial and temporal features. Typically, existing methods align the two features into a unified latent space to model scene geometry. However, this unified paradigm suffers from potential mismatched representation due to the heterogeneous nature between spatial and temporal features. In this work, we propose 4D-VGGT, a general foundation model with divide-and-conquer spatiotemporal representation for dynamic scene geometry. Our model is divided into three aspects: 1) Multi-setting input. We design an adaptive visual grid that supports input sequences with arbitrary numbers of views and time steps. 2) Multi-level representation. We propose a cross-view global fusion for spatial representation and a cross-time local fusion for temporal representation. 3) Multi-task prediction. We append multiple task-specific heads to spatiotemporal representations, enabling a comprehensive visual geometry estimation for dynamic scenes. Under this unified framework, these components enhance the feature discriminability and application universality of our model for dynamic scenes. In addition, we integrate multiple geometry datasets to train our model and conduct extensive experiments to verify the effectiveness of our method across various tasks on multiple dynamic scene geometry benchmarks.

Existing research addresses scene graph generation (SGG) -- a critical technology for scene understanding in images -- from a detection perspective, i.e., objects are detected using bounding boxes followed by prediction of their pairwise relationships. We argue that such a paradigm causes several problems that impede the progress of the field. For instance, bounding box-based labels in current datasets usually contain redundant classes like hairs, and leave out background information that is crucial to the understanding of context. In this work, we introduce panoptic scene graph generation (PSG), a new problem task that requires the model to generate a more comprehensive scene graph representation based on panoptic segmentations rather than rigid bounding boxes. A high-quality PSG dataset, which contains 49k well-annotated overlapping images from COCO and Visual Genome, is created for the community to keep track of its progress. For benchmarking, we build four two-stage baselines, which are modified from classic methods in SGG, and two one-stage baselines called PSGTR and PSGFormer, which are based on the efficient Transformer-based detector, i.e., DETR. While PSGTR uses a set of queries to directly learn triplets, PSGFormer separately models the objects and relations in the form of queries from two Transformer decoders, followed by a prompting-like relation-object matching mechanism. In the end, we share insights on open challenges and future directions.

Scene parsing, or recognizing and segmenting objects and stuff in an image, is one of the key problems in computer vision. Despite the community's efforts in data collection, there are still few image datasets covering a wide range of scenes and object categories with dense and detailed annotations for scene parsing. In this paper, we introduce and analyze the ADE20K dataset, spanning diverse annotations of scenes, objects, parts of objects, and in some cases even parts of parts. A generic network design called Cascade Segmentation Module is then proposed to enable the segmentation networks to parse a scene into stuff, objects, and object parts in a cascade. We evaluate the proposed module integrated within two existing semantic segmentation networks, yielding significant improvements for scene parsing. We further show that the scene parsing networks trained on ADE20K can be applied to a wide variety of scenes and objects.

What constitutes the "vibe" of a particular scene? What should one find in "a busy, dirty city street", "an idyllic countryside", or "a crime scene in an abandoned living room"? The translation from abstract scene descriptions to stylized scene elements cannot be done with any generality by extant systems trained on rigid and limited indoor datasets. In this paper, we propose to leverage the knowledge captured by foundation models to accomplish this translation. We present a system that can serve as a tool to generate stylized assets for 3D scenes described by a short phrase, without the need to enumerate the objects to be found within the scene or give instructions on their appearance. Additionally, it is robust to open-world concepts in a way that traditional methods trained on limited data are not, affording more creative freedom to the 3D artist. Our system demonstrates this using a foundation model "team" composed of a large language model, a vision-language model and several image diffusion models, which communicate using an interpretable and user-editable intermediate representation, thus allowing for more versatile and controllable stylized asset generation for 3D artists. We introduce novel metrics for this task, and show through human evaluations that in 91% of the cases, our system outputs are judged more faithful to the semantics of the input scene description than the baseline, thus highlighting the potential of this approach to radically accelerate the 3D content creation process for 3D artists.

