Daily Papers

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic manipulator to deal with a wide variety of objects, unstructured storage, and dynamically changing inventory. Such settings pose challenges in perceiving the identity, physical characteristics, and state of objects during manipulation. Existing datasets for robotic manipulation consider a limited set of objects or utilize 3D models to generate synthetic scenes with limitation in capturing the variety of object properties, clutter, and interactions. We present a large-scale dataset collected in an Amazon warehouse using a robotic manipulator performing object singulation from containers with heterogeneous contents. ARMBench contains images, videos, and metadata that corresponds to 235K+ pick-and-place activities on 190K+ unique objects. The data is captured at different stages of manipulation, i.e., pre-pick, during transfer, and after placement. Benchmark tasks are proposed by virtue of high-quality annotations and baseline performance evaluation are presented on three visual perception challenges, namely 1) object segmentation in clutter, 2) object identification, and 3) defect detection. ARMBench can be accessed at http://armbench.com

We introduce OLATverse, a large-scale dataset comprising around 9M images of 765 real-world objects, captured from multiple viewpoints under a diverse set of precisely controlled lighting conditions. While recent advances in object-centric inverse rendering, novel view synthesis and relighting have shown promising results, most techniques still heavily rely on the synthetic datasets for training and small-scale real-world datasets for benchmarking, which limits their realism and generalization. To address this gap, OLATverse offers two key advantages over existing datasets: large-scale coverage of real objects and high-fidelity appearance under precisely controlled illuminations. Specifically, OLATverse contains 765 common and uncommon real-world objects, spanning a wide range of material categories. Each object is captured using 35 DSLR cameras and 331 individually controlled light sources, enabling the simulation of diverse illumination conditions. In addition, for each object, we provide well-calibrated camera parameters, accurate object masks, photometric surface normals, and diffuse albedo as auxiliary resources. We also construct an extensive evaluation set, establishing the first comprehensive real-world object-centric benchmark for inverse rendering and normal estimation. We believe that OLATverse represents a pivotal step toward integrating the next generation of inverse rendering and relighting methods with real-world data. The full dataset, along with all post-processing workflows, will be publicly released at https://vcai.mpi-inf.mpg.de/projects/OLATverse/.

Slot attention is a powerful method for object-centric modeling in images and videos. However, its set-equivariance limits its ability to handle videos with a dynamic number of objects because it cannot break ties. To overcome this limitation, we first establish a connection between slot attention and optimal transport. Based on this new perspective we propose MESH (Minimize Entropy of Sinkhorn): a cross-attention module that combines the tiebreaking properties of unregularized optimal transport with the speed of regularized optimal transport. We evaluate slot attention using MESH on multiple object-centric learning benchmarks and find significant improvements over slot attention in every setting.

Unsupervised object-centric representation (OCR) learning has recently drawn attention as a new paradigm of visual representation. This is because of its potential of being an effective pre-training technique for various downstream tasks in terms of sample efficiency, systematic generalization, and reasoning. Although image-based reinforcement learning (RL) is one of the most important and thus frequently mentioned such downstream tasks, the benefit in RL has surprisingly not been investigated systematically thus far. Instead, most of the evaluations have focused on rather indirect metrics such as segmentation quality and object property prediction accuracy. In this paper, we investigate the effectiveness of OCR pre-training for image-based reinforcement learning via empirical experiments. For systematic evaluation, we introduce a simple object-centric visual RL benchmark and conduct experiments to answer questions such as ``Does OCR pre-training improve performance on object-centric tasks?'' and ``Can OCR pre-training help with out-of-distribution generalization?''. Our results provide empirical evidence for valuable insights into the effectiveness of OCR pre-training for RL and the potential limitations of its use in certain scenarios. Additionally, this study also examines the critical aspects of incorporating OCR pre-training in RL, including performance in a visually complex environment and the appropriate pooling layer to aggregate the object representations.

Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant scene information, limiting robustness under distribution shifts. In this work, we investigate object-centric representations (OCR) as a structured alternative that segments visual input into a finished set of entities, introducing inductive biases that align more naturally with manipulation tasks. We benchmark a range of visual encoders-object-centric, global and dense methods-across a suite of simulated and real-world manipulation tasks ranging from simple to complex, and evaluate their generalization under diverse visual conditions including changes in lighting, texture, and the presence of distractors. Our findings reveal that OCR-based policies outperform dense and global representations in generalization settings, even without task-specific pretraining. These insights suggest that OCR is a promising direction for designing visual systems that generalize effectively in dynamic, real-world robotic environments.

Video Large Language Models (VideoLLMs) have recently demonstrated remarkable progress in general video understanding. However, existing models primarily focus on high-level comprehension and are limited to text-only responses, restricting the flexibility for object-centric, multiround interactions. In this paper, we make three contributions: (i) we address these limitations by introducing a VideoLLM model, capable of performing both object referring for input and grounding for output in video reasoning tasks, i.e., allowing users to interact with videos using both textual and visual prompts; (ii) we propose STOM (Spatial-Temporal Overlay Module), a novel approach that propagates arbitrary visual prompts input at any single timestamp to the remaining frames within a video; (iii) we present VideoInfer, a manually curated object-centric video instruction dataset featuring questionanswering pairs that require reasoning. We conduct comprehensive experiments on VideoInfer and other existing benchmarks across video question answering and referring object segmentation. The results on 12 benchmarks of 6 tasks show that our proposed model consistently outperforms baselines in both video question answering and segmentation, underscoring its robustness in multimodal, object-centric video and image understanding. Project page: https://qirui-chen.github.io/RGA3-release/.

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to real-world scenes by utilizing pre-trained self-supervised features. However, so far, object-centric methods have mostly been applied in-distribution, with models trained and evaluated on the same dataset. This is in contrast to the wider trend in machine learning towards general-purpose models directly applicable to unseen data and tasks. Thus, in this work, we study current object-centric methods through the lens of zero-shot generalization by introducing a benchmark comprising eight different synthetic and real-world datasets. We analyze the factors influencing zero-shot performance and find that training on diverse real-world images improves transferability to unseen scenarios. Furthermore, inspired by the success of task-specific fine-tuning in foundation models, we introduce a novel fine-tuning strategy to adapt pre-trained vision encoders for the task of object discovery. We find that the proposed approach results in state-of-the-art performance for unsupervised object discovery, exhibiting strong zero-shot transfer to unseen datasets.

In this paper, we propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The model is performed in an online manner and the long-term historical information is propagated through object queries frame by frame. Besides, we introduce a motion-aware layer normalization to model the movement of the objects. StreamPETR achieves significant performance improvements only with negligible computation cost, compared to the single-frame baseline. On the standard nuScenes benchmark, it is the first online multi-view method that achieves comparable performance (67.6% NDS & 65.3% AMOTA) with lidar-based methods. The lightweight version realizes 45.0% mAP and 31.7 FPS, outperforming the state-of-the-art method (SOLOFusion) by 2.3% mAP and 1.8x faster FPS. Code has been available at https://github.com/exiawsh/StreamPETR.git.

Recent advances in Multimodal Large Language Models (MLLMs) have enabled models to perform both understanding and generation of multimodal data in a unified manner. However, achieving a fine-grained alignment between input prompts and generated images remains a major challenge especially in text-to-image generation. Therefore, recent works have introduced self-improving mechanisms based on self-generated data and self-feedback to efficiently mitigate this challenge without relying on external large-scale data or models. However, existing self-improving approaches have not focused on fine-grained visual details especially at the object level in generating training data or providing a feedback, and thus they still struggle to resolve the object hallucination problem in text-to-image generation. To tackle this problem, we propose an Object-centric Self-improving Preference Optimization (OSPO), a self-improving framework for enhancing object-level text-image alignment. OSPO is designed to explicitly address the need for constructing and leveraging object-level hard negative data and an object-centric optimization in improving object-specific fidelity. In specific, OSPO consists of: (1) Initial Prompt Generation (2) Hard Preference Pair Generation (3) Filtering and Selection (4) Object-centric Preference Optimization with Conditional Preference Loss. Extensive experiments on compositional image generation benchmarks demonstrate that OSPO significantly improves fine-grained alignment in text-to-image generation, surpassing not only prior self-improving methods but also diffusion-based specialized image generation models.

One of the biggest challenges in single-view 3D shape reconstruction in the wild is the scarcity of <3D shape, 2D image>-paired data from real-world environments. Inspired by remarkable achievements via domain randomization, we propose ObjectDR which synthesizes such paired data via a random simulation of visual variations in object appearances and backgrounds. Our data synthesis framework exploits a conditional generative model (e.g., ControlNet) to generate images conforming to spatial conditions such as 2.5D sketches, which are obtainable through a rendering process of 3D shapes from object collections (e.g., Objaverse-XL). To simulate diverse variations while preserving object silhouettes embedded in spatial conditions, we also introduce a disentangled framework which leverages an initial object guidance. After synthesizing a wide range of data, we pre-train a model on them so that it learns to capture a domain-invariant geometry prior which is consistent across various domains. We validate its effectiveness by substantially improving 3D shape reconstruction models on a real-world benchmark. In a scale-up evaluation, our pre-training achieves 23.6% superior results compared with the pre-training on high-quality computer graphics renderings.

Representing a scene and its constituent objects from raw sensory data is a core ability for enabling robots to interact with their environment. In this paper, we propose a novel approach for scene understanding, leveraging a hierarchical object-centric generative model that enables an agent to infer object category and pose in an allocentric reference frame using active inference, a neuro-inspired framework for action and perception. For evaluating the behavior of an active vision agent, we also propose a new benchmark where, given a target viewpoint of a particular object, the agent needs to find the best matching viewpoint given a workspace with randomly positioned objects in 3D. We demonstrate that our active inference agent is able to balance epistemic foraging and goal-driven behavior, and outperforms both supervised and reinforcement learning baselines by a large margin.

Object-centric learning (OCL) seeks to learn representations that only encode an object, isolated from other objects or background cues in a scene. This approach underpins various aims, including out-of-distribution (OOD) generalization, sample-efficient composition, and modeling of structured environments. Most research has focused on developing unsupervised mechanisms that separate objects into discrete slots in the representation space, evaluated using unsupervised object discovery. However, with recent sample-efficient segmentation models, we can separate objects in the pixel space and encode them independently. This achieves remarkable zero-shot performance on OOD object discovery benchmarks, is scalable to foundation models, and can handle a variable number of slots out-of-the-box. Hence, the goal of OCL methods to obtain object-centric representations has been largely achieved. Despite this progress, a key question remains: How does the ability to separate objects within a scene contribute to broader OCL objectives, such as OOD generalization? We address this by investigating the OOD generalization challenge caused by spurious background cues through the lens of OCL. We propose a novel, training-free probe called Object-Centric Classification with Applied Masks (OCCAM), demonstrating that segmentation-based encoding of individual objects significantly outperforms slot-based OCL methods. However, challenges in real-world applications remain. We provide the toolbox for the OCL community to use scalable object-centric representations, and focus on practical applications and fundamental questions, such as understanding object perception in human cognition. Our code is available https://github.com/AlexanderRubinstein/OCCAM{here}.

Existing 3D vision-language (3D-VL) benchmarks fall short in evaluating 3D-VL models, creating a "mist" that obscures rigorous insights into model capabilities and 3D-VL tasks. This mist persists due to three key limitations. First, flawed test data, like ambiguous referential text in the grounding task, can yield incorrect and unreliable test results. Second, oversimplified metrics such as simply averaging accuracy per question answering (QA) pair, cannot reveal true model capability due to their vulnerability to language variations. Third, existing benchmarks isolate the grounding and QA tasks, disregarding the underlying coherence that QA should be based on solid grounding capabilities. To unveil the "mist", we propose Beacon3D, a benchmark for 3D-VL grounding and QA tasks, delivering a perspective shift in the evaluation of 3D-VL understanding. Beacon3D features (i) high-quality test data with precise and natural language, (ii) object-centric evaluation with multiple tests per object to ensure robustness, and (iii) a novel chain-of-analysis paradigm to address language robustness and model performance coherence across grounding and QA. Our evaluation of state-of-the-art 3D-VL models on Beacon3D reveals that (i) object-centric evaluation elicits true model performance and particularly weak generalization in QA; (ii) grounding-QA coherence remains fragile in current 3D-VL models, and (iii) incorporating large language models (LLMs) to 3D-VL models, though as a prevalent practice, hinders grounding capabilities and has yet to elevate QA capabilities. We hope Beacon3D and our comprehensive analysis could benefit the 3D-VL community towards faithful developments.

The extraction of modular object-centric representations for downstream tasks is an emerging area of research. Learning grounded representations of objects that are guaranteed to be stable and invariant promises robust performance across different tasks and environments. Slot Attention (SA) learns object-centric representations by assigning objects to slots, but presupposes a single distribution from which all slots are randomly initialised. This results in an inability to learn specialized slots which bind to specific object types and remain invariant to identity-preserving changes in object appearance. To address this, we present \textsc{Conditional Slot Attention} (CoSA) using a novel concept of Grounded Slot Dictionary (GSD) inspired by vector quantization. Our proposed GSD comprises (i) canonical object-level property vectors and (ii) parametric Gaussian distributions, which define a prior over the slots. We demonstrate the benefits of our method in multiple downstream tasks such as scene generation, composition, and task adaptation, whilst remaining competitive with SA in popular object discovery benchmarks.

Humans possess the cognitive ability to comprehend scenes in a compositional manner. To empower AI systems with similar abilities, object-centric representation learning aims to acquire representations of individual objects from visual scenes without any supervision. Although recent advancements in object-centric representation learning have achieved remarkable progress on complex synthesis datasets, there is a huge challenge for application in complex real-world scenes. One of the essential reasons is the scarcity of real-world datasets specifically tailored to object-centric representation learning methods. To solve this problem, we propose a versatile real-world dataset of tabletop scenes for object-centric learning called OCTScenes, which is meticulously designed to serve as a benchmark for comparing, evaluating and analyzing object-centric representation learning methods. OCTScenes contains 5000 tabletop scenes with a total of 15 everyday objects. Each scene is captured in 60 frames covering a 360-degree perspective. Consequently, OCTScenes is a versatile benchmark dataset that can simultaneously satisfy the evaluation of object-centric representation learning methods across static scenes, dynamic scenes, and multi-view scenes tasks. Extensive experiments of object-centric representation learning methods for static, dynamic and multi-view scenes are conducted on OCTScenes. The results demonstrate the shortcomings of state-of-the-art methods for learning meaningful representations from real-world data, despite their impressive performance on complex synthesis datasets. Furthermore, OCTScenes can serves as a catalyst for advancing existing state-of-the-art methods, inspiring them to adapt to real-world scenes. Dataset and code are available at https://huggingface.co/datasets/Yinxuan/OCTScenes.

