Daily Papers

We present Brain Harmony (BrainHarmonix), the first multimodal brain foundation model that unifies structural morphology and functional dynamics into compact 1D token representations. The model was pretrained on two of the largest neuroimaging datasets to date, encompassing 64,594 T1-weighted structural MRI 3D volumes (~ 14 million images) and 70,933 functional MRI (fMRI) time series. BrainHarmonix is grounded in two foundational neuroscience principles: structure complements function - structural and functional modalities offer distinct yet synergistic insights into brain organization; function follows structure - brain functional dynamics are shaped by cortical morphology. The modular pretraining process involves single-modality training with geometric pre-alignment followed by modality fusion through shared brain hub tokens. Notably, our dynamics encoder uniquely handles fMRI time series with heterogeneous repetition times (TRs), addressing a major limitation in existing models. BrainHarmonix is also the first to deeply compress high-dimensional neuroimaging signals into unified, continuous 1D tokens, forming a compact latent space of the human brain. BrainHarmonix achieves strong generalization across diverse downstream tasks, including neurodevelopmental and neurodegenerative disorder classification and cognition prediction - consistently outperforming previous approaches. Our models - pretrained on 8 H100 GPUs - aim to catalyze a new era of AI-driven neuroscience powered by large-scale multimodal neuroimaging.

Despite their proficiency in general tasks, Multi-modal Large Language Models (MLLMs) struggle with automatic Geometry Problem Solving (GPS), which demands understanding diagrams, interpreting symbols, and performing complex reasoning. This limitation arises from their pre-training on natural images and texts, along with the lack of automated verification in the problem-solving process. Besides, current geometric specialists are limited by their task-specific designs, making them less effective for broader geometric problems. To this end, we present GeoX, a multi-modal large model focusing on geometric understanding and reasoning tasks. Given the significant differences between geometric diagram-symbol and natural image-text, we introduce unimodal pre-training to develop a diagram encoder and symbol decoder, enhancing the understanding of geometric images and corpora. Furthermore, we introduce geometry-language alignment, an effective pre-training paradigm that bridges the modality gap between unimodal geometric experts. We propose a Generator-And-Sampler Transformer (GS-Former) to generate discriminative queries and eliminate uninformative representations from unevenly distributed geometric signals. Finally, GeoX benefits from visual instruction tuning, empowering it to take geometric images and questions as input and generate verifiable solutions. Experiments show that GeoX outperforms both generalists and geometric specialists on publicly recognized benchmarks, such as GeoQA, UniGeo, Geometry3K, and PGPS9k.

In this paper, we present DV-Matcher, a novel learning-based framework for estimating dense correspondences between non-rigidly deformable point clouds. Learning directly from unstructured point clouds without meshing or manual labelling, our framework delivers high-quality dense correspondences, which is of significant practical utility in point cloud processing. Our key contributions are two-fold: First, we propose a scheme to inject prior knowledge from pre-trained vision models into geometric feature learning, which effectively complements the local nature of geometric features with global and semantic information; Second, we propose a novel deformation-based module to promote the extrinsic alignment induced by the learned correspondences, which effectively enhances the feature learning. Experimental results show that our method achieves state-of-the-art results in matching non-rigid point clouds in both near-isometric and heterogeneous shape collection as well as more realistic partial and noisy data.

3D scene reconstruction is a long-standing vision task. Existing approaches can be categorized into geometry-based and learning-based methods. The former leverages multi-view geometry but can face catastrophic failures due to the reliance on accurate pixel correspondence across views. The latter was proffered to mitigate these issues by learning 2D or 3D representation directly. However, without a large-scale video or 3D training data, it can hardly generalize to diverse real-world scenarios due to the presence of tens of millions or even billions of optimization parameters in the deep network. Recently, robust monocular depth estimation models trained with large-scale datasets have been proven to possess weak 3D geometry prior, but they are insufficient for reconstruction due to the unknown camera parameters, the affine-invariant property, and inter-frame inconsistency. Here, we propose a novel test-time optimization approach that can transfer the robustness of affine-invariant depth models such as LeReS to challenging diverse scenes while ensuring inter-frame consistency, with only dozens of parameters to optimize per video frame. Specifically, our approach involves freezing the pre-trained affine-invariant depth model's depth predictions, rectifying them by optimizing the unknown scale-shift values with a geometric consistency alignment module, and employing the resulting scale-consistent depth maps to robustly obtain camera poses and achieve dense scene reconstruction, even in low-texture regions. Experiments show that our method achieves state-of-the-art cross-dataset reconstruction on five zero-shot testing datasets.

Geometric alignment appears in a variety of applications, ranging from domain adaptation, optimal transport, and normalizing flows in machine learning; optical flow and learned augmentation in computer vision and deformable registration within biomedical imaging. A recurring challenge is the alignment of domains whose topology is not the same; a problem that is routinely ignored, potentially introducing bias in downstream analysis. As a first step towards solving such alignment problems, we propose an unsupervised algorithm for the detection of changes in image topology. The model is based on a conditional variational auto-encoder and detects topological changes between two images during the registration step. We account for both topological changes in the image under spatial variation and unexpected transformations. Our approach is validated on two tasks and datasets: detection of topological changes in microscopy images of cells, and unsupervised anomaly detection brain imaging.