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction, 3D bounding boxes in object detection, or voxel grids in occupancy prediction, or topological, such as pose graphs with loop closures in SLAM or visibility graphs in SfM. In this work, we propose to build Multiview Scene Graphs (MSG) from unposed images, representing a scene topologically with interconnected place and object nodes. The task of building MSG is challenging for existing representation learning methods since it needs to jointly address both visual place recognition, object detection, and object association from images with limited fields of view and potentially large viewpoint changes. To evaluate any method tackling this task, we developed an MSG dataset and annotation based on a public 3D dataset. We also propose an evaluation metric based on the intersection-over-union score of MSG edges. Moreover, we develop a novel baseline method built on mainstream pretrained vision models, combining visual place recognition and object association into one Transformer decoder architecture. Experiments demonstrate our method has superior performance compared to existing relevant baselines.

Predicting depth is an essential component in understanding the 3D geometry of a scene. While for stereo images local correspondence suffices for estimation, finding depth relations from a single image is less straightforward, requiring integration of both global and local information from various cues. Moreover, the task is inherently ambiguous, with a large source of uncertainty coming from the overall scale. In this paper, we present a new method that addresses this task by employing two deep network stacks: one that makes a coarse global prediction based on the entire image, and another that refines this prediction locally. We also apply a scale-invariant error to help measure depth relations rather than scale. By leveraging the raw datasets as large sources of training data, our method achieves state-of-the-art results on both NYU Depth and KITTI, and matches detailed depth boundaries without the need for superpixelation.

Novel view synthesis and 3D modeling using implicit neural field representation are shown to be very effective for calibrated multi-view cameras. Such representations are known to benefit from additional geometric and semantic supervision. Most existing methods that exploit additional supervision require dense pixel-wise labels or localized scene priors. These methods cannot benefit from high-level vague scene priors provided in terms of scenes' descriptions. In this work, we aim to leverage the geometric prior of Manhattan scenes to improve the implicit neural radiance field representations. More precisely, we assume that only the knowledge of the indoor scene (under investigation) being Manhattan is known -- with no additional information whatsoever -- with an unknown Manhattan coordinate frame. Such high-level prior is used to self-supervise the surface normals derived explicitly in the implicit neural fields. Our modeling allows us to cluster the derived normals and exploit their orthogonality constraints for self-supervision. Our exhaustive experiments on datasets of diverse indoor scenes demonstrate the significant benefit of the proposed method over the established baselines. The source code will be available at https://github.com/nikola3794/normal-clustering-nerf.

Robotic manipulation is often specified through language instructions or task identifiers, yet cluttered environments with similar objects are better handled by spatially indicating what to move and where to place it. Addressing the vision-centric challenge of object and goal specification, we present, to the best of our knowledge, the first formalization of Spatially Prompted Visual Trajectory Prediction (SP-VTP). This novel setting utilizes initial spatial prompts (like bounding boxes or points) to define task objectives, tasking the model with forecasting future end-effector trajectories from egocentric streams. To study this problem, we collect and annotate EgoSPT, a dataset of egocentric spatially prompted manipulation trajectories with first-frame object and target grounding annotations and recovered 3D end-effector motion. SP-VTP is challenging because the task specification is static, while the scene configuration evolves over time. To solve this problem, we propose SPOT(Spatially Prompted Object-Target Policy), which combines a task encoder for first-frame visual and coordinate spatial prompts, an observation encoder for current visual and history context, and a trajectory generator for future end-effector motion. Experiments under strict scene-level splits show that SPOT improves cross-scene trajectory prediction over non-prompted or single-source prompted baselines. Together, EgoSPT and SPOT establish a new spatial prompting problem SP-VTP, as a simple and scalable task condition for egocentric manipulation.

3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that covers scene-centric, object-centric, as well as interaction-centric capabilities. While there exist numerous datasets approaching the former two problems, the task of understanding interactable and articulated objects is underrepresented and only partly covered by current works. In this work, we address this shortcoming and introduce (1) an expertly curated dataset in the Universal Scene Description (USD) format, featuring high-quality manual annotations, for instance, segmentation and articulation on 280 indoor scenes; (2) a learning-based model together with a novel baseline capable of predicting part segmentation along with a full specification of motion attributes, including motion type, articulated and interactable parts, and motion parameters; (3) a benchmark serving to compare upcoming methods for the task at hand. Overall, our dataset provides 8 types of annotations - object and part segmentations, motion types, movable and interactable parts, motion parameters, connectivity, and object mass annotations. With its broad and high-quality annotations, the data provides the basis for holistic 3D scene understanding models. All data is provided in the USD format, allowing interoperability and easy integration with downstream tasks. We provide open access to our dataset, benchmark, and method's source code.