With the recent development of generative models, Text-to-3D generations have also seen significant growth. Nonetheless, achieving precise control over 3D generation continues to be an arduous task, as using text to control often leads to missing objects and imprecise locations. Contemporary strategies for enhancing controllability in 3D generation often entail the introduction of additional parameters, such as customized diffusion models. This often induces hardness in adapting to different diffusion models or creating distinct objects. In this paper, we present LucidDreaming as an effective pipeline capable of fine-grained control over 3D generation. It requires only minimal input of 3D bounding boxes, which can be deduced from a simple text prompt using a Large Language Model. Specifically, we propose clipped ray sampling to separately render and optimize objects with user specifications. We also introduce object-centric density blob bias, fostering the separation of generated objects. With individual rendering and optimizing of objects, our method excels not only in controlled content generation from scratch but also within the pre-trained NeRF scenes. In such scenarios, existing generative approaches often disrupt the integrity of the original scene, and current editing methods struggle to synthesize new content in empty spaces. We show that our method exhibits remarkable adaptability across a spectrum of mainstream Score Distillation Sampling-based 3D generation frameworks, and achieves superior alignment of 3D content when compared to baseline approaches. We also provide a dataset of prompts with 3D bounding boxes, benchmarking 3D spatial controllability.

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large number of fine-grained objects, and complex free-form nature of language references. Furthermore, in the 3D domain, obtaining large amounts of natural language training data is difficult. Thus, it is important for methods to learn from little data and zero-shot generalize to new environments. To address these challenges, we propose SORT3D, an approach that utilizes rich object attributes from 2D data and merges a heuristics-based spatial reasoning toolbox with the ability of large language models (LLMs) to perform sequential reasoning. Importantly, our method does not require text-to-3D data for training and can be applied zero-shot to unseen environments. We show that SORT3D achieves state-of-the-art performance on complex view-dependent grounding tasks on two benchmarks. We also implement the pipeline to run real-time on an autonomous vehicle and demonstrate that our approach can be used for object-goal navigation on previously unseen real-world environments. All source code for the system pipeline is publicly released at https://github.com/nzantout/SORT3D .

Instruction-based image editing has advanced rapidly, yet reliable and interpretable evaluation remains a bottleneck. Current protocols either (i) depend on paired reference images -- resulting in limited coverage and inheriting biases from prior generative models -- or (ii) rely solely on zero-shot vision-language models (VLMs), whose prompt-based assessments of instruction following, content consistency, and visual quality are often imprecise. To address this, we introduce EdiVal-Agent, an automated, scalable, and fine-grained evaluation framework for multi-turn instruction-based editing from an object-centric perspective, supported by a suite of expert tools. Given an image, EdiVal-Agent first decomposes it into semantically meaningful objects, then synthesizes diverse, context-aware editing instructions. For evaluation, it integrates VLMs with open-vocabulary object detectors to assess instruction following, uses semantic-level feature extractors to evaluate content consistency, and leverages human preference models to judge visual quality. We show that combining VLMs with object detectors yields stronger agreement with human judgments in instruction-following evaluation compared to using VLMs alone and CLIP-based metrics. Furthermore, the pipeline's modular design allows future tools to be seamlessly integrated, enhancing evaluation accuracy over time. Instantiating this pipeline, we build EdiVal-Bench, a multi-turn editing benchmark covering 9 instruction types and 11 state-of-the-art editing models spanning autoregressive (AR) (including Nano Banana, GPT-Image-1), flow-matching, and diffusion paradigms. We demonstrate that EdiVal-Agent can be used to identify existing failure modes, thereby informing the development of the next generation of editing models. Project page: https://tianyucodings.github.io/EdiVAL-page/.

Video amodal segmentation is a particularly challenging task in computer vision, which requires to deduce the full shape of an object from the visible parts of it. Recently, some studies have achieved promising performance by using motion flow to integrate information across frames under a self-supervised setting. However, motion flow has a clear limitation by the two factors of moving cameras and object deformation. This paper presents a rethinking to previous works. We particularly leverage the supervised signals with object-centric representation in real-world scenarios. The underlying idea is the supervision signal of the specific object and the features from different views can mutually benefit the deduction of the full mask in any specific frame. We thus propose an Efficient object-centric Representation amodal Segmentation (EoRaS). Specially, beyond solely relying on supervision signals, we design a translation module to project image features into the Bird's-Eye View (BEV), which introduces 3D information to improve current feature quality. Furthermore, we propose a multi-view fusion layer based temporal module which is equipped with a set of object slots and interacts with features from different views by attention mechanism to fulfill sufficient object representation completion. As a result, the full mask of the object can be decoded from image features updated by object slots. Extensive experiments on both real-world and synthetic benchmarks demonstrate the superiority of our proposed method, achieving state-of-the-art performance. Our code will be released at https://github.com/kfan21/EoRaS.

Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic detection of surgical activities is a key requirement for developing AI-based intelligent tools to tackle these challenges. The current state-of-the-art surgical activity recognition methods however operate on image-based representations and depend on large-scale labeled datasets whose collection is time-consuming and resource-expensive. This work proposes a new sample-efficient and object-based approach for surgical activity recognition in the OR. Our method focuses on the geometric arrangements between clinicians and surgical devices, thus utilizing the significant object interaction dynamics in the OR. We conduct experiments in a low-data regime study for long video activity recognition. We also benchmark our method againstother object-centric approaches on clip-level action classification and show superior performance.

We introduce the ObjectFolder Benchmark, a benchmark suite of 10 tasks for multisensory object-centric learning, centered around object recognition, reconstruction, and manipulation with sight, sound, and touch. We also introduce the ObjectFolder Real dataset, including the multisensory measurements for 100 real-world household objects, building upon a newly designed pipeline for collecting the 3D meshes, videos, impact sounds, and tactile readings of real-world objects. We conduct systematic benchmarking on both the 1,000 multisensory neural objects from ObjectFolder, and the real multisensory data from ObjectFolder Real. Our results demonstrate the importance of multisensory perception and reveal the respective roles of vision, audio, and touch for different object-centric learning tasks. By publicly releasing our dataset and benchmark suite, we hope to catalyze and enable new research in multisensory object-centric learning in computer vision, robotics, and beyond. Project page: https://objectfolder.stanford.edu

Visual captioning benchmarks have become outdated with the emergence of modern multimodal large language models (MLLMs), as the brief ground-truth sentences and traditional metrics fail to assess detailed captions effectively. While recent benchmarks attempt to address this by focusing on keyword extraction or object-centric evaluation, they remain limited to vague-view or object-view analyses and incomplete visual element coverage. In this paper, we introduce CAPability, a comprehensive multi-view benchmark for evaluating visual captioning across 12 dimensions spanning six critical views. We curate nearly 11K human-annotated images and videos with visual element annotations to evaluate the generated captions. CAPability stably assesses both the correctness and thoroughness of captions using F1-score. By converting annotations to QA pairs, we further introduce a heuristic metric, know but cannot tell (KT), indicating a significant performance gap between QA and caption capabilities. Our work provides the first holistic analysis of MLLMs' captioning abilities, as we identify their strengths and weaknesses across various dimensions, guiding future research to enhance specific aspects of capabilities.

Recent advances in Large Multi-modal Models (LMMs) have demonstrated their remarkable success as general-purpose multi-modal assistants, with particular focuses on holistic image- and video-language understanding. Conversely, less attention has been given to scaling fine-grained pixel-level understanding capabilities, where the models are expected to realize pixel-level alignment between visual signals and language semantics. Some previous studies have applied LMMs to related tasks such as region-level captioning and referring expression segmentation. However, these models are limited to performing either referring or segmentation tasks independently and fail to integrate these fine-grained perception capabilities into visual reasoning. To bridge this gap, we propose UniPixel, a large multi-modal model capable of flexibly comprehending visual prompt inputs and generating mask-grounded responses. Our model distinguishes itself by seamlessly integrating pixel-level perception with general visual understanding capabilities. Specifically, UniPixel processes visual prompts and generates relevant masks on demand, and performs subsequent reasoning conditioning on these intermediate pointers during inference, thereby enabling fine-grained pixel-level reasoning. The effectiveness of our approach has been verified on 10 benchmarks across a diverse set of tasks, including pixel-level referring/segmentation and object-centric understanding in images/videos. A novel PixelQA task that jointly requires referring, segmentation, and question answering is also designed to verify the flexibility of our method.

Spatial reasoning is a fundamental capability of embodied agents and has garnered widespread attention in the field of multimodal large language models (MLLMs). In this work, we propose a novel benchmark, Open3DVQA, to comprehensively evaluate the spatial reasoning capacities of current state-of-the-art (SOTA) foundation models in open 3D space. Open3DVQA consists of 9k VQA samples, collected using an efficient semi-automated tool in a high-fidelity urban simulator. We evaluate several SOTA MLLMs across various aspects of spatial reasoning, such as relative and absolute spatial relationships, situational reasoning, and object-centric spatial attributes. Our results reveal that: 1) MLLMs perform better at answering questions regarding relative spatial relationships than absolute spatial relationships, 2) MLLMs demonstrate similar spatial reasoning abilities for both egocentric and allocentric perspectives, and 3) Fine-tuning large models significantly improves their performance across different spatial reasoning tasks. We believe that our open-source data collection tools and in-depth analyses will inspire further research on MLLM spatial reasoning capabilities. The benchmark is available at https://github.com/WeichenZh/Open3DVQA.

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs process high-level semantic tokens, whereas 3D point clouds convey only dense geometric structures. In prior methods, misalignment limits both input and output. At the input stage, dense point patches require heavy pre-alignment, weakening object-level semantics and confusing similar distractors. At the output stage, predictions depend only on dense features without explicit geometric cues, leading to a loss of fine-grained accuracy. To address these limitations, we present the Point Linguist Model (PLM), a general framework that bridges the representation gap between LLMs and dense 3D point clouds without requiring large-scale pre-alignment between 3D-text or 3D-images. Specifically, we introduce Object-centric Discriminative Representation (OcDR), which learns object-centric tokens that capture target semantics and scene relations under a hard negative-aware training objective. This mitigates the misalignment between LLM tokens and 3D points, enhances resilience to distractors, and facilitates semantic-level reasoning within LLMs. For accurate segmentation, we introduce the Geometric Reactivation Decoder (GRD), which predicts masks by combining OcDR tokens carrying LLM-inferred geometry with corresponding dense features, preserving comprehensive dense features throughout the pipeline. Extensive experiments show that PLM achieves significant improvements of +7.3 mIoU on ScanNetv2 and +6.0 mIoU on Multi3DRefer for 3D referring segmentation, with consistent gains across 7 benchmarks spanning 4 different tasks, demonstrating the effectiveness of comprehensive object-centric reasoning for robust 3D understanding.

Language-guided robots performing home and office tasks must navigate in and interact with the world. Grounding language instructions against visual observations and actions to take in an environment is an open challenge. We present Embodied BERT (EmBERT), a transformer-based model which can attend to high-dimensional, multi-modal inputs across long temporal horizons for language-conditioned task completion. Additionally, we bridge the gap between successful object-centric navigation models used for non-interactive agents and the language-guided visual task completion benchmark, ALFRED, by introducing object navigation targets for EmBERT training. We achieve competitive performance on the ALFRED benchmark, and EmBERT marks the first transformer-based model to successfully handle the long-horizon, dense, multi-modal histories of ALFRED, and the first ALFRED model to utilize object-centric navigation targets.

The emergence of multimodal large language models (MLLMs) has driven breakthroughs in egocentric vision applications. These applications necessitate persistent, context-aware understanding of objects, as users interact with tools in dynamic and cluttered environments. However, existing embodied benchmarks primarily focus on static scene exploration, emphasizing object's appearance and spatial attributes while neglecting the assessment of dynamic changes arising from users' interactions. To address this gap, we introduce EOC-Bench, an innovative benchmark designed to systematically evaluate object-centric embodied cognition in dynamic egocentric scenarios. Specially, EOC-Bench features 3,277 meticulously annotated QA pairs categorized into three temporal categories: Past, Present, and Future, covering 11 fine-grained evaluation dimensions and 3 visual object referencing types. To ensure thorough assessment, we develop a mixed-format human-in-the-loop annotation framework with four types of questions and design a novel multi-scale temporal accuracy metric for open-ended temporal evaluation. Based on EOC-Bench, we conduct comprehensive evaluations of various proprietary, open-source, and object-level MLLMs. EOC-Bench serves as a crucial tool for advancing the embodied object cognitive capabilities of MLLMs, establishing a robust foundation for developing reliable core models for embodied systems.

Do deep learning models for instance segmentation generalize to novel objects in a systematic way? For classification, such behavior has been questioned. In this study, we aim to understand if certain design decisions such as framework, architecture or pre-training contribute to the semantic understanding of instance segmentation. To answer this question, we consider a special case of robustness and compare pre-trained models on a challenging benchmark for object-centric, out-of-distribution texture. We do not introduce another method in this work. Instead, we take a step back and evaluate a broad range of existing literature. This includes Cascade and Mask R-CNN, Swin Transformer, BMask, YOLACT(++), DETR, BCNet, SOTR and SOLOv2. We find that YOLACT++, SOTR and SOLOv2 are significantly more robust to out-of-distribution texture than other frameworks. In addition, we show that deeper and dynamic architectures improve robustness whereas training schedules, data augmentation and pre-training have only a minor impact. In summary we evaluate 68 models on 61 versions of MS COCO for a total of 4148 evaluations.

The rapid advancement of GenAI technology over the past few years has significantly contributed towards highly realistic deepfake content generation. Despite ongoing efforts, the research community still lacks a large-scale and reasoning capability driven deepfake benchmark dataset specifically tailored for person-centric object, context and scene manipulations. In this paper, we address this gap by introducing MultiFakeVerse, a large scale person-centric deepfake dataset, comprising 845,286 images generated through manipulation suggestions and image manipulations both derived from vision-language models (VLM). The VLM instructions were specifically targeted towards modifications to individuals or contextual elements of a scene that influence human perception of importance, intent, or narrative. This VLM-driven approach enables semantic, context-aware alterations such as modifying actions, scenes, and human-object interactions rather than synthetic or low-level identity swaps and region-specific edits that are common in existing datasets. Our experiments reveal that current state-of-the-art deepfake detection models and human observers struggle to detect these subtle yet meaningful manipulations. The code and dataset are available on https://github.com/Parul-Gupta/MultiFakeVerse{GitHub}.

We introduce an object-aware decoder for improving the performance of spatio-temporal representations on ego-centric videos. The key idea is to enhance object-awareness during training by tasking the model to predict hand positions, object positions, and the semantic label of the objects using paired captions when available. At inference time the model only requires RGB frames as inputs, and is able to track and ground objects (although it has not been trained explicitly for this). We demonstrate the performance of the object-aware representations learnt by our model, by: (i) evaluating it for strong transfer, i.e. through zero-shot testing, on a number of downstream video-text retrieval and classification benchmarks; and (ii) by using the representations learned as input for long-term video understanding tasks (e.g. Episodic Memory in Ego4D). In all cases the performance improves over the state of the art -- even compared to networks trained with far larger batch sizes. We also show that by using noisy image-level detection as pseudo-labels in training, the model learns to provide better bounding boxes using video consistency, as well as grounding the words in the associated text descriptions. Overall, we show that the model can act as a drop-in replacement for an ego-centric video model to improve performance through visual-text grounding.

In the domain of Multimodal Large Language Models (MLLMs), achieving human-centric video understanding remains a formidable challenge. Existing benchmarks primarily emphasize object and action recognition, often neglecting the intricate nuances of human emotions, behaviors, and speech visual alignment within video content. We present HumanVBench, an innovative benchmark meticulously crafted to bridge these gaps in the evaluation of video MLLMs. HumanVBench comprises 17 carefully designed tasks that explore two primary dimensions: inner emotion and outer manifestations, spanning static and dynamic, basic and complex, as well as single-modal and cross-modal aspects. With two advanced automated pipelines for video annotation and distractor-included QA generation, HumanVBench utilizes diverse state-of-the-art (SOTA) techniques to streamline benchmark data synthesis and quality assessment, minimizing human annotation dependency tailored to human-centric multimodal attributes. A comprehensive evaluation across 16 SOTA video MLLMs reveals notable limitations in current performance, especially in cross-modal and temporal alignment, underscoring the necessity for further refinement toward achieving more human-like understanding. HumanVBench is open-sourced to facilitate future advancements and real-world applications in video MLLMs.