Videos inherently represent 2D projections of a dynamic 3D world. However, our analysis suggests that video diffusion models trained solely on raw video data often fail to capture meaningful geometric-aware structure in their learned representations. To bridge this gap between video diffusion models and the underlying 3D nature of the physical world, we propose Geometry Forcing, a simple yet effective method that encourages video diffusion models to internalize latent 3D representations. Our key insight is to guide the model's intermediate representations toward geometry-aware structure by aligning them with features from a pretrained geometric foundation model. To this end, we introduce two complementary alignment objectives: Angular Alignment, which enforces directional consistency via cosine similarity, and Scale Alignment, which preserves scale-related information by regressing unnormalized geometric features from normalized diffusion representation. We evaluate Geometry Forcing on both camera view-conditioned and action-conditioned video generation tasks. Experimental results demonstrate that our method substantially improves visual quality and 3D consistency over the baseline methods. Project page: https://GeometryForcing.github.io.

The popularity of pre-trained large models has revolutionized downstream tasks across diverse fields, such as language, vision, and multi-modality. To minimize the adaption cost for downstream tasks, many Parameter-Efficient Fine-Tuning (PEFT) techniques are proposed for language and 2D image pre-trained models. However, the specialized PEFT method for 3D pre-trained models is still under-explored. To this end, we introduce Point-PEFT, a novel framework for adapting point cloud pre-trained models with minimal learnable parameters. Specifically, for a pre-trained 3D model, we freeze most of its parameters, and only tune the newly added PEFT modules on downstream tasks, which consist of a Point-prior Prompt and a Geometry-aware Adapter. The Point-prior Prompt adopts a set of learnable prompt tokens, for which we propose to construct a memory bank with domain-specific knowledge, and utilize a parameter-free attention to enhance the prompt tokens. The Geometry-aware Adapter aims to aggregate point cloud features within spatial neighborhoods to capture fine-grained geometric information through local interactions. Extensive experiments indicate that our Point-PEFT can achieve better performance than the full fine-tuning on various downstream tasks, while using only 5% of the trainable parameters, demonstrating the efficiency and effectiveness of our approach. Code is released at https://github.com/Ivan-Tang-3D/Point-PEFT.

Large Language Models (LLMs) are expected to produce safe, helpful, and honest content during interaction with human users, but they frequently fail to align with such values when given flawed instructions, e.g., missing context, ambiguous directives, or inappropriate tone, leaving substantial room for improvement along multiple dimensions. A cost-effective yet high-impact way is to pre-align instructions before the model begins decoding. Existing approaches either rely on prohibitive test-time search costs or end-to-end model rewrite, which is powered by a customized training corpus with unclear objectives. In this work, we demonstrate that the goal of efficient and effective preference alignment can be achieved by P-Aligner, a lightweight module generating instructions that preserve the original intents while being expressed in a more human-preferred form. P-Aligner is trained on UltraPrompt, a new dataset synthesized via a proposed principle-guided pipeline using Monte-Carlo Tree Search, which systematically explores the space of candidate instructions that are closely tied to human preference. Experiments across different methods show that P-Aligner generally outperforms strong baselines across various models and benchmarks, including average win-rate gains of 28.35% and 8.69% on GPT-4-turbo and Gemma-2-SimPO, respectively. Further analyses validate its effectiveness and efficiency through multiple perspectives, including data quality, search strategies, iterative deployment, and time overhead.

In this work, instead of directly predicting the pixel-level segmentation masks, the problem of referring image segmentation is formulated as sequential polygon generation, and the predicted polygons can be later converted into segmentation masks. This is enabled by a new sequence-to-sequence framework, Polygon Transformer (PolyFormer), which takes a sequence of image patches and text query tokens as input, and outputs a sequence of polygon vertices autoregressively. For more accurate geometric localization, we propose a regression-based decoder, which predicts the precise floating-point coordinates directly, without any coordinate quantization error. In the experiments, PolyFormer outperforms the prior art by a clear margin, e.g., 5.40% and 4.52% absolute improvements on the challenging RefCOCO+ and RefCOCOg datasets. It also shows strong generalization ability when evaluated on the referring video segmentation task without fine-tuning, e.g., achieving competitive 61.5% J&F on the Ref-DAVIS17 dataset.