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images, attributes, and relationships between objects, offering a lightweight and efficient alternative to conventional methods that rely on extensive image databases. Given the available modalities, the proposed method SceneGraphLoc learns a fixed-sized embedding for each node (i.e., representing an object instance) in the scene graph, enabling effective matching with the objects visible in the input query image. This strategy significantly outperforms other cross-modal methods, even without incorporating images into the map embeddings. When images are leveraged, SceneGraphLoc achieves performance close to that of state-of-the-art techniques depending on large image databases, while requiring three orders-of-magnitude less storage and operating orders-of-magnitude faster. The code will be made public.

In this paper, we address the problem of conditional scene decoration for 360-degree images. Our method takes a 360-degree background photograph of an indoor scene and generates decorated images of the same scene in the panorama view. To do this, we develop a 360-aware object layout generator that learns latent object vectors in the 360-degree view to enable a variety of furniture arrangements for an input 360-degree background image. We use this object layout to condition a generative adversarial network to synthesize images of an input scene. To further reinforce the generation capability of our model, we develop a simple yet effective scene emptier that removes the generated furniture and produces an emptied scene for our model to learn a cyclic constraint. We train the model on the Structure3D dataset and show that our model can generate diverse decorations with controllable object layout. Our method achieves state-of-the-art performance on the Structure3D dataset and generalizes well to the Zillow indoor scene dataset. Our user study confirms the immersive experiences provided by the realistic image quality and furniture layout in our generation results. Our implementation will be made available.

As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene coordinates, which requires a vast amount of annotated training data. We propose to leverage Neural Radiance Fields (NeRF) to generate training samples for SCR. Despite NeRF's efficiency in rendering, many of the rendered data are polluted by artifacts or only contain minimal information gain, which can hinder the regression accuracy or bring unnecessary computational costs with redundant data. These challenges are addressed in three folds in this paper: (1) A NeRF is designed to separately predict uncertainties for the rendered color and depth images, which reveal data reliability at the pixel level. (2) SCR is formulated as deep evidential learning with epistemic uncertainty, which is used to evaluate information gain and scene coordinate quality. (3) Based on the three arts of uncertainties, a novel view selection policy is formed that significantly improves data efficiency. Experiments on public datasets demonstrate that our method could select the samples that bring the most information gain and promote the performance with the highest efficiency.

Text-to-image model personalization aims to introduce a user-provided concept to the model, allowing its synthesis in diverse contexts. However, current methods primarily focus on the case of learning a single concept from multiple images with variations in backgrounds and poses, and struggle when adapted to a different scenario. In this work, we introduce the task of textual scene decomposition: given a single image of a scene that may contain several concepts, we aim to extract a distinct text token for each concept, enabling fine-grained control over the generated scenes. To this end, we propose augmenting the input image with masks that indicate the presence of target concepts. These masks can be provided by the user or generated automatically by a pre-trained segmentation model. We then present a novel two-phase customization process that optimizes a set of dedicated textual embeddings (handles), as well as the model weights, striking a delicate balance between accurately capturing the concepts and avoiding overfitting. We employ a masked diffusion loss to enable handles to generate their assigned concepts, complemented by a novel loss on cross-attention maps to prevent entanglement. We also introduce union-sampling, a training strategy aimed to improve the ability of combining multiple concepts in generated images. We use several automatic metrics to quantitatively compare our method against several baselines, and further affirm the results using a user study. Finally, we showcase several applications of our method. Project page is available at: https://omriavrahami.com/break-a-scene/