Automatically discovering composable abstractions from raw perceptual data is a long-standing challenge in machine learning. Recent slot-based neural networks that learn about objects in a self-supervised manner have made exciting progress in this direction. However, they typically fall short at adequately capturing spatial symmetries present in the visual world, which leads to sample inefficiency, such as when entangling object appearance and pose. In this paper, we present a simple yet highly effective method for incorporating spatial symmetries via slot-centric reference frames. We incorporate equivariance to per-object pose transformations into the attention and generation mechanism of Slot Attention by translating, scaling, and rotating position encodings. These changes result in little computational overhead, are easy to implement, and can result in large gains in terms of data efficiency and overall improvements to object discovery. We evaluate our method on a wide range of synthetic object discovery benchmarks namely CLEVR, Tetrominoes, CLEVRTex, Objects Room and MultiShapeNet, and show promising improvements on the challenging real-world Waymo Open dataset.

Bridging the gap between ego-centric and exo-centric views has been a long-standing question in computer vision. In this paper, we focus on the emerging Ego-Exo object correspondence task, which aims to understand object relations across ego-exo perspectives through segmentation. While numerous segmentation models have been proposed, most operate on a single image (view), making them impractical for cross-view scenarios. PSALM, a recently proposed segmentation method, stands out as a notable exception with its demonstrated zero-shot ability on this task. However, due to the drastic viewpoint change between ego and exo, PSALM fails to accurately locate and segment objects, especially in complex backgrounds or when object appearances change significantly. To address these issues, we propose ObjectRelator, a novel approach featuring two key modules: Multimodal Condition Fusion (MCFuse) and SSL-based Cross-View Object Alignment (XObjAlign). MCFuse introduces language as an additional cue, integrating both visual masks and textual descriptions to improve object localization and prevent incorrect associations. XObjAlign enforces cross-view consistency through self-supervised alignment, enhancing robustness to object appearance variations. Extensive experiments demonstrate ObjectRelator's effectiveness on the large-scale Ego-Exo4D benchmark and HANDAL-X (an adapted dataset for cross-view segmentation) with state-of-the-art performance. Code is made available at: http://yuqianfu.com/ObjectRelator.

Recent advances in multimodal large language models (MLLMs) have demonstrated remarkable capabilities in vision-language tasks, yet they often struggle with vision-centric scenarios where precise visual focus is needed for accurate reasoning. In this paper, we introduce Argus to address these limitations with a new visual attention grounding mechanism. Our approach employs object-centric grounding as visual chain-of-thought signals, enabling more effective goal-conditioned visual attention during multimodal reasoning tasks. Evaluations on diverse benchmarks demonstrate that Argus excels in both multimodal reasoning tasks and referring object grounding tasks. Extensive analysis further validates various design choices of Argus, and reveals the effectiveness of explicit language-guided visual region-of-interest engagement in MLLMs, highlighting the importance of advancing multimodal intelligence from a visual-centric perspective. Project page: https://yunzeman.github.io/argus/

Large Multimodal Models (LMMs) have achieved significant breakthroughs in various vision-language and vision-centric tasks based on auto-regressive modeling. However, these models typically focus on either vision-centric tasks, such as visual grounding and region description, or vision-language tasks, like image caption and multi-scenario VQAs. None of the LMMs have yet comprehensively unified both types of tasks within a single model, as seen in Large Language Models in the natural language processing field. Furthermore, even with abundant multi-task instruction-following data, directly stacking these data for universal capabilities extension remains challenging. To address these issues, we introduce a novel multi-dimension curated and consolidated multimodal dataset, named CCMD-8M, which overcomes the data barriers of unifying vision-centric and vision-language tasks through multi-level data curation and multi-task consolidation. More importantly, we present Griffon-G, a general large multimodal model that addresses both vision-centric and vision-language tasks within a single end-to-end paradigm. Griffon-G resolves the training collapse issue encountered during the joint optimization of these tasks, achieving better training efficiency. Evaluations across multimodal benchmarks, general Visual Question Answering (VQA) tasks, scene text-centric VQA tasks, document-related VQA tasks, Referring Expression Comprehension, and object detection demonstrate that Griffon-G surpasses the advanced LMMs and achieves expert-level performance in complicated vision-centric tasks.

In this work, we tackle the challenging problem of denoising hand-object interactions (HOI). Given an erroneous interaction sequence, the objective is to refine the incorrect hand trajectory to remove interaction artifacts for a perceptually realistic sequence. This challenge involves intricate interaction noise, including unnatural hand poses and incorrect hand-object relations, alongside the necessity for robust generalization to new interactions and diverse noise patterns. We tackle those challenges through a novel approach, GeneOH Diffusion, incorporating two key designs: an innovative contact-centric HOI representation named GeneOH and a new domain-generalizable denoising scheme. The contact-centric representation GeneOH informatively parameterizes the HOI process, facilitating enhanced generalization across various HOI scenarios. The new denoising scheme consists of a canonical denoising model trained to project noisy data samples from a whitened noise space to a clean data manifold and a "denoising via diffusion" strategy which can handle input trajectories with various noise patterns by first diffusing them to align with the whitened noise space and cleaning via the canonical denoiser. Extensive experiments on four benchmarks with significant domain variations demonstrate the superior effectiveness of our method. GeneOH Diffusion also shows promise for various downstream applications. Project website: https://meowuu7.github.io/GeneOH-Diffusion/.

As embodied intelligence emerges as a core frontier in artificial intelligence research, simulation platforms must evolve beyond low-level physical interactions to capture complex, human-centered social behaviors. We introduce FreeAskWorld, an interactive simulation framework that integrates large language models (LLMs) for high-level behavior planning and semantically grounded interaction, informed by theories of intention and social cognition. Our framework supports scalable, realistic human-agent simulations and includes a modular data generation pipeline tailored for diverse embodied tasks.To validate the framework, we extend the classic Vision-and-Language Navigation (VLN) task into a interaction enriched Direction Inquiry setting, wherein agents can actively seek and interpret navigational guidance. We present and publicly release FreeAskWorld, a large-scale benchmark dataset comprising reconstructed environments, six diverse task types, 16 core object categories, 63,429 annotated sample frames, and more than 17 hours of interaction data to support training and evaluation of embodied AI systems. We benchmark VLN models, and human participants under both open-loop and closed-loop settings. Experimental results demonstrate that models fine-tuned on FreeAskWorld outperform their original counterparts, achieving enhanced semantic understanding and interaction competency. These findings underscore the efficacy of socially grounded simulation frameworks in advancing embodied AI systems toward sophisticated high-level planning and more naturalistic human-agent interaction. Importantly, our work underscores that interaction itself serves as an additional information modality.

Current datasets for long-form video understanding often fall short of providing genuine long-form comprehension challenges, as many tasks derived from these datasets can be successfully tackled by analyzing just one or a few random frames from a video. To address this issue, we present a novel dataset and benchmark, CinePile, specifically designed for authentic long-form video understanding. This paper details our innovative approach for creating a question-answer dataset, utilizing advanced LLMs with human-in-the-loop and building upon human-generated raw data. Our comprehensive dataset comprises 305,000 multiple-choice questions (MCQs), covering various visual and multimodal aspects, including temporal comprehension, understanding human-object interactions, and reasoning about events or actions within a scene. Additionally, we fine-tuned open-source Video-LLMs on the training split and evaluated both open-source and proprietary video-centric LLMs on the test split of our dataset. The findings indicate that although current models underperform compared to humans, fine-tuning these models can lead to significant improvements in their performance.

This paper presents a Simple and effective unsupervised adaptation method for Robust Object Detection (SimROD). To overcome the challenging issues of domain shift and pseudo-label noise, our method integrates a novel domain-centric augmentation method, a gradual self-labeling adaptation procedure, and a teacher-guided fine-tuning mechanism. Using our method, target domain samples can be leveraged to adapt object detection models without changing the model architecture or generating synthetic data. When applied to image corruptions and high-level cross-domain adaptation benchmarks, our method outperforms prior baselines on multiple domain adaptation benchmarks. SimROD achieves new state-of-the-art on standard real-to-synthetic and cross-camera setup benchmarks. On the image corruption benchmark, models adapted with our method achieved a relative robustness improvement of 15-25% AP50 on Pascal-C and 5-6% AP on COCO-C and Cityscapes-C. On the cross-domain benchmark, our method outperformed the best baseline performance by up to 8% AP50 on Comic dataset and up to 4% on Watercolor dataset.

We introduce RynnEC, a video multimodal large language model designed for embodied cognition. Built upon a general-purpose vision-language foundation model, RynnEC incorporates a region encoder and a mask decoder, enabling flexible region-level video interaction. Despite its compact architecture, RynnEC achieves state-of-the-art performance in object property understanding, object segmentation, and spatial reasoning. Conceptually, it offers a region-centric video paradigm for the brain of embodied agents, providing fine-grained perception of the physical world and enabling more precise interactions. To mitigate the scarcity of annotated 3D datasets, we propose an egocentric video based pipeline for generating embodied cognition data. Furthermore, we introduce RynnEC-Bench, a region-centered benchmark for evaluating embodied cognitive capabilities. We anticipate that RynnEC will advance the development of general-purpose cognitive cores for embodied agents and facilitate generalization across diverse embodied tasks. The code, model checkpoints, and benchmark are available at: https://github.com/alibaba-damo-academy/RynnEC

While vision-language models (VLMs) have made remarkable progress on many popular visual question answering (VQA) benchmarks, it remains unclear whether they abstract and reason over depicted objects. Inspired by human object categorisation, object property reasoning involves identifying and recognising low-level details and higher-level abstractions. While current VQA benchmarks consider a limited set of object property attributes like size, they typically blend perception and reasoning, and lack representativeness in terms of reasoning and image categories. To this end, we introduce a systematic evaluation framework with images of three representative types, three reasoning levels of increasing complexity, and four object property dimensions driven by prior work on commonsense reasoning. We develop a procedure to instantiate this benchmark into ORBIT, a multi-level reasoning VQA benchmark for object properties comprising 360 images paired with a total of 1,080 count-based questions. Experiments with 12 state-of-the-art VLMs in zero-shot settings reveal significant limitations compared to humans, with the best-performing model only reaching 40\% accuracy. VLMs struggle particularly with realistic (photographic) images, counterfactual reasoning about physical and functional properties, and higher counts. ORBIT points to the need to develop methods for scalable benchmarking, generalize annotation guidelines, and explore additional reasoning VLMs. We make the ORBIT benchmark and the experimental code available to support such endeavors.

Benchmarks for large multimodal language models (MLMs) now serve to simultaneously assess the general capabilities of models instead of evaluating for a specific capability. As a result, when a developer wants to identify which models to use for their application, they are overwhelmed by the number of benchmarks and remain uncertain about which benchmark's results are most reflective of their specific use case. This paper introduces Task-Me-Anything, a benchmark generation engine which produces a benchmark tailored to a user's needs. Task-Me-Anything maintains an extendable taxonomy of visual assets and can programmatically generate a vast number of task instances. Additionally, it algorithmically addresses user queries regarding MLM performance efficiently within a computational budget. It contains 113K images, 10K videos, 2K 3D object assets, over 365 object categories, 655 attributes, and 335 relationships. It can generate 750M image/video question-answering pairs, which focus on evaluating MLM perceptual capabilities. Task-Me-Anything reveals critical insights: open-source MLMs excel in object and attribute recognition but lack spatial and temporal understanding; each model exhibits unique strengths and weaknesses; larger models generally perform better, though exceptions exist; and GPT4o demonstrates challenges in recognizing rotating/moving objects and distinguishing colors.

Establishing fair and robust benchmarks is essential for evaluating intelligent code generation by large language models (LLMs). Our survey of 35 existing benchmarks uncovers three major imbalances: 85.7% focus on a single programming language; 94.3% target only function-level or statement-level tasks; and over 80% include fewer than ten test cases on average. To address these gaps, we propose MultiOOP, a multi-language object-oriented programming benchmark covering six popular languages (Python, PHP, C++, C#, Java, JavaScript) with 267 tasks per language. We design a translator that extends an existing single-language OOP benchmark and the pass@o metric to a multilingual setting. Moreover, we propose an automated framework for augmenting test cases to ensure the reliability of the evaluation results. We evaluate 14 mainstream LLMs under zero-shot prompting and report three key findings: 1) Substantial performance degradation: pass@1 scores on MultiOOP drop by up to 65.6 percentage points compared to function-level tasks (e.g., HumanEval). 2) Cross-language variability: GPT-4o mini achieves pass@1 of 48.06% in Python but only 0.12%-15.26% in other languages, indicating limited multilingual generalization. 3) Conceptual gaps: pass@o scores are consistently 1.1-19.2 points lower than pass@k, demonstrating that LLMs often generate executable code without fully capturing core OOP concepts. Our benchmark, metric extensions, and evaluation scripts will be publicly released to foster a more balanced and comprehensive assessment of LLMs in object-oriented code generation. Our code and data will be released at https://github.com/alphadl/OOP-eval and https://huggingface.co/datasets/codeai-dteam/MultiOOP respectively.

Pre-trained vision models (PVMs) are fundamental to modern robotics, yet their optimal configuration remains unclear. Through systematic evaluation, we find that while DINO and iBOT outperform MAE across visuomotor control and perception tasks, they struggle when trained on non-(single-)object-centric (NOC) data--a limitation strongly correlated with their diminished ability to learn object-centric representations. This investigation indicates that the ability to form object-centric representations from the non-object-centric robotics dataset is the key to success for PVMs. Motivated by this discovery, we designed SlotMIM, a method that induces object-centric representations by introducing a semantic bottleneck to reduce the number of prototypes to encourage the emergence of objectness as well as cross-view consistency regularization for encouraging multiview invariance. Our experiments encompass pre-training on object-centric, scene-centric, web-crawled, and ego-centric data. Across all settings, our approach learns transferrable representations and achieves significant improvements over prior work in image recognition, scene understanding, and robot learning evaluations. When scaled up with million-scale datasets, our method also demonstrates superior data efficiency and scalability. Our code and models are publicly available at https://github.com/CVMI-Lab/SlotMIM.

Object detection is integral to a bevy of real-world applications, from robotics to medical image analysis. To be used reliably in such applications, models must be capable of handling unexpected - or novel - objects. The open world object detection (OWD) paradigm addresses this challenge by enabling models to detect unknown objects and learn discovered ones incrementally. However, OWD method development is hindered due to the stringent benchmark and task definitions. These definitions effectively prohibit foundation models. Here, we aim to relax these definitions and investigate the utilization of pre-trained foundation models in OWD. First, we show that existing benchmarks are insufficient in evaluating methods that utilize foundation models, as even naive integration methods nearly saturate these benchmarks. This result motivated us to curate a new and challenging benchmark for these models. Therefore, we introduce a new benchmark that includes five real-world application-driven datasets, including challenging domains such as aerial and surgical images, and establish baselines. We exploit the inherent connection between classes in application-driven datasets and introduce a novel method, Foundation Object detection Model for the Open world, or FOMO, which identifies unknown objects based on their shared attributes with the base known objects. FOMO has ~3x unknown object mAP compared to baselines on our benchmark. However, our results indicate a significant place for improvement - suggesting a great research opportunity in further scaling object detection methods to real-world domains. Our code and benchmark are available at https://orrzohar.github.io/projects/fomo/.