We present a novel alignment-before-generation approach to tackle the challenging task of generating general 3D shapes based on 2D images or texts. Directly learning a conditional generative model from images or texts to 3D shapes is prone to producing inconsistent results with the conditions because 3D shapes have an additional dimension whose distribution significantly differs from that of 2D images and texts. To bridge the domain gap among the three modalities and facilitate multi-modal-conditioned 3D shape generation, we explore representing 3D shapes in a shape-image-text-aligned space. Our framework comprises two models: a Shape-Image-Text-Aligned Variational Auto-Encoder (SITA-VAE) and a conditional Aligned Shape Latent Diffusion Model (ASLDM). The former model encodes the 3D shapes into the shape latent space aligned to the image and text and reconstructs the fine-grained 3D neural fields corresponding to given shape embeddings via the transformer-based decoder. The latter model learns a probabilistic mapping function from the image or text space to the latent shape space. Our extensive experiments demonstrate that our proposed approach can generate higher-quality and more diverse 3D shapes that better semantically conform to the visual or textural conditional inputs, validating the effectiveness of the shape-image-text-aligned space for cross-modality 3D shape generation.

Existing optimization-based methods for non-rigid registration typically minimize an alignment error metric based on the point-to-point or point-to-plane distance between corresponding point pairs on the source surface and target surface. However, these metrics can result in slow convergence or a loss of detail. In this paper, we propose SPARE, a novel formulation that utilizes a symmetrized point-to-plane distance for robust non-rigid registration. The symmetrized point-to-plane distance relies on both the positions and normals of the corresponding points, resulting in a more accurate approximation of the underlying geometry and can achieve higher accuracy than existing methods. To solve this optimization problem efficiently, we introduce an as-rigid-as-possible regulation term to estimate the deformed normals and propose an alternating minimization solver using a majorization-minimization strategy. Moreover, for effective initialization of the solver, we incorporate a deformation graph-based coarse alignment that improves registration quality and efficiency. Extensive experiments show that the proposed method greatly improves the accuracy of non-rigid registration problems and maintains relatively high solution efficiency. The code is publicly available at https://github.com/yaoyx689/spare.

Graph foundation models represent a transformative paradigm for learning transferable representations across diverse graph domains. Recent methods leverage large language models to unify graph and text modalities into a shared representation space using contrastive learning. However, systematic evaluations reveal significant performance degradation at structural boundaries where distinct topological patterns converge, with accuracy losses exceeding 20 percentage points. This issue arises from a key limitation: current methods assume all graph structures can be encoded within a single Euclidean space. In reality, tree structures require hyperbolic geometry to preserve hierarchical branching, while cyclic patterns depend on spherical geometry for closure properties. At structural boundaries, nodes experience conflicting geometric constraints that uniform encoding spaces cannot resolve. This raises a crucial challenge: Can alignment frameworks be designed to respect the intrinsic geometric diversity of graph structures? We introduce GraphShaper, a geometry-aware framework that enhances graph encoding through multi-geometric specialization. Our approach employs expert networks tailored to different geometric spaces, dynamically computing fusion weights to adaptively integrate geometric properties based on local structural characteristics. This adaptive fusion preserves structural integrity before alignment with text embeddings. Extensive experiments demonstrate that GraphShaper achieves 9.47\% accuracy improvements on citation networks and 7.63\% on social networks in zero-shot settings.

It is inherently ambiguous to lift 2D results from pre-trained diffusion models to a 3D world for text-to-3D generation. 2D diffusion models solely learn view-agnostic priors and thus lack 3D knowledge during the lifting, leading to the multi-view inconsistency problem. We find that this problem primarily stems from geometric inconsistency, and avoiding misplaced geometric structures substantially mitigates the problem in the final outputs. Therefore, we improve the consistency by aligning the 2D geometric priors in diffusion models with well-defined 3D shapes during the lifting, addressing the vast majority of the problem. This is achieved by fine-tuning the 2D diffusion model to be viewpoint-aware and to produce view-specific coordinate maps of canonically oriented 3D objects. In our process, only coarse 3D information is used for aligning. This "coarse" alignment not only resolves the multi-view inconsistency in geometries but also retains the ability in 2D diffusion models to generate detailed and diversified high-quality objects unseen in the 3D datasets. Furthermore, our aligned geometric priors (AGP) are generic and can be seamlessly integrated into various state-of-the-art pipelines, obtaining high generalizability in terms of unseen shapes and visual appearance while greatly alleviating the multi-view inconsistency problem. Our method represents a new state-of-the-art performance with an 85+% consistency rate by human evaluation, while many previous methods are around 30%. Our project page is https://sweetdreamer3d.github.io/

Existing RGB-based imitation learning approaches typically employ traditional vision encoders such as ResNet or ViT, which lack explicit 3D reasoning capabilities. Recent geometry-grounded vision models, such as VGGT~wang2025vggt, provide robust spatial understanding and are promising candidates to address this limitation. This work investigates the integration of geometry-aware visual representations into robotic manipulation. Our results suggest that incorporating the geometry-aware vision encoder into imitation learning frameworks, including ACT and DP, yields up to 6.5% improvement over standard vision encoders in success rate across single- and bi-manual manipulation tasks in both simulation and real-world settings. Despite these benefits, most geometry-grounded models require high computational cost, limiting their deployment in practical robotic systems. To address this challenge, we propose eVGGT, an efficient geometry-aware encoder distilled from VGGT. eVGGT is nearly 9 times faster and 5 times smaller than VGGT, while preserving strong 3D reasoning capabilities. Code and pretrained models will be released to facilitate further research in geometry-aware robotics.