This study explores the potential of open-source video conditional generation models as encoders for downstream tasks, focusing on instance segmentation using the BAIR Robot Pushing Dataset. The researchers propose using video prediction models as general visual encoders, leveraging their ability to capture critical spatial and temporal information which is essential for tasks such as instance segmentation. Inspired by human vision studies, particularly Gestalts principle of common fate, the approach aims to develop a latent space representative of motion from images to effectively discern foreground from background information. The researchers utilize a 3D Vector-Quantized Variational Autoencoder 3D VQVAE video generative encoder model conditioned on an input frame, coupled with downstream segmentation tasks. Experiments involve adapting pre-trained video generative models, analyzing their latent spaces, and training custom decoders for foreground-background segmentation. The findings demonstrate promising results in leveraging generative pretext learning for downstream tasks, working towards enhanced scene analysis and segmentation in computer vision applications.

We capitalize on large amounts of unlabeled video in order to learn a model of scene dynamics for both video recognition tasks (e.g. action classification) and video generation tasks (e.g. future prediction). We propose a generative adversarial network for video with a spatio-temporal convolutional architecture that untangles the scene's foreground from the background. Experiments suggest this model can generate tiny videos up to a second at full frame rate better than simple baselines, and we show its utility at predicting plausible futures of static images. Moreover, experiments and visualizations show the model internally learns useful features for recognizing actions with minimal supervision, suggesting scene dynamics are a promising signal for representation learning. We believe generative video models can impact many applications in video understanding and simulation.

Visual scenes are composed of visual concepts and have the property of combinatorial explosion. An important reason for humans to efficiently learn from diverse visual scenes is the ability of compositional perception, and it is desirable for artificial intelligence to have similar abilities. Compositional scene representation learning is a task that enables such abilities. In recent years, various methods have been proposed to apply deep neural networks, which have been proven to be advantageous in representation learning, to learn compositional scene representations via reconstruction, advancing this research direction into the deep learning era. Learning via reconstruction is advantageous because it may utilize massive unlabeled data and avoid costly and laborious data annotation. In this survey, we first outline the current progress on reconstruction-based compositional scene representation learning with deep neural networks, including development history and categorizations of existing methods from the perspectives of the modeling of visual scenes and the inference of scene representations; then provide benchmarks, including an open source toolbox to reproduce the benchmark experiments, of representative methods that consider the most extensively studied problem setting and form the foundation for other methods; and finally discuss the limitations of existing methods and future directions of this research topic.

Motion, scene and object are three primary visual components of a video. In particular, objects represent the foreground, scenes represent the background, and motion traces their dynamics. Based on this insight, we propose a two-stage MOtion, Scene and Object decomposition framework (MOSO) for video prediction, consisting of MOSO-VQVAE and MOSO-Transformer. In the first stage, MOSO-VQVAE decomposes a previous video clip into the motion, scene and object components, and represents them as distinct groups of discrete tokens. Then, in the second stage, MOSO-Transformer predicts the object and scene tokens of the subsequent video clip based on the previous tokens and adds dynamic motion at the token level to the generated object and scene tokens. Our framework can be easily extended to unconditional video generation and video frame interpolation tasks. Experimental results demonstrate that our method achieves new state-of-the-art performance on five challenging benchmarks for video prediction and unconditional video generation: BAIR, RoboNet, KTH, KITTI and UCF101. In addition, MOSO can produce realistic videos by combining objects and scenes from different videos.

We present a novel approach designed to address the complexities posed by challenging, out-of-distribution data in the single-image depth estimation task. Starting with images that facilitate depth prediction due to the absence of unfavorable factors, we systematically generate new, user-defined scenes with a comprehensive set of challenges and associated depth information. This is achieved by leveraging cutting-edge text-to-image diffusion models with depth-aware control, known for synthesizing high-quality image content from textual prompts while preserving the coherence of 3D structure between generated and source imagery. Subsequent fine-tuning of any monocular depth network is carried out through a self-distillation protocol that takes into account images generated using our strategy and its own depth predictions on simple, unchallenging scenes. Experiments on benchmarks tailored for our purposes demonstrate the effectiveness and versatility of our proposal.