Recent advancements in large language models (LLMs) have demonstrated promising capabilities in code generation tasks. However, most existing benchmarks focus on isolated functions and fail to capture the complexity of real-world, class-level software structures. To address this gap, we introduce a large-scale, Python class-level dataset curated from 13{,}174 real-world open-source projects. The dataset contains over 842,000 class skeletons, each including class and method signatures, along with associated docstrings when available. We preserve structural and contextual dependencies critical to realistic software development scenarios and enrich the dataset with static code metrics to support downstream analysis. To evaluate the usefulness of this dataset, we use extracted class skeletons as prompts for GPT-4 to generate full class implementations. Results show that the LLM-generated classes exhibit strong lexical and structural similarity to human-written counterparts, with average ROUGE@L, BLEU, and TSED scores of 0.80, 0.59, and 0.73, respectively. These findings confirm that well-structured prompts derived from real-world class skeletons significantly enhance LLM performance in class-level code generation. This dataset offers a valuable resource for benchmarking, training, and improving LLMs in realistic software engineering contexts.

Large multimodal foundation models, particularly in the domains of language and vision, have significantly advanced various tasks, including robotics, autonomous driving, information retrieval, and grounding. However, many of these models perceive objects as indivisible, overlooking the components that constitute them. Understanding these components and their associated affordances provides valuable insights into an object's functionality, which is fundamental for performing a wide range of tasks. In this work, we introduce a novel real-world benchmark, InstructPart, comprising hand-labeled part segmentation annotations and task-oriented instructions to evaluate the performance of current models in understanding and executing part-level tasks within everyday contexts. Through our experiments, we demonstrate that task-oriented part segmentation remains a challenging problem, even for state-of-the-art Vision-Language Models (VLMs). In addition to our benchmark, we introduce a simple baseline that achieves a twofold performance improvement through fine-tuning with our dataset. With our dataset and benchmark, we aim to facilitate research on task-oriented part segmentation and enhance the applicability of VLMs across various domains, including robotics, virtual reality, information retrieval, and other related fields. Project website: https://zifuwan.github.io/InstructPart/.

Multimodal retrieval is becoming a crucial component of modern AI applications, yet its evaluation lags behind the demands of more realistic and challenging scenarios. Existing benchmarks primarily probe surface-level semantic correspondence (e.g., object-text matching) while failing to assess the deeper reasoning required to capture complex relationships between visual and textual information. To address this gap, we introduce MR^2-Bench, a reasoning-intensive benchmark for multimodal retrieval. MR^2-Bench presents the following critical values: 1) all tasks are reasoning-driven, going beyond shallow matching to effectively assess models' capacity for logical, spatial, and causal inference; 2) it features diverse multimodal data, such as natural images, diagrams, and visual puzzles, enabling comprehensive evaluation across content types; 3) it supports complex queries and documents containing multiple images and covers diverse retrieval scenarios, more accurately reflecting real-world applications. Our benchmark contains 1,309 curated queries, derived either from manual collection and annotation or from selective consolidation of public datasets. Despite achieving strong results on existing benchmarks, current state-of-the-art models still struggle on MR^2-Bench: for example, the leading Seed1.6-Embedding model attains a Recall@1 of 77.78 on MMEB, but only 9.91 on MR^2-Bench. This substantial performance gap highlights both the increased challenge posed by our benchmark and the pressing need for further advances in reasoning-intensive multimodal retrieval. The dataset and evaluation code will be made publicly available at https://github.com/VectorSpaceLab/MR2-Bench.

While learning visuomotor skills in an end-to-end manner is appealing, deep neural networks are often uninterpretable and fail in surprising ways. For robotics tasks, such as autonomous driving, models that explicitly represent objects may be more robust to new scenes and provide intuitive visualizations. We describe a taxonomy of "object-centric" models which leverage both object instances and end-to-end learning. In the Grand Theft Auto V simulator, we show that object-centric models outperform object-agnostic methods in scenes with other vehicles and pedestrians, even with an imperfect detector. We also demonstrate that our architectures perform well on real-world environments by evaluating on the Berkeley DeepDrive Video dataset, where an object-centric model outperforms object-agnostic models in the low-data regimes.

While numerous recent benchmarks focus on evaluating generic Vision-Language Models (VLMs), they fall short in addressing the unique demands of geospatial applications. Generic VLM benchmarks are not designed to handle the complexities of geospatial data, which is critical for applications such as environmental monitoring, urban planning, and disaster management. Some of the unique challenges in geospatial domain include temporal analysis for changes, counting objects in large quantities, detecting tiny objects, and understanding relationships between entities occurring in Remote Sensing imagery. To address this gap in the geospatial domain, we present GEOBench-VLM, a comprehensive benchmark specifically designed to evaluate VLMs on geospatial tasks, including scene understanding, object counting, localization, fine-grained categorization, and temporal analysis. Our benchmark features over 10,000 manually verified instructions and covers a diverse set of variations in visual conditions, object type, and scale. We evaluate several state-of-the-art VLMs to assess their accuracy within the geospatial context. The results indicate that although existing VLMs demonstrate potential, they face challenges when dealing with geospatial-specific examples, highlighting the room for further improvements. Specifically, the best-performing GPT4o achieves only 40\% accuracy on MCQs, which is only double the random guess performance. Our benchmark is publicly available at https://github.com/The-AI-Alliance/GEO-Bench-VLM .

Recent advances in multi-modal generative models have driven substantial improvements in image editing. However, current generative models still struggle with handling diverse and complex image editing tasks that require implicit reasoning, underscoring the need for a comprehensive benchmark to systematically assess their performance across various reasoning scenarios. Existing benchmarks primarily focus on single-object attribute transformation in realistic scenarios, which, while effective, encounter two key challenges: (1) they largely overlook multi-object interactions as well as game-world scenarios that involve human-defined rules, which are common in real-life applications; (2) they only rely on textual references to evaluate the generated images, potentially leading to systematic misjudgments, especially in complex reasoning scenarios. To this end, this work proposes UniREditBench, a unified benchmark for reasoning-based image editing evaluation. It comprises 2,700 meticulously curated samples, covering both real- and game-world scenarios across 8 primary dimensions and 18 sub-dimensions. To improve evaluation reliability, we introduce multimodal dual-reference evaluation, providing both textual and ground-truth image references for each sample assessment. Furthermore, we design an automated multi-scenario data synthesis pipeline and construct UniREdit-Data-100K, a large-scale synthetic dataset with high-quality chain-of-thought (CoT) reasoning annotations. We fine-tune Bagel on this dataset and develop UniREdit-Bagel, demonstrating substantial improvements in both in-domain and out-of-distribution settings. Through thorough benchmarking of both open-source and closed-source image editing models, we reveal their strengths and weaknesses across various aspects.

As models become increasingly sophisticated, conventional algorithm benchmarks are increasingly saturated, underscoring the need for more challenging benchmarks to guide future improvements in algorithmic reasoning. This paper introduces OIBench, a high-quality, private, and challenging olympiad-level informatics dataset comprising 250 carefully curated original problems. We detail the construction methodology of the benchmark, ensuring a comprehensive assessment across various programming paradigms and complexities, and we demonstrate its contamination-resistant properties via experiments. We propose Time/Space Completion Curves for finer-grained efficiency analysis and enable direct human-model comparisons through high-level participant evaluations. Our experiments reveal that while open-source models lag behind closed-source counterparts, current SOTA models already outperform most human participants in both correctness and efficiency, while still being suboptimal compared to the canonical solutions. By releasing OIBench as a fully open-source resource (https://huggingface.co/datasets/AGI-Eval/OIBench), we hope this benchmark will contribute to advancing code reasoning capabilities for future LLMs.

We consider the task of Image-to-Video (I2V) generation, which involves transforming static images into realistic video sequences based on a textual description. While recent advancements produce photorealistic outputs, they frequently struggle to create videos with accurate and consistent object motion, especially in multi-object scenarios. To address these limitations, we propose a two-stage compositional framework that decomposes I2V generation into: (i) An explicit intermediate representation generation stage, followed by (ii) A video generation stage that is conditioned on this representation. Our key innovation is the introduction of a mask-based motion trajectory as an intermediate representation, that captures both semantic object information and motion, enabling an expressive but compact representation of motion and semantics. To incorporate the learned representation in the second stage, we utilize object-level attention objectives. Specifically, we consider a spatial, per-object, masked-cross attention objective, integrating object-specific prompts into corresponding latent space regions and a masked spatio-temporal self-attention objective, ensuring frame-to-frame consistency for each object. We evaluate our method on challenging benchmarks with multi-object and high-motion scenarios and empirically demonstrate that the proposed method achieves state-of-the-art results in temporal coherence, motion realism, and text-prompt faithfulness. Additionally, we introduce \benchmark, a new challenging benchmark for single-object and multi-object I2V generation, and demonstrate our method's superiority on this benchmark. Project page is available at https://guyyariv.github.io/TTM/.

Object-centric (OC) representations, which represent the state of a visual scene by modeling it as a composition of objects, have the potential to be used in various downstream tasks to achieve systematic compositional generalization and facilitate reasoning. However, these claims have not been thoroughly analyzed yet. Recently, foundation models have demonstrated unparalleled capabilities across diverse domains from language to computer vision, marking them as a potential cornerstone of future research for a multitude of computational tasks. In this paper, we conduct an extensive empirical study on representation learning for downstream Visual Question Answering (VQA), which requires an accurate compositional understanding of the scene. We thoroughly investigate the benefits and trade-offs of OC models and alternative approaches including large pre-trained foundation models on both synthetic and real-world data, and demonstrate a viable way to achieve the best of both worlds. The extensiveness of our study, encompassing over 600 downstream VQA models and 15 different types of upstream representations, also provides several additional insights that we believe will be of interest to the community at large.

We introduce MCUBench, a benchmark featuring over 100 YOLO-based object detection models evaluated on the VOC dataset across seven different MCUs. This benchmark provides detailed data on average precision, latency, RAM, and Flash usage for various input resolutions and YOLO-based one-stage detectors. By conducting a controlled comparison with a fixed training pipeline, we collect comprehensive performance metrics. Our Pareto-optimal analysis shows that integrating modern detection heads and training techniques allows various YOLO architectures, including legacy models like YOLOv3, to achieve a highly efficient tradeoff between mean Average Precision (mAP) and latency. MCUBench serves as a valuable tool for benchmarking the MCU performance of contemporary object detectors and aids in model selection based on specific constraints.

Despite recent progress in using Large Language Models (LLMs) for automatically generating 3D scenes, generated scenes often lack realistic spatial layouts and object attributes found in real-world environments. As this problem stems from insufficiently detailed, coarse-grained instructions, advancing 3D scene synthesis guided by more detailed, fine-grained instructions that reflect real-world environments becomes crucial. Without such realistic scenes, training embodied agents in unrealistic environments can lead them to learn priors that diverge significantly from real-world physics and semantics, degrading their performance when deployed. Thus, verifying the alignment between the fine-grained instruction and the generated scene is essential for effective learning. However, current evaluation methods, such as CLIPScore and vision-language models (VLMs), often fail to reliably assess such alignment. This shortcoming arises primarily from their shallow understanding of 3D scenes, which often leads to improperly grounded scene components. To address this, we introduce LEGO-Eval, an evaluation framework equipped with diverse tools designed to explicitly ground scene components, enabling more accurate alignment assessments. We also present LEGO-Bench, a benchmark of detailed instructions that specify complex layouts and attributes of real-world environments. Experiments demonstrate that LEGO-Eval outperforms VLM-as-a-judge by 0.41 F1 score in assessing scene-instruction alignment. Benchmarking with LEGO-Bench reveals significant limitations in current generation methods. Across all evaluated approaches, success rates reached at most 10% in generating scenes that fully align with fine-grained instructions.

Standardized benchmarks drive progress in machine learning. However, with repeated testing, the risk of overfitting grows as algorithms over-exploit benchmark idiosyncrasies. In our work, we seek to mitigate this challenge by compiling ever-expanding large-scale benchmarks called Lifelong Benchmarks. As exemplars of our approach, we create Lifelong-CIFAR10 and Lifelong-ImageNet, containing (for now) 1.69M and 1.98M test samples, respectively. While reducing overfitting, lifelong benchmarks introduce a key challenge: the high cost of evaluating a growing number of models across an ever-expanding sample set. To address this challenge, we also introduce an efficient evaluation framework: Sort \& Search (S&S), which reuses previously evaluated models by leveraging dynamic programming algorithms to selectively rank and sub-select test samples, enabling cost-effective lifelong benchmarking. Extensive empirical evaluations across 31,000 models demonstrate that S&S achieves highly-efficient approximate accuracy measurement, reducing compute cost from 180 GPU days to 5 GPU hours (1000x reduction) on a single A100 GPU, with low approximation error. As such, lifelong benchmarks offer a robust, practical solution to the "benchmark exhaustion" problem.

Developing deep learning models that effectively learn object-centric representations, akin to human cognition, remains a challenging task. Existing approaches facilitate object discovery by representing objects as fixed-size vectors, called ``slots'' or ``object files''. While these approaches have shown promise in certain scenarios, they still exhibit certain limitations. First, they rely on architectural priors which can be unreliable and usually require meticulous engineering to identify the correct objects. Second, there has been a notable gap in investigating the practical utility of these representations in downstream tasks. To address the first limitation, we introduce a method that explicitly optimizes the constraint that each object in a scene should be associated with a distinct slot. We formalize this constraint by introducing consistency objectives which are cyclic in nature. By integrating these consistency objectives into various existing slot-based object-centric methods, we showcase substantial improvements in object-discovery performance. These enhancements consistently hold true across both synthetic and real-world scenes, underscoring the effectiveness and adaptability of the proposed approach. To tackle the second limitation, we apply the learned object-centric representations from the proposed method to two downstream reinforcement learning tasks, demonstrating considerable performance enhancements compared to conventional slot-based and monolithic representation learning methods. Our results suggest that the proposed approach not only improves object discovery, but also provides richer features for downstream tasks.

We present CRUXEval (Code Reasoning, Understanding, and eXecution Evaluation), a benchmark consisting of 800 Python functions (3-13 lines). Each function comes with an input-output pair, leading to two natural tasks: input prediction and output prediction. First, we propose a generic recipe for generating our execution benchmark which can be used to create future variation of the benchmark. Second, we evaluate twenty code models on our benchmark and discover that many recent high-scoring models on HumanEval do not show the same improvements on our benchmark. Third, we show that simple CoT and fine-tuning schemes can improve performance on our benchmark but remain far from solving it. The best setup, GPT-4 with chain of thought (CoT), achieves a pass@1 of 75% and 81% on input and output prediction, respectively. In contrast, Code Llama 34B achieves a pass@1 of 50% and 46% on input and output prediction, highlighting the gap between open and closed source models. As no model is close to acing CRUXEval, we provide examples of consistent GPT-4 failures on simple programs as a lens into its code reasoning capabilities and areas for improvement.