Emerging 3D geometric foundation models, such as DUSt3R, offer a promising approach for in-the-wild 3D vision tasks. However, due to the high-dimensional nature of the problem space and scarcity of high-quality 3D data, these pre-trained models still struggle to generalize to many challenging circumstances, such as limited view overlap or low lighting. To address this, we propose LoRA3D, an efficient self-calibration pipeline to specialize the pre-trained models to target scenes using their own multi-view predictions. Taking sparse RGB images as input, we leverage robust optimization techniques to refine multi-view predictions and align them into a global coordinate frame. In particular, we incorporate prediction confidence into the geometric optimization process, automatically re-weighting the confidence to better reflect point estimation accuracy. We use the calibrated confidence to generate high-quality pseudo labels for the calibrating views and use low-rank adaptation (LoRA) to fine-tune the models on the pseudo-labeled data. Our method does not require any external priors or manual labels. It completes the self-calibration process on a single standard GPU within just 5 minutes. Each low-rank adapter requires only 18MB of storage. We evaluated our method on more than 160 scenes from the Replica, TUM and Waymo Open datasets, achieving up to 88% performance improvement on 3D reconstruction, multi-view pose estimation and novel-view rendering.

AI-driven geometric problem solving is a complex vision-language task that requires accurate diagram interpretation, mathematical reasoning, and robust cross-modal grounding. A foundational yet underexplored capability for this task is the ability to identify and interpret geometric elements based on natural language queries. To address this, we introduce the task of Referring Expression Comprehension (REC) for geometric problems, which evaluates whether models can localize points, shapes, and spatial relations in diagrams in response to textual prompts. We present GeoRef, a benchmark dataset constructed from existing geometric problem corpora, featuring diverse, high-quality annotations and queries. Due to the lack of annotated data for this task, we generate a large-scale synthetic training dataset using a structured geometric formal language, enabling broad coverage of geometric concepts and facilitating model adaptation. We explore two fine-tuning approaches: Supervised Fine-Tuning (SFT) and Group Relative Policy Optimization (GRPO). Our results show that GRPO significantly outperforms SFT by better aligning model behavior with task-specific rewards. Furthermore, we propose a verify-and-regenerate mechanism that detects incorrect predictions and re-infers answers using contextual reasoning history, further boosting accuracy. Notably, even state-of-the-art Multimodal Large Language Models (MLLMs) struggle with this task, underscoring the necessity of explicitly evaluating and strengthening geometric grounding as a prerequisite for robust geometric problem solving. Moreover, models trained on GeoRef demonstrate measurable improvements on downstream geometric reasoning tasks, highlighting the broader value of REC as a foundation for multimodal mathematical understanding.

Adversarial threats against LLMs are escalating faster than current defenses can adapt. We expose a critical geometric blind spot in alignment: adversarial prompts exploit latent camouflage, embedding perilously close to the safe representation manifold while encoding unsafe intent thereby evading surface level defenses like Direct Preference Optimization (DPO), which remain blind to the latent geometry. We introduce ALKALI, the first rigorously curated adversarial benchmark and the most comprehensive to date spanning 9,000 prompts across three macro categories, six subtypes, and fifteen attack families. Evaluation of 21 leading LLMs reveals alarmingly high Attack Success Rates (ASRs) across both open and closed source models, exposing an underlying vulnerability we term latent camouflage, a structural blind spot where adversarial completions mimic the latent geometry of safe ones. To mitigate this vulnerability, we introduce GRACE - Geometric Representation Aware Contrastive Enhancement, an alignment framework coupling preference learning with latent space regularization. GRACE enforces two constraints: latent separation between safe and adversarial completions, and adversarial cohesion among unsafe and jailbreak behaviors. These operate over layerwise pooled embeddings guided by a learned attention profile, reshaping internal geometry without modifying the base model, and achieve up to 39% ASR reduction. Moreover, we introduce AVQI, a geometry aware metric that quantifies latent alignment failure via cluster separation and compactness. AVQI reveals when unsafe completions mimic the geometry of safe ones, offering a principled lens into how models internally encode safety. We make the code publicly available at https://anonymous.4open.science/r/alkali-B416/README.md.

Large language models demonstrate reasonable multilingual abilities, despite predominantly English-centric pretraining. However, the spontaneous multilingual alignment in these models is shown to be weak, leading to unsatisfactory cross-lingual transfer and knowledge sharing. Previous works attempt to address this issue by explicitly injecting multilingual alignment information during or after pretraining. Thus for the early stage in pretraining, the alignment is weak for sharing information or knowledge across languages. In this paper, we propose PreAlign, a framework that establishes multilingual alignment prior to language model pretraining. PreAlign injects multilingual alignment by initializing the model to generate similar representations of aligned words and preserves this alignment using a code-switching strategy during pretraining. Extensive experiments in a synthetic English to English-Clone setting demonstrate that PreAlign significantly outperforms standard multilingual joint training in language modeling, zero-shot cross-lingual transfer, and cross-lingual knowledge application. Further experiments in real-world scenarios further validate PreAlign's effectiveness across various model sizes.