We present SceneFactor, a diffusion-based approach for large-scale 3D scene generation that enables controllable generation and effortless editing. SceneFactor enables text-guided 3D scene synthesis through our factored diffusion formulation, leveraging latent semantic and geometric manifolds for generation of arbitrary-sized 3D scenes. While text input enables easy, controllable generation, text guidance remains imprecise for intuitive, localized editing and manipulation of the generated 3D scenes. Our factored semantic diffusion generates a proxy semantic space composed of semantic 3D boxes that enables controllable editing of generated scenes by adding, removing, changing the size of the semantic 3D proxy boxes that guides high-fidelity, consistent 3D geometric editing. Extensive experiments demonstrate that our approach enables high-fidelity 3D scene synthesis with effective controllable editing through our factored diffusion approach.

Previous approaches for scene text detection have already achieved promising performances across various benchmarks. However, they usually fall short when dealing with challenging scenarios, even when equipped with deep neural network models, because the overall performance is determined by the interplay of multiple stages and components in the pipelines. In this work, we propose a simple yet powerful pipeline that yields fast and accurate text detection in natural scenes. The pipeline directly predicts words or text lines of arbitrary orientations and quadrilateral shapes in full images, eliminating unnecessary intermediate steps (e.g., candidate aggregation and word partitioning), with a single neural network. The simplicity of our pipeline allows concentrating efforts on designing loss functions and neural network architecture. Experiments on standard datasets including ICDAR 2015, COCO-Text and MSRA-TD500 demonstrate that the proposed algorithm significantly outperforms state-of-the-art methods in terms of both accuracy and efficiency. On the ICDAR 2015 dataset, the proposed algorithm achieves an F-score of 0.7820 at 13.2fps at 720p resolution.

The creation of complex 3D scenes tailored to user specifications has been a tedious and challenging task with traditional 3D modeling tools. Although some pioneering methods have achieved automatic text-to-3D generation, they are generally limited to small-scale scenes with restricted control over the shape and texture. We introduce SceneCraft, a novel method for generating detailed indoor scenes that adhere to textual descriptions and spatial layout preferences provided by users. Central to our method is a rendering-based technique, which converts 3D semantic layouts into multi-view 2D proxy maps. Furthermore, we design a semantic and depth conditioned diffusion model to generate multi-view images, which are used to learn a neural radiance field (NeRF) as the final scene representation. Without the constraints of panorama image generation, we surpass previous methods in supporting complicated indoor space generation beyond a single room, even as complicated as a whole multi-bedroom apartment with irregular shapes and layouts. Through experimental analysis, we demonstrate that our method significantly outperforms existing approaches in complex indoor scene generation with diverse textures, consistent geometry, and realistic visual quality. Code and more results are available at: https://orangesodahub.github.io/SceneCraft

Indoor scene synthesis has become increasingly important with the rise of Embodied AI, which requires 3D environments that are not only visually realistic but also physically plausible and functionally diverse. While recent approaches have advanced visual fidelity, they often remain constrained to fixed scene categories, lack sufficient object-level detail and physical consistency, and struggle to align with complex user instructions. In this work, we present SceneWeaver, a reflective agentic framework that unifies diverse scene synthesis paradigms through tool-based iterative refinement. At its core, SceneWeaver employs a language model-based planner to select from a suite of extensible scene generation tools, ranging from data-driven generative models to visual- and LLM-based methods, guided by self-evaluation of physical plausibility, visual realism, and semantic alignment with user input. This closed-loop reason-act-reflect design enables the agent to identify semantic inconsistencies, invoke targeted tools, and update the environment over successive iterations. Extensive experiments on both common and open-vocabulary room types demonstrate that SceneWeaver not only outperforms prior methods on physical, visual, and semantic metrics, but also generalizes effectively to complex scenes with diverse instructions, marking a step toward general-purpose 3D environment generation. Project website: https://scene-weaver.github.io/.