The generative capabilities of Large Language Models (LLMs) are rapidly expanding from static code to dynamic, interactive visual artifacts. This progress is bottlenecked by a critical evaluation gap: established benchmarks focus on algorithmic correctness and are blind to the visual fidelity and interactive integrity that define modern user experiences. To bridge this gap, we introduce ArtifactsBench, a new benchmark and paradigm for the automated, multimodal evaluation of visual code generation. Our framework programmatically renders each generated artifact and captures its dynamic behavior through temporal screenshots. This visual evidence, alongside the source code, is then assessed by a Multimodal LLM (MLLM)-as-Judge, which is rigorously guided by a fine-grained, per-task checklist to ensure holistic and reproducible scoring. We construct a new benchmark of 1,825 diverse tasks and evaluate over 30 leading LLMs. Our automated evaluation achieves a striking 94.4% ranking consistency with WebDev Arena, the gold-standard for human preference in web development, and over 90% pairwise agreement with human experts. This establishes ArtifactsBench as the first framework to reliably automate the assessment of human-perceived quality at scale. Our analysis provides a high-resolution map of the current SOTA, revealing that generalist models often outperform domain-specific ones. We open-source ArtifactsBench, including the benchmark, evaluation harness, and baseline results at https://artifactsbenchmark.github.io/, to provide the community with a scalable and accurate tool to accelerate the development of user-centric generative models.

Recognizing scenes and objects in 3D from a single image is a longstanding goal of computer vision with applications in robotics and AR/VR. For 2D recognition, large datasets and scalable solutions have led to unprecedented advances. In 3D, existing benchmarks are small in size and approaches specialize in few object categories and specific domains, e.g. urban driving scenes. Motivated by the success of 2D recognition, we revisit the task of 3D object detection by introducing a large benchmark, called Omni3D. Omni3D re-purposes and combines existing datasets resulting in 234k images annotated with more than 3 million instances and 97 categories.3D detection at such scale is challenging due to variations in camera intrinsics and the rich diversity of scene and object types. We propose a model, called Cube R-CNN, designed to generalize across camera and scene types with a unified approach. We show that Cube R-CNN outperforms prior works on the larger Omni3D and existing benchmarks. Finally, we prove that Omni3D is a powerful dataset for 3D object recognition, show that it improves single-dataset performance and can accelerate learning on new smaller datasets via pre-training.

Advancing automated programming necessitates robust and comprehensive code generation benchmarks, yet current evaluation frameworks largely neglect object-oriented programming (OOP) in favor of functional programming (FP), e.g., HumanEval and MBPP. To address this, our study introduces a pioneering OOP-focused benchmark, featuring 431 Python programs that encompass essential OOP concepts and features like classes and encapsulation methods. We propose a novel evaluation metric, pass@o, tailored for OOP, enhancing traditional pass@k measures. Our evaluation of 23 leading large language models (LLMs), including both general and code-specialized models, reveals three key insights: 1) pass@o offers a more relevant and comprehensive assessment for OOP code generation; 2) Despite excelling in FP, code-specialized LLMs like WizardCoder lag in OOP compared to models like ChatGPT; 3) The poor performance of all advanced LLMs on our OOP benchmark highlights a critical need for improvements in this field. Our benchmark and scripts are publicly released at: https://github.com/alphadl/OOP-eval.

The prohibitive cost of evaluating large language models (LLMs) on comprehensive benchmarks necessitates the creation of small yet representative data subsets (i.e., tiny benchmarks) that enable efficient assessment while retaining predictive fidelity. Current methods for this task operate under a model-centric paradigm, selecting benchmarking items based on the collective performance of existing models. Such approaches are limited by large upfront costs, an inability to immediately handle new benchmarks (`cold-start'), and the fragile assumption that future models will share the failure patterns of their predecessors. In this work, we challenge this paradigm and propose a item-centric approach to benchmark subset selection, arguing that selection should be based on the intrinsic properties of the task items themselves, rather than on model-specific failure patterns. We instantiate this item-centric efficient benchmarking approach via a novel method, Scales++, where data selection is based on the cognitive demands of the benchmark samples. Empirically, we show Scales++ reduces the upfront selection cost by over 18x while achieving competitive predictive fidelity. On the Open LLM Leaderboard, using just a 0.5\% data subset, we predict full benchmark scores with a 2.9% mean absolute error. We demonstrate that this item-centric approach enables more efficient model evaluation without significant fidelity degradation, while also providing better cold-start performance and more interpretable benchmarking.

In real-world applications where confidence is key, like autonomous driving, the accurate detection and appropriate handling of classes differing from those used during training are crucial. Despite the proposal of various unknown object detection approaches, we have observed widespread inconsistencies among them regarding the datasets, metrics, and scenarios used, alongside a notable absence of a clear definition for unknown objects, which hampers meaningful evaluation. To counter these issues, we introduce two benchmarks: a unified VOC-COCO evaluation, and the new OpenImagesRoad benchmark which provides clear hierarchical object definition besides new evaluation metrics. Complementing the benchmark, we exploit recent self-supervised Vision Transformers performance, to improve pseudo-labeling-based OpenSet Object Detection (OSOD), through OW-DETR++. State-of-the-art methods are extensively evaluated on the proposed benchmarks. This study provides a clear problem definition, ensures consistent evaluations, and draws new conclusions about effectiveness of OSOD strategies.

We introduce a benchmark to directly evaluate the alignment between human observers and vision models on a 3D shape inference task. We leverage an experimental design from the cognitive sciences which requires zero-shot visual inferences about object shape: given a set of images, participants identify which contain the same/different objects, despite considerable viewpoint variation. We draw from a diverse range of images that include common objects (e.g., chairs) as well as abstract shapes (i.e., procedurally generated `nonsense' objects). After constructing over 2000 unique image sets, we administer these tasks to human participants, collecting 35K trials of behavioral data from over 500 participants. This includes explicit choice behaviors as well as intermediate measures, such as reaction time and gaze data. We then evaluate the performance of common vision models (e.g., DINOv2, MAE, CLIP). We find that humans outperform all models by a wide margin. Using a multi-scale evaluation approach, we identify underlying similarities and differences between models and humans: while human-model performance is correlated, humans allocate more time/processing on challenging trials. All images, data, and code can be accessed via our project page.

Smaller-scale Vision-Langauge Models (VLMs) often claim to perform on par with larger models in general-domain visual grounding and question-answering benchmarks while offering advantages in computational efficiency and storage. However, their ability to handle rare objects, which fall into the long tail of data distributions, is less understood. To rigorously evaluate this aspect, we introduce the "Uncontextualized Uncommon Objects" (UOUO) benchmark. This benchmark focuses on systematically testing VLMs with both large and small parameter counts on rare and specialized objects. Our comprehensive analysis reveals that while smaller VLMs maintain competitive performance on common datasets, they significantly underperform on tasks involving uncommon objects. We also propose an advanced, scalable pipeline for data collection and cleaning, ensuring the UOUO benchmark provides high-quality, challenging instances. These findings highlight the need to consider long-tail distributions when assessing the true capabilities of VLMs.

We introduce BigO(Bench), a novel coding benchmark designed to evaluate the capabilities of generative language models in understanding and generating code with specified time and space complexities. This benchmark addresses the gap in current evaluations that often overlook the ability of models to comprehend and produce code constrained by computational complexity. BigO(Bench) includes tooling to infer the algorithmic complexity of any Python function from profiling measurements, including human- or LLM-generated solutions. BigO(Bench) also includes of set of 3,105 coding problems and 1,190,250 solutions from Code Contests annotated with inferred (synthetic) time and space complexity labels from the complexity framework, as well as corresponding runtime and memory footprint values for a large set of input sizes. We present results from evaluating multiple state-of-the-art language models on this benchmark, highlighting their strengths and weaknesses in handling complexity requirements. In particular, token-space reasoning models are unrivaled in code generation but not in complexity understanding, hinting that they may not generalize well to tasks for which no reward was given at training time.

We present M^3-Bench, the first benchmark for evaluating multimodal tool use under the Model Context Protocol. The benchmark targets realistic, multi-hop and multi-threaded workflows that require visual grounding and textual reasoning, cross-tool dependencies, and persistence of intermediate resources across steps. We introduce a similarity-driven alignment that serializes each tool call, embeds signatures with a sentence encoder, and performs similarity-bucketed Hungarian matching to obtain auditable one-to-one correspondences. On top of this alignment, we report interpretable metrics that decouple semantic fidelity from workflow consistency. The benchmark spans 28 servers with 231 tools, and provides standardized trajectories curated through an Executor & Judge pipeline with human verification; an auxiliary four large language models (LLMs) judge ensemble reports end-task Task Completion and information grounding. Evaluations of representative state-of-the-art Multimodal LLMs (MLLMs) reveal persistent gaps in multimodal MCP tool use, particularly in argument fidelity and structure consistency, underscoring the need for methods that jointly reason over images, text, and tool graphs. Our Benchmark's anonymous repository is at https://github.com/EtaYang10th/Open-M3-Bench

Large Multimodal Models (LMMs) exhibit major shortfalls when interpreting images and, by some measures, have poorer spatial cognition than small children or animals. Despite this, they attain high scores on many popular visual benchmarks, with headroom rapidly eroded by an ongoing surge of model progress. To address this, there is a pressing need for difficult benchmarks that remain relevant for longer. We take this idea to its limit by introducing ZeroBench-a lightweight visual reasoning benchmark that is entirely impossible for contemporary frontier LMMs. Our benchmark consists of 100 manually curated questions and 334 less difficult subquestions. We evaluate 20 LMMs on ZeroBench, all of which score 0.0%, and rigorously analyse the errors. To encourage progress in visual understanding, we publicly release ZeroBench.

There is a surge of interest in image scene graph generation (object, attribute and relationship detection) due to the need of building fine-grained image understanding models that go beyond object detection. Due to the lack of a good benchmark, the reported results of different scene graph generation models are not directly comparable, impeding the research progress. We have developed a much-needed scene graph generation benchmark based on the maskrcnn-benchmark and several popular models. This paper presents main features of our benchmark and a comprehensive ablation study of scene graph generation models using the Visual Genome and OpenImages Visual relationship detection datasets. Our codebase is made publicly available at https://github.com/microsoft/scene_graph_benchmark.

We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our results are comparable to other studies. Additionally, the benchmark is designed to be easily reproducible in the real world, making it accessible to researchers and practitioners. We also provide our experimental results and analyzes for model-based and model-free 6D robotic grasping on the benchmark, where representative algorithms are evaluated for object perception, grasping planning, and motion planning. We believe that our benchmark will be a valuable tool for advancing the field of robot manipulation. By providing a standardized evaluation framework, researchers can more easily compare different techniques and algorithms, leading to faster progress in developing robot manipulation methods.

Enhancing large language models (LLMs) with real-time APIs can help generate more accurate and up-to-date responses. However, evaluating the function calling abilities of LLMs in real-world scenarios remains under-explored due to the complexity of data collection and evaluation. In this work, we introduce ComplexFuncBench, a benchmark for complex function calling across five real-world scenarios. Compared to existing benchmarks, ComplexFuncBench encompasses multi-step and constrained function calling, which requires long-parameter filing, parameter value reasoning, and 128k long context. Additionally, we propose an automatic framework, ComplexEval, for quantitatively evaluating complex function calling tasks. Through comprehensive experiments, we demonstrate the deficiencies of state-of-the-art LLMs in function calling and suggest future directions for optimizing these capabilities. The data and code are available at https://github.com/THUDM/ComplexFuncBench.

Object models are gradually progressing from predicting just category labels to providing detailed descriptions of object instances. This motivates the need for large datasets which go beyond traditional object masks and provide richer annotations such as part masks and attributes. Hence, we introduce PACO: Parts and Attributes of Common Objects. It spans 75 object categories, 456 object-part categories and 55 attributes across image (LVIS) and video (Ego4D) datasets. We provide 641K part masks annotated across 260K object boxes, with roughly half of them exhaustively annotated with attributes as well. We design evaluation metrics and provide benchmark results for three tasks on the dataset: part mask segmentation, object and part attribute prediction and zero-shot instance detection. Dataset, models, and code are open-sourced at https://github.com/facebookresearch/paco.

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object categories. This dataset enables and serves as a catalyst for many tasks such as shape analysis, dynamic 3D scene modeling and simulation, affordance analysis, and others. Using our dataset, we establish three benchmarking tasks for evaluating 3D part recognition: fine-grained semantic segmentation, hierarchical semantic segmentation, and instance segmentation. We benchmark four state-of-the-art 3D deep learning algorithms for fine-grained semantic segmentation and three baseline methods for hierarchical semantic segmentation. We also propose a novel method for part instance segmentation and demonstrate its superior performance over existing methods.

We introduce VisIT-Bench (Visual InsTruction Benchmark), a benchmark for evaluation of instruction-following vision-language models for real-world use. Our starting point is curating 70 'instruction families' that we envision instruction tuned vision-language models should be able to address. Extending beyond evaluations like VQAv2 and COCO, tasks range from basic recognition to game playing and creative generation. Following curation, our dataset comprises 592 test queries, each with a human-authored instruction-conditioned caption. These descriptions surface instruction-specific factors, e.g., for an instruction asking about the accessibility of a storefront for wheelchair users, the instruction-conditioned caption describes ramps/potential obstacles. These descriptions enable 1) collecting human-verified reference outputs for each instance; and 2) automatic evaluation of candidate multimodal generations using a text-only LLM, aligning with human judgment. We quantify quality gaps between models and references using both human and automatic evaluations; e.g., the top-performing instruction-following model wins against the GPT-4 reference in just 27% of the comparison. VisIT-Bench is dynamic to participate, practitioners simply submit their model's response on the project website; Data, code and leaderboard is available at visit-bench.github.io.

This paper introduces a tuning-free method for both object insertion and subject-driven generation. The task involves composing an object, given multiple views, into a scene specified by either an image or text. Existing methods struggle to fully meet the task's challenging objectives: (i) seamlessly composing the object into the scene with photorealistic pose and lighting, and (ii) preserving the object's identity. We hypothesize that achieving these goals requires large scale supervision, but manually collecting sufficient data is simply too expensive. The key observation in this paper is that many mass-produced objects recur across multiple images of large unlabeled datasets, in different scenes, poses, and lighting conditions. We use this observation to create massive supervision by retrieving sets of diverse views of the same object. This powerful paired dataset enables us to train a straightforward text-to-image diffusion architecture to map the object and scene descriptions to the composited image. We compare our method, ObjectMate, with state-of-the-art methods for object insertion and subject-driven generation, using a single or multiple references. Empirically, ObjectMate achieves superior identity preservation and more photorealistic composition. Differently from many other multi-reference methods, ObjectMate does not require slow test-time tuning.

Continuous perception, the ability to integrate visual observations over time in a continuous stream fashion, is essential for robust real-world understanding, yet remains largely untested in current multimodal models. We introduce CP-Bench, a minimal and fully controlled benchmark designed to isolate this capability using an extremely simple task: counting identical cubes in a synthetic scene while the camera moves and only reveals subsets of objects at any moment. Despite the simplicity of the setting, we find that state-of-the-art open-source and commercial models, including Qwen-3-VL, InternVL3, GPT-5, and Gemini-3-Pro, fail dramatically. A static-camera control variant confirms that the failure arises not from object recognition but from an inability to accumulate evidence across time. Further experiments show that neither higher sampling FPS, perception- or spatial-enhanced models, nor finetuning with additional videos leads to meaningful cross-temporal generalization. Our results reveal a fundamental limitation in modern multimodal architectures and training paradigms. CP-Bench provides a simple yet powerful diagnostic tool and establishes a clean testbed for developing models capable of genuine time-consistent visual reasoning.