Recently, methods leveraging diffusion model priors to assist monocular geometric estimation (e.g., depth and normal) have gained significant attention due to their strong generalization ability. However, most existing works focus on estimating geometric properties within the camera coordinate system of individual video frames, neglecting the inherent ability of diffusion models to determine inter-frame correspondence. In this work, we demonstrate that, through appropriate design and fine-tuning, the intrinsic consistency of video generation models can be effectively harnessed for consistent geometric estimation. Specifically, we 1) select geometric attributes in the global coordinate system that share the same correspondence with video frames as the prediction targets, 2) introduce a novel and efficient conditioning method by reusing positional encodings, and 3) enhance performance through joint training on multiple geometric attributes that share the same correspondence. Our results achieve superior performance in predicting global geometric attributes in videos and can be directly applied to reconstruction tasks. Even when trained solely on static video data, our approach exhibits the potential to generalize to dynamic video scenes.

Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are minimalist representations of a building's structure, modal and geometric differences between visual perceptions and floorplans pose challenges to this task. While existing methods cleverly utilize 2D geometric features and pose filters to achieve promising performance, they fail to address the localization errors caused by frequent visual changes and view occlusions due to variously shaped 3D objects. To tackle these issues, this paper views the 2D Floorplan Localization (FLoc) problem from a higher dimension by injecting 3D geometric priors into the visual FLoc algorithm. For the 3D geometric prior modeling, we first model geometrically aware view invariance using multi-view constraints, i.e., leveraging imaging geometric principles to provide matching constraints between multiple images that see the same points. Then, we further model the view-scene aligned geometric priors, enhancing the cross-modal geometry-color correspondences by associating the scene's surface reconstruction with the RGB frames of the sequence. Both 3D priors are modeled through self-supervised contrastive learning, thus no additional geometric or semantic annotations are required. These 3D priors summarized in extensive realistic scenes bridge the modal gap while improving localization success without increasing the computational burden on the FLoc algorithm. Sufficient comparative studies demonstrate that our method significantly outperforms state-of-the-art methods and substantially boosts the FLoc accuracy. All data and code will be released after the anonymous review.

Nowadays, pre-training big models on large-scale datasets has become a crucial topic in deep learning. The pre-trained models with high representation ability and transferability achieve a great success and dominate many downstream tasks in natural language processing and 2D vision. However, it is non-trivial to promote such a pretraining-tuning paradigm to the 3D vision, given the limited training data that are relatively inconvenient to collect. In this paper, we provide a new perspective of leveraging pre-trained 2D knowledge in 3D domain to tackle this problem, tuning pre-trained image models with the novel Point-to-Pixel prompting for point cloud analysis at a minor parameter cost. Following the principle of prompting engineering, we transform point clouds into colorful images with geometry-preserved projection and geometry-aware coloring to adapt to pre-trained image models, whose weights are kept frozen during the end-to-end optimization of point cloud analysis tasks. We conduct extensive experiments to demonstrate that cooperating with our proposed Point-to-Pixel Prompting, better pre-trained image model will lead to consistently better performance in 3D vision. Enjoying prosperous development from image pre-training field, our method attains 89.3% accuracy on the hardest setting of ScanObjectNN, surpassing conventional point cloud models with much fewer trainable parameters. Our framework also exhibits very competitive performance on ModelNet classification and ShapeNet Part Segmentation. Code is available at https://github.com/wangzy22/P2P.

3D AI-generated content (AIGC) has made it increasingly accessible for anyone to become a 3D content creator. While recent methods leverage Score Distillation Sampling to distill 3D objects from pretrained image diffusion models, they often suffer from inadequate 3D priors, leading to insufficient multi-view consistency. In this work, we introduce NOVA3D, an innovative single-image-to-3D generation framework. Our key insight lies in leveraging strong 3D priors from a pretrained video diffusion model and integrating geometric information during multi-view video fine-tuning. To facilitate information exchange between color and geometric domains, we propose the Geometry-Temporal Alignment (GTA) attention mechanism, thereby improving generalization and multi-view consistency. Moreover, we introduce the de-conflict geometry fusion algorithm, which improves texture fidelity by addressing multi-view inaccuracies and resolving discrepancies in pose alignment. Extensive experiments validate the superiority of NOVA3D over existing baselines.