Predicting salient regions in natural images requires the detection of objects that are present in a scene. To develop robust representations for this challenging task, high-level visual features at multiple spatial scales must be extracted and augmented with contextual information. However, existing models aimed at explaining human fixation maps do not incorporate such a mechanism explicitly. Here we propose an approach based on a convolutional neural network pre-trained on a large-scale image classification task. The architecture forms an encoder-decoder structure and includes a module with multiple convolutional layers at different dilation rates to capture multi-scale features in parallel. Moreover, we combine the resulting representations with global scene information for accurately predicting visual saliency. Our model achieves competitive and consistent results across multiple evaluation metrics on two public saliency benchmarks and we demonstrate the effectiveness of the suggested approach on five datasets and selected examples. Compared to state of the art approaches, the network is based on a lightweight image classification backbone and hence presents a suitable choice for applications with limited computational resources, such as (virtual) robotic systems, to estimate human fixations across complex natural scenes.

Recent advances in generative AI have enabled natural language-driven image editing, yet existing systems often fail in complex scenes with multiple interacting objects because they rely heavily on users crafting precise text prompts. To address the absence of structured control, we propose SceneCraft, a novel interactive framework that bridges user intent and model execution by representing images as editable scene graphs. Instead of guessing text prompts through trial and error, users interact directly with a visual graph to perform complex spatial and relational operations. These graph modifications are automatically translated into precise, context-aware editing prompts, effectively eliminating linguistic ambiguity. To ensure robust and diverse results, structured prompts are dispatched to multiple state-of-the-art generative models. Evaluations across diverse editing scenarios show that SceneCraft provides a more intuitive control mechanism, significantly reducing the cognitive burden of manual prompt engineering while generating outputs that users consistently rate as higher in quality and fidelity.

Semantic mapping methods are increasingly used as intermediate scene representations for downstream robotic reasoning and manipulation, yet their evaluation is still largely tied to fixed benchmark datasets with limited coverage of manipulation-relevant corner cases. In this work, we extend OSMa-Bench toward controllable benchmarking with prompt-generated synthetic indoor scenes. Our pipeline automatically generates scene descriptions, synthesizes corresponding environments with SceneSmith, and adapts the resulting assets into an OSMa-Bench-compatible simulation format. This adaptation requires a nontrivial intermediate layer, including semantic normalization, material and texture repair, shader fallback policies, floor handling, navigation setup, and controlled lighting configuration. A key advantage of the proposed setup is that the original scene-generation prompt is known in advance and can therefore serve as an auxiliary semantic specification of the intended scene. We use this property to extend the VQA component of OSMa-Bench with a prompt-grounded question category. The resulting framework supports targeted stress-testing of semantic scene representations under conditions such as clutter, small objects, partial occlusions, and lighting variation, and makes benchmarking more extensible and better aligned with downstream manipulation requirements. Our code is available at https://github.com/be2rlab/OSMa-Bench-v2.

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points and registration of more camera views to the sparse point cloud. We re-interpret incremental structure-from-motion as an iterated application and refinement of a visual relocalizer, that is, of a method that registers new views to the current state of the reconstruction. This perspective allows us to investigate alternative visual relocalizers that are not rooted in local feature matching. We show that scene coordinate regression, a learning-based relocalization approach, allows us to build implicit, neural scene representations from unposed images. Different from other learning-based reconstruction methods, we do not require pose priors nor sequential inputs, and we optimize efficiently over thousands of images. Our method, ACE0 (ACE Zero), estimates camera poses to an accuracy comparable to feature-based SfM, as demonstrated by novel view synthesis. Project page: https://nianticlabs.github.io/acezero/

Scene Graph Generation (SGG) aims to extract <subject, predicate, object> relationships in images for vision understanding. Although recent works have made steady progress on SGG, they still suffer long-tail distribution issues that tail-predicates are more costly to train and hard to distinguish due to a small amount of annotated data compared to frequent predicates. Existing re-balancing strategies try to handle it via prior rules but are still confined to pre-defined conditions, which are not scalable for various models and datasets. In this paper, we propose a Cross-modal prediCate boosting (CaCao) framework, where a visually-prompted language model is learned to generate diverse fine-grained predicates in a low-resource way. The proposed CaCao can be applied in a plug-and-play fashion and automatically strengthen existing SGG to tackle the long-tailed problem. Based on that, we further introduce a novel Entangled cross-modal prompt approach for open-world predicate scene graph generation (Epic), where models can generalize to unseen predicates in a zero-shot manner. Comprehensive experiments on three benchmark datasets show that CaCao consistently boosts the performance of multiple scene graph generation models in a model-agnostic way. Moreover, our Epic achieves competitive performance on open-world predicate prediction. The data and code for this paper are publicly available.