High-quality benchmarks are the foundation for embodied AI research, enabling significant advancements in long-horizon navigation, manipulation and rearrangement tasks. However, as frontier tasks in robotics get more advanced, they require faster simulation speed, more intricate test environments, and larger demonstration datasets. To this end, we present MS-HAB, a holistic benchmark for low-level manipulation and in-home object rearrangement. First, we provide a GPU-accelerated implementation of the Home Assistant Benchmark (HAB). We support realistic low-level control and achieve over 3x the speed of previous magical grasp implementations at similar GPU memory usage. Second, we train extensive reinforcement learning (RL) and imitation learning (IL) baselines for future work to compare against. Finally, we develop a rule-based trajectory filtering system to sample specific demonstrations from our RL policies which match predefined criteria for robot behavior and safety. Combining demonstration filtering with our fast environments enables efficient, controlled data generation at scale.

Automated software engineering has been greatly empowered by the recent advances in Large Language Models (LLMs) for programming. While current benchmarks have shown that LLMs can perform various software engineering tasks like human developers, the majority of their evaluations are limited to short and self-contained algorithmic tasks. Solving challenging and practical programming tasks requires the capability of utilizing diverse function calls as tools to efficiently implement functionalities like data analysis and web development. In addition, using multiple tools to solve a task needs compositional reasoning by accurately understanding complex instructions. Fulfilling both of these characteristics can pose a great challenge for LLMs. To assess how well LLMs can solve challenging and practical programming tasks, we introduce Bench, a benchmark that challenges LLMs to invoke multiple function calls as tools from 139 libraries and 7 domains for 1,140 fine-grained programming tasks. To evaluate LLMs rigorously, each programming task encompasses 5.6 test cases with an average branch coverage of 99%. In addition, we propose a natural-language-oriented variant of Bench, Benchi, that automatically transforms the original docstrings into short instructions only with essential information. Our extensive evaluation of 60 LLMs shows that LLMs are not yet capable of following complex instructions to use function calls precisely, with scores up to 60%, significantly lower than the human performance of 97%. The results underscore the need for further advancements in this area.

In this paper, we introduce semi-supervised video object segmentation (VOS) to panoptic wild scenes and present a large-scale benchmark as well as a baseline method for it. Previous benchmarks for VOS with sparse annotations are not sufficient to train or evaluate a model that needs to process all possible objects in real-world scenarios. Our new benchmark (VIPOSeg) contains exhaustive object annotations and covers various real-world object categories which are carefully divided into subsets of thing/stuff and seen/unseen classes for comprehensive evaluation. Considering the challenges in panoptic VOS, we propose a strong baseline method named panoptic object association with transformers (PAOT), which uses panoptic identification to associate objects with a pyramid architecture on multiple scales. Experimental results show that VIPOSeg can not only boost the performance of VOS models by panoptic training but also evaluate them comprehensively in panoptic scenes. Previous methods for classic VOS still need to improve in performance and efficiency when dealing with panoptic scenes, while our PAOT achieves SOTA performance with good efficiency on VIPOSeg and previous VOS benchmarks. PAOT also ranks 1st in the VOT2022 challenge. Our dataset is available at https://github.com/yoxu515/VIPOSeg-Benchmark.

Traditional fixed test sets fall short in evaluating open-ended capabilities of foundation models. To address this, we propose ONEBench(OpeN-Ended Benchmarking), a new testing paradigm that consolidates individual evaluation datasets into a unified, ever-expanding sample pool. ONEBench allows users to generate custom, open-ended evaluation benchmarks from this pool, corresponding to specific capabilities of interest. By aggregating samples across test sets, ONEBench enables the assessment of diverse capabilities beyond those covered by the original test sets, while mitigating overfitting and dataset bias. Most importantly, it frames model evaluation as a collective process of selecting and aggregating sample-level tests. The shift from task-specific benchmarks to ONEBench introduces two challenges: (1)heterogeneity and (2)incompleteness. Heterogeneity refers to the aggregation over diverse metrics, while incompleteness describes comparing models evaluated on different data subsets. To address these challenges, we explore algorithms to aggregate sparse measurements into reliable model scores. Our aggregation algorithm ensures identifiability(asymptotically recovering ground-truth scores) and rapid convergence, enabling accurate model ranking with less data. On homogenous datasets, we show our aggregation algorithm provides rankings that highly correlate with those produced by average scores. We also demonstrate robustness to ~95% of measurements missing, reducing evaluation cost by up to 20x with little-to-no change in model rankings. We introduce ONEBench-LLM for language models and ONEBench-LMM for vision-language models, unifying evaluations across these domains. Overall, we present a technique for open-ended evaluation, which can aggregate over incomplete, heterogeneous sample-level measurements to continually grow a benchmark alongside the rapidly developing foundation models.

As language models improve and become capable of performing more complex tasks across modalities, evaluating them automatically becomes increasingly challenging. Developing strong and robust task-specific automatic metrics gets harder, and human-annotated test sets -- which are expensive to create -- saturate more quickly. A compelling alternative is to design reliable strategies to automate the creation of test data and evaluation, but previous attempts either rely on pre-existing data, or focus solely on individual tasks. We present Zero-shot Benchmarking (ZSB), a framework for creating high-quality benchmarks for any task by leveraging language models for both synthetic test data creation and evaluation. ZSB is simple and flexible: it requires only the creation of a prompt for data generation and one for evaluation; it is scalable to tasks and languages where collecting real-world data is costly or impractical; it is model-agnostic, allowing the creation of increasingly challenging benchmarks as models improve. To assess the effectiveness of our framework, we create benchmarks for five text-only tasks and a multi-modal one: general capabilities in four languages (English, Chinese, French, and Korean), translation, and general vision-language capabilities in English. We then rank a broad range of open and closed systems on our benchmarks. ZSB rankings consistently correlate strongly with human rankings, outperforming widely-adopted standard benchmarks. Through ablations, we find that strong benchmarks can be created with open models, and that judge model size and dataset variety are crucial drivers of performance. We release all our benchmarks, and code to reproduce our experiments and to produce new benchmarks.

Object-centric learning (OCL) aspires general and compositional understanding of scenes by representing a scene as a collection of object-centric representations. OCL has also been extended to multi-view image and video datasets to apply various data-driven inductive biases by utilizing geometric or temporal information in the multi-image data. Single-view images carry less information about how to disentangle a given scene than videos or multi-view images do. Hence, owing to the difficulty of applying inductive biases, OCL for single-view images remains challenging, resulting in inconsistent learning of object-centric representation. To this end, we introduce a novel OCL framework for single-view images, SLot Attention via SHepherding (SLASH), which consists of two simple-yet-effective modules on top of Slot Attention. The new modules, Attention Refining Kernel (ARK) and Intermediate Point Predictor and Encoder (IPPE), respectively, prevent slots from being distracted by the background noise and indicate locations for slots to focus on to facilitate learning of object-centric representation. We also propose a weak semi-supervision approach for OCL, whilst our proposed framework can be used without any assistant annotation during the inference. Experiments show that our proposed method enables consistent learning of object-centric representation and achieves strong performance across four datasets. Code is available at https://github.com/object-understanding/SLASH.

We introduce the WorldScore benchmark, the first unified benchmark for world generation. We decompose world generation into a sequence of next-scene generation tasks with explicit camera trajectory-based layout specifications, enabling unified evaluation of diverse approaches from 3D and 4D scene generation to video generation models. The WorldScore benchmark encompasses a curated dataset of 3,000 test examples that span diverse worlds: static and dynamic, indoor and outdoor, photorealistic and stylized. The WorldScore metrics evaluate generated worlds through three key aspects: controllability, quality, and dynamics. Through extensive evaluation of 19 representative models, including both open-source and closed-source ones, we reveal key insights and challenges for each category of models. Our dataset, evaluation code, and leaderboard can be found at https://haoyi-duan.github.io/WorldScore/

Despite the stunning ability to generate high-quality images by recent text-to-image models, current approaches often struggle to effectively compose objects with different attributes and relationships into a complex and coherent scene. We propose T2I-CompBench, a comprehensive benchmark for open-world compositional text-to-image generation, consisting of 6,000 compositional text prompts from 3 categories (attribute binding, object relationships, and complex compositions) and 6 sub-categories (color binding, shape binding, texture binding, spatial relationships, non-spatial relationships, and complex compositions). We further propose several evaluation metrics specifically designed to evaluate compositional text-to-image generation. We introduce a new approach, Generative mOdel fine-tuning with Reward-driven Sample selection (GORS), to boost the compositional text-to-image generation abilities of pretrained text-to-image models. Extensive experiments and evaluations are conducted to benchmark previous methods on T2I-CompBench, and to validate the effectiveness of our proposed evaluation metrics and GORS approach. Project page is available at https://karine-h.github.io/T2I-CompBench/.

Large language models (LLMs), such as Codex and GPT-4, have recently showcased their remarkable code generation abilities, facilitating a significant boost in coding efficiency. This paper will delve into utilizing LLMs for code generation in private libraries, as they are widely employed in everyday programming. Despite their remarkable capabilities, generating such private APIs poses a formidable conundrum for LLMs, as they inherently lack exposure to these private libraries during pre-training. To address this challenge, we propose a novel framework that emulates the process of programmers writing private code. This framework comprises two modules: APIFinder first retrieves potentially useful APIs from API documentation; and APICoder then leverages these retrieved APIs to generate private code. Specifically, APIFinder employs vector retrieval techniques and allows user involvement in the retrieval process. For APICoder, it can directly utilize off-the-shelf code generation models. To further cultivate explicit proficiency in invoking APIs from prompts, we continuously pre-train a reinforced version of APICoder, named CodeGenAPI. Our goal is to train the above two modules on vast public libraries, enabling generalization to private ones. Meanwhile, we create four private library benchmarks, including TorchDataEval, TorchDataComplexEval, MonkeyEval, and BeatNumEval, and meticulously handcraft test cases for each benchmark to support comprehensive evaluations. Numerous experiments on the four benchmarks consistently affirm the effectiveness of our approach. Furthermore, deeper analysis is also conducted to glean additional insights.

Image representations are often evaluated through disjointed, task-specific protocols, leading to a fragmented understanding of model capabilities. For instance, it is unclear whether an image embedding model adept at clustering images is equally good at retrieving relevant images given a piece of text. We introduce the Massive Image Embedding Benchmark (MIEB) to evaluate the performance of image and image-text embedding models across the broadest spectrum to date. MIEB spans 38 languages across 130 individual tasks, which we group into 8 high-level categories. We benchmark 50 models across our benchmark, finding that no single method dominates across all task categories. We reveal hidden capabilities in advanced vision models such as their accurate visual representation of texts, and their yet limited capabilities in interleaved encodings and matching images and texts in the presence of confounders. We also show that the performance of vision encoders on MIEB correlates highly with their performance when used in multimodal large language models. Our code, dataset, and leaderboard are publicly available at https://github.com/embeddings-benchmark/mteb.

Can the rapid advances in code generation, function calling, and data analysis using large language models (LLMs) help automate the search and verification of hypotheses purely from a set of provided datasets? To evaluate this question, we present DiscoveryBench, the first comprehensive benchmark that formalizes the multi-step process of data-driven discovery. The benchmark is designed to systematically assess current model capabilities in discovery tasks and provide a useful resource for improving them. Our benchmark contains 264 tasks collected across 6 diverse domains, such as sociology and engineering, by manually deriving discovery workflows from published papers to approximate the real-world challenges faced by researchers, where each task is defined by a dataset, its metadata, and a discovery goal in natural language. We additionally provide 903 synthetic tasks to conduct controlled evaluations across task complexity. Furthermore, our structured formalism of data-driven discovery enables a facet-based evaluation that provides useful insights into different failure modes. We evaluate several popular LLM-based reasoning frameworks using both open and closed LLMs as baselines on DiscoveryBench and find that even the best system scores only 25%. Our benchmark, thus, illustrates the challenges in autonomous data-driven discovery and serves as a valuable resource for the community to make progress.

Most object-level mapping systems in use today make use of an upstream learned object instance segmentation model. If we want to teach them about a new object or segmentation class, we need to build a large dataset and retrain the system. To build spatial AI systems that can quickly be taught about new objects, we need to effectively solve the problem of single-shot object detection, instance segmentation and re-identification. So far there is neither a method fulfilling all of these requirements in unison nor a benchmark that could be used to test such a method. Addressing this, we propose ISAR, a benchmark and baseline method for single- and few-shot object Instance Segmentation And Re-identification, in an effort to accelerate the development of algorithms that can robustly detect, segment, and re-identify objects from a single or a few sparse training examples. We provide a semi-synthetic dataset of video sequences with ground-truth semantic annotations, a standardized evaluation pipeline, and a baseline method. Our benchmark aligns with the emerging research trend of unifying Multi-Object Tracking, Video Object Segmentation, and Re-identification.

We present YOLOBench, a benchmark comprised of 550+ YOLO-based object detection models on 4 different datasets and 4 different embedded hardware platforms (x86 CPU, ARM CPU, Nvidia GPU, NPU). We collect accuracy and latency numbers for a variety of YOLO-based one-stage detectors at different model scales by performing a fair, controlled comparison of these detectors with a fixed training environment (code and training hyperparameters). Pareto-optimality analysis of the collected data reveals that, if modern detection heads and training techniques are incorporated into the learning process, multiple architectures of the YOLO series achieve a good accuracy-latency trade-off, including older models like YOLOv3 and YOLOv4. We also evaluate training-free accuracy estimators used in neural architecture search on YOLOBench and demonstrate that, while most state-of-the-art zero-cost accuracy estimators are outperformed by a simple baseline like MAC count, some of them can be effectively used to predict Pareto-optimal detection models. We showcase that by using a zero-cost proxy to identify a YOLO architecture competitive against a state-of-the-art YOLOv8 model on a Raspberry Pi 4 CPU. The code and data are available at https://github.com/Deeplite/deeplite-torch-zoo

Learning structured representations of the visual world in terms of objects promises to significantly improve the generalization abilities of current machine learning models. While recent efforts to this end have shown promising empirical progress, a theoretical account of when unsupervised object-centric representation learning is possible is still lacking. Consequently, understanding the reasons for the success of existing object-centric methods as well as designing new theoretically grounded methods remains challenging. In the present work, we analyze when object-centric representations can provably be learned without supervision. To this end, we first introduce two assumptions on the generative process for scenes comprised of several objects, which we call compositionality and irreducibility. Under this generative process, we prove that the ground-truth object representations can be identified by an invertible and compositional inference model, even in the presence of dependencies between objects. We empirically validate our results through experiments on synthetic data. Finally, we provide evidence that our theory holds predictive power for existing object-centric models by showing a close correspondence between models' compositionality and invertibility and their empirical identifiability.