While pre-trained large-scale vision models have shown significant promise for semantic correspondence, their features often struggle to grasp the geometry and orientation of instances. This paper identifies the importance of being geometry-aware for semantic correspondence and reveals a limitation of the features of current foundation models under simple post-processing. We show that incorporating this information can markedly enhance semantic correspondence performance with simple but effective solutions in both zero-shot and supervised settings. We also construct a new challenging benchmark for semantic correspondence built from an existing animal pose estimation dataset, for both pre-training validating models. Our method achieves a [email protected] score of 65.4 (zero-shot) and 85.6 (supervised) on the challenging SPair-71k dataset, outperforming the state of the art by 5.5p and 11.0p absolute gains, respectively. Our code and datasets are publicly available at: https://telling-left-from-right.github.io/.

As transformers are equivariant to the permutation of input tokens, encoding the positional information of tokens is necessary for many tasks. However, since existing positional encoding schemes have been initially designed for NLP tasks, their suitability for vision tasks, which typically exhibit different structural properties in their data, is questionable. We argue that existing positional encoding schemes are suboptimal for 3D vision tasks, as they do not respect their underlying 3D geometric structure. Based on this hypothesis, we propose a geometry-aware attention mechanism that encodes the geometric structure of tokens as relative transformation determined by the geometric relationship between queries and key-value pairs. By evaluating on multiple novel view synthesis (NVS) datasets in the sparse wide-baseline multi-view setting, we show that our attention, called Geometric Transform Attention (GTA), improves learning efficiency and performance of state-of-the-art transformer-based NVS models without any additional learned parameters and only minor computational overhead.

Recent developments in Multimodal Large Language Models (MLLMs) have significantly improved Vision-Language (VL) reasoning in 2D domains. However, extending these capabilities to 3D scene understanding remains a major challenge. Existing 3D Multimodal Large Language Models (3D-MLLMs) often depend on 3D data inputs, which limits scalability and generalization. To address this limitation, we propose Vid-LLM, a video-based 3D-MLLM that directly processes video inputs without requiring external 3D data, making it practical for real-world deployment. In our method, the geometric prior are directly used to improve the performance of the sceen perception. To integrate the geometric cues into the MLLM compactly, we design a Cross-Task Adapter (CTA) module to align the 3D geometric priors with the vision-language representations. To ensure geometric consistency and integrity, we introduce a Metric Depth Model that recovers real-scale geometry from the reconstruction outputs. Finally, the model is fine-tuned with a two-stage distillation optimization strategy, realizing fast convergence and stabilizes training. Extensive experiments across diverse benchmarks verified the effectiveness of our method on 3D Question Answering, 3D Dense Captioning and 3D Visual Grounding tasks, demonstrating the superior multi-task capabilities.

Multimodal large language models (MLLMs) have made significant progress in integrating visual and linguistic understanding. Existing benchmarks typically focus on high-level semantic capabilities, such as scene understanding and visual reasoning, but often overlook a crucial, foundational ability: geometric perception. Geometric perception involves understanding geometric shapes, structures, and spatial relationships, which are essential for supporting higher-level semantic tasks. Despite its importance, this capability remains underexplored in current MLLM research. To address this gap, we introduce GePBench, a novel benchmark designed to assess the geometric perception abilities of MLLMs. Our extensive evaluations reveal that current state-of-the-art MLLMs exhibit significant deficiencies in geometric perception tasks. Furthermore, we show that models trained with GePBench data demonstrate substantial improvements on a wide range of benchmark tasks, highlighting the critical role of geometric perception in enabling advanced multimodal applications. Our code and datasets will be publicly available.

This paper presents a Surface-Aligned Gaussian representation for creating animatable human avatars from monocular videos,aiming at improving the novel view and pose synthesis performance while ensuring fast training and real-time rendering. Recently,3DGS has emerged as a more efficient and expressive alternative to NeRF, and has been used for creating dynamic human avatars. However,when applied to the severely ill-posed task of monocular dynamic reconstruction, the Gaussians tend to overfit the constantly changing regions such as clothes wrinkles or shadows since these regions cannot provide consistent supervision, resulting in noisy geometry and abrupt deformation that typically fail to generalize under novel views and poses.To address these limitations, we present SAGA,i.e.,Surface-Aligned Gaussian Avatar,which aligns the Gaussians with a mesh to enforce well-defined geometry and consistent deformation, thereby improving generalization under novel views and poses. Unlike existing strict alignment methods that suffer from limited expressive power and low realism,SAGA employs a two-stage alignment strategy where the Gaussians are first adhered on while then detached from the mesh, thus facilitating both good geometry and high expressivity. In the Adhered Stage, we improve the flexibility of Adhered-on-Mesh Gaussians by allowing them to flow on the mesh, in contrast to existing methods that rigidly bind Gaussians to fixed location. In the second Detached Stage, we introduce a Gaussian-Mesh Alignment regularization, which allows us to unleash the expressivity by detaching the Gaussians but maintain the geometric alignment by minimizing their location and orientation offsets from the bound triangles. Finally, since the Gaussians may drift outside the bound triangles during optimization, an efficient Walking-on-Mesh strategy is proposed to dynamically update the bound triangles.