The scene graph generation (SGG) task involves detecting objects within an image and predicting predicates that represent the relationships between the objects. However, in SGG benchmark datasets, each subject-object pair is annotated with a single predicate even though a single predicate may exhibit diverse semantics (i.e., semantic diversity), existing SGG models are trained to predict the one and only predicate for each pair. This in turn results in the SGG models to overlook the semantic diversity that may exist in a predicate, thus leading to biased predictions. In this paper, we propose a novel model-agnostic Semantic Diversity-aware Prototype-based Learning (DPL) framework that enables unbiased predictions based on the understanding of the semantic diversity of predicates. Specifically, DPL learns the regions in the semantic space covered by each predicate to distinguish among the various different semantics that a single predicate can represent. Extensive experiments demonstrate that our proposed model-agnostic DPL framework brings significant performance improvement on existing SGG models, and also effectively understands the semantic diversity of predicates.

Modern scene text recognition systems often depend on large end-to-end architectures that require extensive training and are prohibitively expensive for real-time scenarios. In such cases, the deployment of heavy models becomes impractical due to constraints on memory, computational resources, and latency. To address these challenges, we propose a novel, training-free plug-and-play framework that leverages the strengths of pre-trained text recognizers while minimizing redundant computations. Our approach uses context-based understanding and introduces an attention-based segmentation stage, which refines candidate text regions at the pixel level, improving downstream recognition. Instead of performing traditional text detection that follows a block-level comparison between feature map and source image and harnesses contextual information using pretrained captioners, allowing the framework to generate word predictions directly from scene context.Candidate texts are semantically and lexically evaluated to get a final score. Predictions that meet or exceed a pre-defined confidence threshold bypass the heavier process of end-to-end text STR profiling, ensuring faster inference and cutting down on unnecessary computations. Experiments on public benchmarks demonstrate that our paradigm achieves performance on par with state-of-the-art systems, yet requires substantially fewer resources.

Scene graph generation has emerged as a prominent research field in computer vision, witnessing significant advancements in the recent years. However, despite these strides, precise and thorough definitions for the metrics used to evaluate scene graph generation models are lacking. In this paper, we address this gap in the literature by providing a review and precise definition of commonly used metrics in scene graph generation. Our comprehensive examination clarifies the underlying principles of these metrics and can serve as a reference or introduction to scene graph metrics. Furthermore, to facilitate the usage of these metrics, we introduce a standalone Python package called SGBench that efficiently implements all defined metrics, ensuring their accessibility to the research community. Additionally, we present a scene graph benchmarking web service, that enables researchers to compare scene graph generation methods and increase visibility of new methods in a central place. All of our code can be found at https://lorjul.github.io/sgbench/.

Human visual imagination usually begins with analogies or rough sketches. For example, given an image with a girl playing guitar before a building, one may analogously imagine how it seems like if Iron Man playing guitar before Pyramid in Egypt. Nonetheless, visual condition may not be precisely aligned with the imaginary result indicated by text prompt, and existing layout-controllable text-to-image (T2I) generation models is prone to producing degraded generated results with obvious artifacts. To address this issue, we present a novel T2I generation method dubbed SmartControl, which is designed to modify the rough visual conditions for adapting to text prompt. The key idea of our SmartControl is to relax the visual condition on the areas that are conflicted with text prompts. In specific, a Control Scale Predictor (CSP) is designed to identify the conflict regions and predict the local control scales, while a dataset with text prompts and rough visual conditions is constructed for training CSP. It is worth noting that, even with a limited number (e.g., 1,000~2,000) of training samples, our SmartControl can generalize well to unseen objects. Extensive experiments on four typical visual condition types clearly show the efficacy of our SmartControl against state-of-the-arts. Source code, pre-trained models, and datasets are available at https://github.com/liuxiaoyu1104/SmartControl.