Leveraging nearest neighbor retrieval for self-supervised representation learning has proven beneficial with object-centric images. However, this approach faces limitations when applied to scene-centric datasets, where multiple objects within an image are only implicitly captured in the global representation. Such global bootstrapping can lead to undesirable entanglement of object representations. Furthermore, even object-centric datasets stand to benefit from a finer-grained bootstrapping approach. In response to these challenges, we introduce a novel Cross-Image Object-Level Bootstrapping method tailored to enhance dense visual representation learning. By employing object-level nearest neighbor bootstrapping throughout the training, CrIBo emerges as a notably strong and adequate candidate for in-context learning, leveraging nearest neighbor retrieval at test time. CrIBo shows state-of-the-art performance on the latter task while being highly competitive in more standard downstream segmentation tasks. Our code and pretrained models are publicly available at https://github.com/tileb1/CrIBo.

Understanding objects at the level of their constituent parts is fundamental to advancing computer vision, graphics, and robotics. While datasets like PartNet have driven progress in 3D part understanding, their reliance on untextured geometries and expert-dependent annotation limits scalability and usability. We introduce PartNeXt, a next-generation dataset addressing these gaps with over 23,000 high-quality, textured 3D models annotated with fine-grained, hierarchical part labels across 50 categories. We benchmark PartNeXt on two tasks: (1) class-agnostic part segmentation, where state-of-the-art methods (e.g., PartField, SAMPart3D) struggle with fine-grained and leaf-level parts, and (2) 3D part-centric question answering, a new benchmark for 3D-LLMs that reveals significant gaps in open-vocabulary part grounding. Additionally, training Point-SAM on PartNeXt yields substantial gains over PartNet, underscoring the dataset's superior quality and diversity. By combining scalable annotation, texture-aware labels, and multi-task evaluation, PartNeXt opens new avenues for research in structured 3D understanding.

LLMs have demonstrated significant potential in code generation tasks, achieving promising results at the function or statement level across various benchmarks. However, the complexities associated with creating code artifacts like classes, particularly within the context of real-world software repositories, remain underexplored. Prior research treats class-level generation as an isolated task, neglecting the intricate dependencies & interactions that characterize real-world software environments. To address this gap, we introduce RepoClassBench, a comprehensive benchmark designed to rigorously evaluate LLMs in generating complex, class-level code within real-world repositories. RepoClassBench includes "Natural Language to Class generation" tasks across Java, Python & C# from a selection of repositories. We ensure that each class in our dataset not only has cross-file dependencies within the repository but also includes corresponding test cases to verify its functionality. We find that current models struggle with the realistic challenges posed by our benchmark, primarily due to their limited exposure to relevant repository contexts. To address this shortcoming, we introduce Retrieve-Repotools-Reflect (RRR), a novel approach that equips LLMs with static analysis tools to iteratively navigate & reason about repository-level context in an agent-based framework. Our experiments demonstrate that RRR significantly outperforms existing baselines on RepoClassBench, showcasing its effectiveness across programming languages & under various settings. Our findings emphasize the critical need for code-generation benchmarks to incorporate repo-level dependencies to more accurately reflect the complexities of software development. Our work shows the benefits of leveraging specialized tools to enhance LLMs' understanding of repository context. We plan to make our dataset & evaluation harness public.

In recent years, large language models (LLMs) have made significant progress in code intelligence, yet systematically evaluating their code understanding and reasoning abilities remains challenging. Mainstream benchmarks such as HumanEval and MBPP primarily assess functional correctness, while reasoning benchmarks like CRUXEVAL are limited to single-function, low-complexity scenarios. As a result, advanced models achieve nearly saturated scores, limiting their discriminative power. To address this, we present STEPWISE-CODEX-Bench (SX-Bench), a novel benchmark designed for complex multi-function understanding and fine-grained execution reasoning. SX-Bench features tasks involving collaboration among multiple sub-functions (e.g., chained calls, nested loops), shifting evaluation towards overall control and data flow modeling. It defines "computation steps" as the minimal execution unit and requires models to predict the total number of steps in reasoning tasks, thereby assessing a model's in-depth understanding of dynamic execution beyond simple I/O matching. Evaluation on over 20 mainstream models (including 14 reasoning-enhanced models) demonstrates that SX-Bench is highly discriminative: even the state-of-the-art OpenAI-O3 achieves only 78.37 percent accuracy on Hard-Reasoning tasks, much lower than its saturated scores on previous benchmarks, thereby revealing bottlenecks in complex and fine-grained reasoning. We also release an automated pipeline combining program synthesis, symbolic execution, and LLM-aided validation for efficient benchmark generation and quality assurance. SX-Bench advances code evaluation from "single-function verification" to "multi-function dynamic reasoning," providing a key tool for the in-depth assessment of advanced code intelligence models.

Significant research efforts have been made to scale and improve vision-language model (VLM) training approaches. Yet, with an ever-growing number of benchmarks, researchers are tasked with the heavy burden of implementing each protocol, bearing a non-trivial computational cost, and making sense of how all these benchmarks translate into meaningful axes of progress. To facilitate a systematic evaluation of VLM progress, we introduce UniBench: a unified implementation of 50+ VLM benchmarks spanning a comprehensive range of carefully categorized capabilities from object recognition to spatial awareness, counting, and much more. We showcase the utility of UniBench for measuring progress by evaluating nearly 60 publicly available vision-language models, trained on scales of up to 12.8B samples. We find that while scaling training data or model size can boost many vision-language model capabilities, scaling offers little benefit for reasoning or relations. Surprisingly, we also discover today's best VLMs struggle on simple digit recognition and counting tasks, e.g. MNIST, which much simpler networks can solve. Where scale falls short, we find that more precise interventions, such as data quality or tailored-learning objectives offer more promise. For practitioners, we also offer guidance on selecting a suitable VLM for a given application. Finally, we release an easy-to-run UniBench code-base with the full set of 50+ benchmarks and comparisons across 59 models as well as a distilled, representative set of benchmarks that runs in 5 minutes on a single GPU.

The issue-resolving task, where a model generates patches to fix real-world bugs, has emerged as a critical benchmark for evaluating the capabilities of large language models (LLMs). While SWE-bench and its variants have become standard in this domain, they suffer from key limitations: they have not been updated since their initial releases, cover a narrow set of repositories, and depend heavily on manual effort for instance construction and environment setup. These factors hinder scalability and introduce risks of overfitting and data contamination. In this work, we present SWE-bench-Live, a live-updatable benchmark designed to overcome these challenges. Our initial release consists of 1,319 tasks derived from real GitHub issues created since 2024, spanning 93 repositories. Each task is accompanied by a dedicated Docker image to ensure reproducible execution. Central to our benchmark is \method, an automated curation pipeline that streamlines the entire process from instance creation to environment setup, removing manual bottlenecks and enabling scalability and continuous updates. We evaluate a range of state-of-the-art agent frameworks and LLMs on SWE-bench-Live, revealing a substantial performance gap compared to static benchmarks like SWE-bench, even under controlled evaluation conditions. To better understand this discrepancy, we perform detailed analyses across repository origin, issue recency, and task difficulty. By providing a fresh, diverse, and executable benchmark grounded in live repository activity, SWE-bench-Live facilitates rigorous, contamination-resistant evaluation of LLMs and agents in dynamic, real-world software development settings.

While real-world applications increasingly demand intricate scene manipulation, existing instruction-guided image editing benchmarks often oversimplify task complexity and lack comprehensive, fine-grained instructions. To bridge this gap, we introduce, a large-scale benchmark specifically designed for complex instruction-guided image editing. CompBench features challenging editing scenarios that incorporate fine-grained instruction following, spatial and contextual reasoning, thereby enabling comprehensive evaluation of image editing models' precise manipulation capabilities. To construct CompBench, We propose an MLLM-human collaborative framework with tailored task pipelines. Furthermore, we propose an instruction decoupling strategy that disentangles editing intents into four key dimensions: location, appearance, dynamics, and objects, ensuring closer alignment between instructions and complex editing requirements. Extensive evaluations reveal that CompBench exposes fundamental limitations of current image editing models and provides critical insights for the development of next-generation instruction-guided image editing systems. The dataset, code, and models are available in https://comp-bench.github.io/.

While large language models (LLMs) have shown considerable promise in code generation, real-world software development demands advanced repository-level reasoning. This includes understanding dependencies, project structures, and managing multi-file changes. However, the ability of LLMs to effectively comprehend and handle complex code repositories has yet to be fully explored. To address challenges, we introduce a hierarchical benchmark designed to evaluate repository dependency understanding (DependEval). Benchmark is based on 15,576 repositories collected from real-world websites. It evaluates models on three core tasks: Dependency Recognition, Repository Construction, and Multi-file Editing, across 8 programming languages from actual code repositories. Our evaluation of over 25 LLMs reveals substantial performance gaps and provides valuable insights into repository-level code understanding.

Computational efficiency in deep neural networks is critical for object detection, especially as newer models prioritize speed over efficient computation (FLOP). This evolution has somewhat left behind embedded and mobile-oriented AI object detection applications. In this paper, we focus on design choices of neural network architectures for efficient object detection computation based on FLOP and propose several optimizations to enhance the efficiency of YOLO-based models. Firstly, we introduce an efficient backbone scaling inspired by inverted bottlenecks and theoretical insights from the Information Bottleneck principle. Secondly, we present the Fast Pyramidal Architecture Network (FPAN), designed to facilitate fast multiscale feature sharing while reducing computational resources. Lastly, we propose a Decoupled Network-in-Network (DNiN) detection head engineered to deliver rapid yet lightweight computations for classification and regression tasks. Building upon these optimizations and leveraging more efficient backbones, this paper contributes to a new scaling paradigm for object detection and YOLO-centric models called LeYOLO. Our contribution consistently outperforms existing models in various resource constraints, achieving unprecedented accuracy and flop ratio. Notably, LeYOLO-Small achieves a competitive mAP score of 38.2% on the COCOval with just 4.5 FLOP(G), representing a 42% reduction in computational load compared to the latest state-of-the-art YOLOv9-Tiny model while achieving similar accuracy. Our novel model family achieves a FLOP-to-accuracy ratio previously unattained, offering scalability that spans from ultra-low neural network configurations (< 1 GFLOP) to efficient yet demanding object detection setups (> 4 GFLOPs) with 25.2, 31.3, 35.2, 38.2, 39.3 and 41 mAP for 0.66, 1.47, 2.53, 4.51, 5.8 and 8.4 FLOP(G).

Object detectors often perform poorly on data that differs from their training set. Domain adaptive object detection (DAOD) methods have recently demonstrated strong results on addressing this challenge. Unfortunately, we identify systemic benchmarking pitfalls that call past results into question and hamper further progress: (a) Overestimation of performance due to underpowered baselines, (b) Inconsistent implementation practices preventing transparent comparisons of methods, and (c) Lack of generality due to outdated backbones and lack of diversity in benchmarks. We address these problems by introducing: (1) A unified benchmarking and implementation framework, Align and Distill (ALDI), enabling comparison of DAOD methods and supporting future development, (2) A fair and modern training and evaluation protocol for DAOD that addresses benchmarking pitfalls, (3) A new DAOD benchmark dataset, CFC-DAOD, enabling evaluation on diverse real-world data, and (4) A new method, ALDI++, that achieves state-of-the-art results by a large margin. ALDI++ outperforms the previous state-of-the-art by +3.5 AP50 on Cityscapes to Foggy Cityscapes, +5.7 AP50 on Sim10k to Cityscapes (where ours is the only method to outperform a fair baseline), and +0.6 AP50 on CFC Kenai to Channel. ALDI and ALDI++ are architecture-agnostic, setting a new state-of-the-art for YOLO and DETR-based DAOD as well without additional hyperparameter tuning. Our framework, dataset, and state-of-the-art method offer a critical reset for DAOD and provide a strong foundation for future research. Code and data are available: https://github.com/justinkay/aldi and https://github.com/visipedia/caltech-fish-counting.

As large language models (LLMs) continue to advance, the need for up-to-date and well-organized benchmarks becomes increasingly critical. However, many existing datasets are scattered, difficult to manage, and make it challenging to perform evaluations tailored to specific needs or domains, despite the growing importance of domain-specific models in areas such as math or code. In this paper, we introduce BenchHub, a dynamic benchmark repository that empowers researchers and developers to evaluate LLMs more effectively. BenchHub aggregates and automatically classifies benchmark datasets from diverse domains, integrating 303K questions across 38 benchmarks. It is designed to support continuous updates and scalable data management, enabling flexible and customizable evaluation tailored to various domains or use cases. Through extensive experiments with various LLM families, we demonstrate that model performance varies significantly across domain-specific subsets, emphasizing the importance of domain-aware benchmarking. We believe BenchHub can encourage better dataset reuse, more transparent model comparisons, and easier identification of underrepresented areas in existing benchmarks, offering a critical infrastructure for advancing LLM evaluation research.

The ability to distill object-centric abstractions from intricate visual scenes underpins human-level generalization. Despite the significant progress in object-centric learning methods, learning object-centric representations in the 3D physical world remains a crucial challenge. In this work, we propose SlotLifter, a novel object-centric radiance model addressing scene reconstruction and decomposition jointly via slot-guided feature lifting. Such a design unites object-centric learning representations and image-based rendering methods, offering state-of-the-art performance in scene decomposition and novel-view synthesis on four challenging synthetic and four complex real-world datasets, outperforming existing 3D object-centric learning methods by a large margin. Through extensive ablative studies, we showcase the efficacy of designs in SlotLifter, revealing key insights for potential future directions.

Models like OpenAI-o3 pioneer visual grounded reasoning by dynamically referencing visual regions, just like human "thinking with images". However, no benchmark exists to evaluate these capabilities holistically. To bridge this gap, we propose TreeBench (Traceable Evidence Evaluation Benchmark), a diagnostic benchmark built on three principles: (1) focused visual perception of subtle targets in complex scenes, (2) traceable evidence via bounding box evaluation, and (3) second-order reasoning to test object interactions and spatial hierarchies beyond simple object localization. Prioritizing images with dense objects, we initially sample 1K high-quality images from SA-1B, and incorporate eight LMM experts to manually annotate questions, candidate options, and answers for each image. After three stages of quality control, TreeBench consists of 405 challenging visual question-answering pairs, even the most advanced models struggle with this benchmark, where none of them reach 60% accuracy, e.g., OpenAI-o3 scores only 54.87. Furthermore, we introduce TreeVGR (Traceable Evidence Enhanced Visual Grounded Reasoning), a training paradigm to supervise localization and reasoning jointly with reinforcement learning, enabling accurate localizations and explainable reasoning pathways. Initialized from Qwen2.5-VL-7B, it improves V* Bench (+16.8), MME-RealWorld (+12.6), and TreeBench (+13.4), proving traceability is key to advancing vision-grounded reasoning. The code is available at https://github.com/Haochen-Wang409/TreeVGR.

AI text-to-app tools promise high quality applications and websites in minutes, yet no public benchmark rigorously verifies those claims. We introduce UI-Bench, the first large-scale benchmark that evaluates visual excellence across competing AI text-to-app tools through expert pairwise comparison. Spanning 10 tools, 30 prompts, 300 generated sites, and 4,000+ expert judgments, UI-Bench ranks systems with a TrueSkill-derived model that yields calibrated confidence intervals. UI-Bench establishes a reproducible standard for advancing AI-driven web design. We release (i) the complete prompt set, (ii) an open-source evaluation framework, and (iii) a public leaderboard. The generated sites rated by participants will be released soon. View the UI-Bench leaderboard at https://uibench.ai/leaderboard.