Large language models (LLMs) have shown remarkable proficiency in human-level reasoning and generation capabilities, which encourages extensive research on their application in mathematical problem solving. However, current work has been largely focused on text-based mathematical problems, with limited investigation in problems involving geometric information. Addressing this gap, we aim to enable LLMs to solve geometric problems by understanding image input. We first analyze the limitations of current Multimodal Large Language Models (MLLMs) in this area: they struggle to accurately comprehending basic geometric elements and their relationships. To overcome these challenges, we take advantage of the unique characteristics of geometric problems (such as unique geometric logical form, and geometric scalability) and the capacity of the textual LLMs to build an enriched multimodal geometry dataset based on existing data. The augmented dataset, Geo170K, contains more than 170K geometric image-caption and question-answer pairs. Utilizing our constructed Geo170K dataset, we develop G-LLaVA, which demonstrates exceptional performance in solving geometric problems, significantly outperforming GPT-4-V on the MathVista benchmark with only 7B parameters.

In document image rectification, there exist rich geometric constraints between the distorted image and the ground truth one. However, such geometric constraints are largely ignored in existing advanced solutions, which limits the rectification performance. To this end, we present DocGeoNet for document image rectification by introducing explicit geometric representation. Technically, two typical attributes of the document image are involved in the proposed geometric representation learning, i.e., 3D shape and textlines. Our motivation arises from the insight that 3D shape provides global unwarping cues for rectifying a distorted document image while overlooking the local structure. On the other hand, textlines complementarily provide explicit geometric constraints for local patterns. The learned geometric representation effectively bridges the distorted image and the ground truth one. Extensive experiments show the effectiveness of our framework and demonstrate the superiority of our DocGeoNet over state-of-the-art methods on both the DocUNet Benchmark dataset and our proposed DIR300 test set. The code is available at https://github.com/fh2019ustc/DocGeoNet.

In this paper, we present Gaussian Splatting based text-to-3D generation (GSGEN), a novel approach for generating high-quality 3D objects. Previous methods suffer from inaccurate geometry and limited fidelity due to the absence of 3D prior and proper representation. We leverage 3D Gaussian Splatting, a recent state-of-the-art representation, to address existing shortcomings by exploiting the explicit nature that enables the incorporation of 3D prior. Specifically, our method adopts a progressive optimization strategy, which includes a geometry optimization stage and an appearance refinement stage. In geometry optimization, a coarse representation is established under a 3D geometry prior along with the ordinary 2D SDS loss, ensuring a sensible and 3D-consistent rough shape. Subsequently, the obtained Gaussians undergo an iterative refinement to enrich details. In this stage, we increase the number of Gaussians by compactness-based densification to enhance continuity and improve fidelity. With these designs, our approach can generate 3D content with delicate details and more accurate geometry. Extensive evaluations demonstrate the effectiveness of our method, especially for capturing high-frequency components. Video results are provided at https://gsgen3d.github.io. Our code is available at https://github.com/gsgen3d/gsgen

We propose a method to enhance 3D Gaussian Splatting (3DGS)~Kerbl2023, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting real-time performance, and it has gained popularity due to its explicit 3D Gaussian representation. However, 3DGS heavily depends on accurate initialization and faces difficulties in optimizing unstructured Gaussian distributions into ordered surfaces, with limited adaptive density control mechanism proposed so far. Our first key contribution is a geometry-guided initialization to predict Gaussian parameters, ensuring precise placement and faster convergence. We then introduce a surface-aligned optimization strategy to refine Gaussian placement, improving geometric accuracy and aligning with the surface normals of the scene. Finally, we present a dynamic adaptive density control mechanism that adjusts Gaussian density based on regional complexity, for visual fidelity. These innovations enable our method to achieve high-fidelity real-time rendering and significant improvements in visual quality, even in complex scenes. Our method demonstrates comparable or superior results to state-of-the-art methods, rendering high-fidelity images in real time.

Recent advances in discriminative and generative pretraining have yielded geometry estimation models with strong generalization capabilities. While discriminative monocular geometry estimation methods rely on large-scale fine-tuning data to achieve zero-shot generalization, several generative-based paradigms show the potential of achieving impressive generalization performance on unseen scenes by leveraging pre-trained diffusion models and fine-tuning on even a small scale of synthetic training data. Frustratingly, these models are trained with different recipes on different datasets, making it hard to find out the critical factors that determine the evaluation performance. Besides, current geometry evaluation benchmarks have two main drawbacks that may prevent the development of the field, i.e., limited scene diversity and unfavorable label quality. To resolve the above issues, (1) we build fair and strong baselines in a unified codebase for evaluating and analyzing the geometry estimation models; (2) we evaluate monocular geometry estimators on more challenging benchmarks for geometry estimation task with diverse scenes and high-quality annotations. Our results reveal that pre-trained using large data, discriminative models such as DINOv2, can outperform generative counterparts with a small amount of high-quality synthetic data under the same training configuration, which suggests that fine-tuning data quality is a more important factor than the data scale and model architecture. Our observation also raises a question: if simply fine-tuning a general vision model such as DINOv2 using a small amount of synthetic depth data produces SOTA results, do we really need complex generative models for depth estimation? We believe this work can propel advancements in geometry estimation tasks as well as a wide range of downstream applications.