The webpage-to-code task requires models to understand visual representations of webpages and generate corresponding code. However, existing benchmarks primarily focus on static screenshot-to-code tasks, thereby overlooking the dynamic interactions fundamental to real-world web applications. To address this limitation, this paper introduces IWR-Bench, a novel benchmark for evaluating the capabilities of Large Vision-Language Models (LVLMs) in interactive webpage reconstruction from video. IWR-Bench comprises 113 meticulously curated tasks from 100 real-world websites, with 1,001 actions and featuring diverse interaction complexities (e.g., web games), visual styles, and domains. Aligning with standard web development practices, each task includes not only user interaction videos but also all crawled static assets (e.g., images, videos). This benchmark evaluates models on two fundamental challenges: comprehensive multi-modal reasoning to infer interaction logic from video and assets, and advanced code generation to translate this logic into functional code. An agent-as-a-judge framework with a comprehensive metric system automatically assesses the functional correctness and visual fidelity of generated webpages. Extensive experiments on 28 LVLMs reveal a significant challenge: the best model achieves an overall score of only 36.35%, as functional correctness (24.39% IFS) lags significantly behind visual fidelity (64.25% VFS). These results highlight critical limitations in current models' ability to reason about temporal dynamics and synthesize event-driven logic, establishing IWR-Bench as a challenging frontier for vision-language research. The benchmark and evaluation code will be made publicly available. Code is available at https://github.com/L-O-I/IWR-Bench.

Text-to-3D generation has achieved remarkable progress in recent years, yet evaluating these methods remains challenging for two reasons: i) Existing benchmarks lack fine-grained evaluation on different prompt categories and evaluation dimensions. ii) Previous evaluation metrics only focus on a single aspect (e.g., text-3D alignment) and fail to perform multi-dimensional quality assessment. To address these problems, we first propose a comprehensive benchmark named MATE-3D. The benchmark contains eight well-designed prompt categories that cover single and multiple object generation, resulting in 1,280 generated textured meshes. We have conducted a large-scale subjective experiment from four different evaluation dimensions and collected 107,520 annotations, followed by detailed analyses of the results. Based on MATE-3D, we propose a novel quality evaluator named HyperScore. Utilizing hypernetwork to generate specified mapping functions for each evaluation dimension, our metric can effectively perform multi-dimensional quality assessment. HyperScore presents superior performance over existing metrics on MATE-3D, making it a promising metric for assessing and improving text-to-3D generation. The project is available at https://mate-3d.github.io/.

We introduce DafnyCOMP, a benchmark for evaluating large language models (LLMs) on compositional specification generation in Dafny. Unlike prior benchmarks that focus on single-function tasks, DafnyCOMP targets programs composed of multiple interacting functions with data dependencies, requiring reasoning across component boundaries. The benchmark consists of 300 automatically synthesized multi-function programs. We evaluate several state-of-the-art LLM families and find that, while they perform well on single-function verification, their performance drops sharply on compositional tasks. Analysis reveals systematic failures in cross-functional reasoning, including fragile specifications, misalignment between implementations and proofs, and unstable reasoning. DafnyCOMP thus provides a diagnostic tool for measuring progress toward reliable, verifiable, and compositional code generation with LLMs.

Massive data corpora like WebText, Wikipedia, Conceptual Captions, WebImageText, and LAION have propelled recent dramatic progress in AI. Large neural models trained on such datasets produce impressive results and top many of today's benchmarks. A notable omission within this family of large-scale datasets is 3D data. Despite considerable interest and potential applications in 3D vision, datasets of high-fidelity 3D models continue to be mid-sized with limited diversity of object categories. Addressing this gap, we present Objaverse 1.0, a large dataset of objects with 800K+ (and growing) 3D models with descriptive captions, tags, and animations. Objaverse improves upon present day 3D repositories in terms of scale, number of categories, and in the visual diversity of instances within a category. We demonstrate the large potential of Objaverse via four diverse applications: training generative 3D models, improving tail category segmentation on the LVIS benchmark, training open-vocabulary object-navigation models for Embodied AI, and creating a new benchmark for robustness analysis of vision models. Objaverse can open new directions for research and enable new applications across the field of AI.

Existing code generation benchmarks primarily evaluate functional correctness, with limited focus on code efficiency and often restricted to a single language like Python. To address this gap, we introduce EffiBench-X, the first multi-language benchmark designed to measure the efficiency of LLM-generated code. EffiBench-X supports Python, C++, Java, JavaScript, Ruby, and Golang. It comprises competitive programming tasks with human-expert solutions as efficiency baselines. Evaluating state-of-the-art LLMs on EffiBench-X reveals that while models generate functionally correct code, they consistently underperform human experts in efficiency. Even the most efficient LLM-generated solutions (Qwen3-32B) achieve only around 62\% of human efficiency on average, with significant language-specific variations. LLMs show better efficiency in Python, Ruby, and JavaScript than in Java, C++, and Golang. For instance, DeepSeek-R1's Python code is significantly more efficient than its Java code. These results highlight the critical need for research into LLM optimization techniques to improve code efficiency across diverse languages. The dataset and evaluation infrastructure are submitted and available at https://github.com/EffiBench/EffiBench-X.git and https://huggingface.co/datasets/EffiBench/effibench-x.

Competitive programming benchmarks are widely used in scenarios such as programming contests and large language model assessments. However, the growing presence of duplicate or highly similar problems raises concerns not only about competition fairness, but also about the validity of competitive programming as a benchmark for model evaluation. In this paper, we propose a new problem -- similar question retrieval -- to address this issue. Due to the lack of both data and models, solving this problem is challenging. To this end, we introduce CPRet, a retrieval-oriented benchmark suite for competitive programming, covering four retrieval tasks: two code-centric (i.e., Text-to-Code and Code-to-Code) and two newly proposed problem-centric tasks (i.e., Problem-to-Duplicate and Simplified-to-Full), built from a combination of automatically crawled problem-solution data and manually curated annotations. Our contribution includes both high-quality training data and temporally separated test sets for reliable evaluation. In addition, we develop two task-specialized retrievers based on this dataset: CPRetriever-Code, trained with a novel Group-InfoNCE loss for problem-code alignment, and CPRetriever-Prob, fine-tuned for identifying problem-level similarity. Both models achieve strong results and are open-sourced for local use. Finally, we analyze LiveCodeBench and find that high-similarity problems inflate model pass rates and reduce differentiation, underscoring the need for similarity-aware evaluation in future benchmarks. Code and data are available at: https://github.com/coldchair/CPRet

We propose Segment Any Mesh, a novel zero-shot mesh part segmentation method that overcomes the limitations of shape analysis-based, learning-based, and contemporary approaches. Our approach operates in two phases: multimodal rendering and 2D-to-3D lifting. In the first phase, multiview renders of the mesh are individually processed through Segment Anything to generate 2D masks. These masks are then lifted into a mesh part segmentation by associating masks that refer to the same mesh part across the multiview renders. We find that applying Segment Anything to multimodal feature renders of normals and shape diameter scalars achieves better results than using only untextured renders of meshes. By building our method on top of Segment Anything, we seamlessly inherit any future improvements made to 2D segmentation. We compare our method with a robust, well-evaluated shape analysis method, Shape Diameter Function, and show that our method is comparable to or exceeds its performance. Since current benchmarks contain limited object diversity, we also curate and release a dataset of generated meshes and use it to demonstrate our method's improved generalization over Shape Diameter Function via human evaluation. We release the code and dataset at https://github.com/gtangg12/samesh

Benchmarks play a crucial role in the development and analysis of reinforcement learning (RL) algorithms. We identify that existing benchmarks used for research into open-ended learning fall into one of two categories. Either they are too slow for meaningful research to be performed without enormous computational resources, like Crafter, NetHack and Minecraft, or they are not complex enough to pose a significant challenge, like Minigrid and Procgen. To remedy this, we first present Craftax-Classic: a ground-up rewrite of Crafter in JAX that runs up to 250x faster than the Python-native original. A run of PPO using 1 billion environment interactions finishes in under an hour using only a single GPU and averages 90% of the optimal reward. To provide a more compelling challenge we present the main Craftax benchmark, a significant extension of the Crafter mechanics with elements inspired from NetHack. Solving Craftax requires deep exploration, long term planning and memory, as well as continual adaptation to novel situations as more of the world is discovered. We show that existing methods including global and episodic exploration, as well as unsupervised environment design fail to make material progress on the benchmark. We believe that Craftax can for the first time allow researchers to experiment in a complex, open-ended environment with limited computational resources.

Optimizing the performance of large-scale software repositories demands expertise in code reasoning and software engineering (SWE) to reduce runtime while preserving program correctness. However, most benchmarks emphasize what to fix rather than how to fix code. We introduce SWE-fficiency, a benchmark for evaluating repository-level performance optimization on real workloads. Our suite contains 498 tasks across nine widely used data-science, machine-learning, and HPC repositories (e.g., numpy, pandas, scipy): given a complete codebase and a slow workload, an agent must investigate code semantics, localize bottlenecks and relevant tests, and produce a patch that matches or exceeds expert speedup while passing the same unit tests. To enable this how-to-fix evaluation, our automated pipeline scrapes GitHub pull requests for performance-improving edits, combining keyword filtering, static analysis, coverage tooling, and execution validation to both confirm expert speedup baselines and identify relevant repository unit tests. Empirical evaluation of state-of-the-art agents reveals significant underperformance. On average, agents achieve less than 0.15x the expert speedup: agents struggle in localizing optimization opportunities, reasoning about execution across functions, and maintaining correctness in proposed edits. We release the benchmark and accompanying data pipeline to facilitate research on automated performance engineering and long-horizon software reasoning.

Benchmarks are essential for consistent evaluation and reproducibility. The integration of Artificial Intelligence into Software Engineering (AI4SE) has given rise to numerous benchmarks for tasks such as code generation and bug fixing. However, this surge presents challenges: (1) scattered benchmark knowledge across tasks, (2) difficulty in selecting relevant benchmarks, (3) the absence of a uniform standard for benchmark development, and (4) limitations of existing benchmarks. In this paper, we review 173 studies and identify 204 AI4SE benchmarks. We classify these benchmarks, analyze their limitations, and expose gaps in practices. Based on our review, we created BenchScout, a semantic search tool to find relevant benchmarks, using automated clustering of the contexts from associated studies. We conducted a user study with 22 participants to evaluate BenchScout's usability, effectiveness, and intuitiveness which resulted in average scores of 4.5, 4.0, and 4.1 out of 5. To advance benchmarking standards, we propose BenchFrame, a unified method to enhance benchmark quality. As a case study, we applied BenchFrame to the HumanEval benchmark and addressed its main limitations. This led to HumanEvalNext, featuring (1) corrected errors, (2) improved language conversion, (3) expanded test coverage, and (4) increased difficulty. We then evaluated ten state-of-the-art code language models on HumanEval, HumanEvalPlus, and HumanEvalNext. On HumanEvalNext, models showed a pass@1 score reduction of 31.22% and 19.94% compared to HumanEval and HumanEvalPlus, respectively.

Developing high-performance software is a complex task that requires specialized expertise. We introduce GSO, a benchmark for evaluating language models' capabilities in developing high-performance software. We develop an automated pipeline that generates and executes performance tests to analyze repository commit histories to identify 102 challenging optimization tasks across 10 codebases, spanning diverse domains and programming languages. An agent is provided with a codebase and performance test as a precise specification, and tasked to improve the runtime efficiency, which is measured against the expert developer optimization. Our quantitative evaluation reveals that leading SWE-Agents struggle significantly, achieving less than 5% success rate, with limited improvements even with inference-time scaling. Our qualitative analysis identifies key failure modes, including difficulties with low-level languages, practicing lazy optimization strategies, and challenges in accurately localizing bottlenecks. We release the code and artifacts of our benchmark along with agent trajectories to enable future research.

Detection identifies objects as axis-aligned boxes in an image. Most successful object detectors enumerate a nearly exhaustive list of potential object locations and classify each. This is wasteful, inefficient, and requires additional post-processing. In this paper, we take a different approach. We model an object as a single point --- the center point of its bounding box. Our detector uses keypoint estimation to find center points and regresses to all other object properties, such as size, 3D location, orientation, and even pose. Our center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and more accurate than corresponding bounding box based detectors. CenterNet achieves the best speed-accuracy trade-off on the MS COCO dataset, with 28.1% AP at 142 FPS, 37.4% AP at 52 FPS, and 45.1% AP with multi-scale testing at 1.4 FPS. We use the same approach to estimate 3D bounding box in the KITTI benchmark and human pose on the COCO keypoint dataset. Our method performs competitively with sophisticated multi-stage methods and runs in real-time.

Large language and multimodal models have shown remarkable successes on various benchmarks focused on specific skills such as general-purpose programming, natural language understanding, math word problem-solving, and visual question answering. However, it is unclear how well these models perform on tasks that require a combination of these skills. In this paper, we curate a novel program synthesis benchmark based on the XLogoOnline visual programming environment. The benchmark comprises 85 real-world tasks from the Mini-level of the XLogoOnline environment, each requiring a combination of different skills such as spatial planning, basic programming, and logical reasoning. Our evaluation shows that current state-of-the-art models like GPT-4V and Llama3-70B struggle to solve these tasks, achieving only 20% and 2.35% success rates. Next, we develop a fine-tuning pipeline to boost the performance of models by leveraging a large-scale synthetic training dataset with over 80000 tasks. Moreover, we showcase how emulator-driven feedback can be used to design a curriculum over training data distribution. We showcase that a fine-tuned Llama3-8B drastically outperforms GPT-4V and Llama3-70B models, and provide an in-depth analysis of the models' expertise across different skill dimensions. We will publicly release the benchmark for future research on program synthesis in visual programming.

Current benchmarks for evaluating neural code models focus on only a small subset of programming languages, excluding many popular languages such as Go or Rust. To ameliorate this issue, we present the BabelCode framework for execution-based evaluation of any benchmark in any language. BabelCode enables new investigations into the qualitative performance of models' memory, runtime, and individual test case results. Additionally, we present a new code translation dataset called Translating Python Programming Puzzles (TP3) from the Python Programming Puzzles (Schuster et al. 2021) benchmark that involves translating expert-level python functions to any language. With both BabelCode and the TP3 benchmark, we investigate if balancing the distributions of 14 languages in a training dataset improves a large language model's performance on low-resource languages. Training a model on a balanced corpus results in, on average, 12.34% higher pass@k across all tasks and languages compared to the baseline. We find that this strategy achieves 66.48% better pass@k on low-resource languages at the cost of only a 12.94% decrease to high-resource languages. In our three translation tasks, this strategy yields, on average, 30.77% better low-resource pass@k while having 19.58% worse high-resource pass@k.

Learning compositional representation is a key aspect of object-centric learning as it enables flexible systematic generalization and supports complex visual reasoning. However, most of the existing approaches rely on auto-encoding objective, while the compositionality is implicitly imposed by the architectural or algorithmic bias in the encoder. This misalignment between auto-encoding objective and learning compositionality often results in failure of capturing meaningful object representations. In this study, we propose a novel objective that explicitly encourages compositionality of the representations. Built upon the existing object-centric learning framework (e.g., slot attention), our method incorporates additional constraints that an arbitrary mixture of object representations from two images should be valid by maximizing the likelihood of the composite data. We demonstrate that incorporating our objective to the existing framework consistently improves the objective-centric learning and enhances the robustness to the architectural choices.