We aim to address a significant but understudied problem in the anime industry, namely the inbetweening of cartoon line drawings. Inbetweening involves generating intermediate frames between two black-and-white line drawings and is a time-consuming and expensive process that can benefit from automation. However, existing frame interpolation methods that rely on matching and warping whole raster images are unsuitable for line inbetweening and often produce blurring artifacts that damage the intricate line structures. To preserve the precision and detail of the line drawings, we propose a new approach, AnimeInbet, which geometrizes raster line drawings into graphs of endpoints and reframes the inbetweening task as a graph fusion problem with vertex repositioning. Our method can effectively capture the sparsity and unique structure of line drawings while preserving the details during inbetweening. This is made possible via our novel modules, i.e., vertex geometric embedding, a vertex correspondence Transformer, an effective mechanism for vertex repositioning and a visibility predictor. To train our method, we introduce MixamoLine240, a new dataset of line drawings with ground truth vectorization and matching labels. Our experiments demonstrate that AnimeInbet synthesizes high-quality, clean, and complete intermediate line drawings, outperforming existing methods quantitatively and qualitatively, especially in cases with large motions. Data and code are available at https://github.com/lisiyao21/AnimeInbet.

Vector graphics are widely used in digital art and valued by designers for their scalability and layer-wise topological properties. However, the creation and editing of vector graphics necessitate creativity and design expertise, leading to a time-consuming process. In this paper, we propose a novel pipeline that generates high-quality customized vector graphics based on textual prompts while preserving the properties and layer-wise information of a given exemplar SVG. Our method harnesses the capabilities of large pre-trained text-to-image models. By fine-tuning the cross-attention layers of the model, we generate customized raster images guided by textual prompts. To initialize the SVG, we introduce a semantic-based path alignment method that preserves and transforms crucial paths from the exemplar SVG. Additionally, we optimize path parameters using both image-level and vector-level losses, ensuring smooth shape deformation while aligning with the customized raster image. We extensively evaluate our method using multiple metrics from vector-level, image-level, and text-level perspectives. The evaluation results demonstrate the effectiveness of our pipeline in generating diverse customizations of vector graphics with exceptional quality. The project page is https://intchous.github.io/SVGCustomization.

The scarcity of annotations poses a significant challenge in medical image analysis. Large-scale pre-training has emerged as a promising label-efficient solution, owing to the utilization of large-scale data, large models, and advanced pre-training techniques. However, its development in medical images remains underexplored. The primary challenge lies in harnessing large-scale unlabeled data and learning high-level semantics without annotations. We observe that 3D medical images exhibit consistent geometric context, i.e., consistent geometric relations between different organs, which leads to a promising way for learning consistent representations. Motivated by this, we introduce a simple-yet-effective Volume Contrast (VoCo) framework to leverage geometric context priors for self-supervision. Given an input volume, we extract base crops from different regions to construct positive and negative pairs for contrastive learning. Then we predict the contextual position of a random crop by contrasting its similarity to the base crops. In this way, VoCo encodes the inherent geometric context into model representations, facilitating high-level semantic learning without annotations. Specifically, we (1) introduce the largest medical pre-training dataset PreCT-160K; (2) investigate scaling laws and propose guidelines for tailoring different model sizes to various medical tasks; (3) build a benchmark encompassing 48 medical tasks. Extensive experiments highlight the superiority of VoCo. Codes at https://github.com/Luffy03/Large-Scale-Medical.

We introduce GeoDANO, a geometric vision-language model (VLM) with a domain-agnostic vision encoder, for solving plane geometry problems. Although VLMs have been employed for solving geometry problems, their ability to recognize geometric features remains insufficiently analyzed. To address this gap, we propose a benchmark that evaluates the recognition of visual geometric features, including primitives such as dots and lines, and relations such as orthogonality. Our preliminary study shows that vision encoders often used in general-purpose VLMs, e.g., OpenCLIP, fail to detect these features and struggle to generalize across domains. We develop GeoCLIP, a CLIP based model trained on synthetic geometric diagram-caption pairs to overcome the limitation. Benchmark results show that GeoCLIP outperforms existing vision encoders in recognizing geometric features. We then propose our VLM, GeoDANO, which augments GeoCLIP with a domain adaptation strategy for unseen diagram styles. GeoDANO outperforms specialized methods for plane geometry problems and GPT-4o on MathVerse.

Traditional image stitching approaches tend to leverage increasingly complex geometric features (point, line, edge, etc.) for better performance. However, these hand-crafted features are only suitable for specific natural scenes with adequate geometric structures. In contrast, deep stitching schemes overcome the adverse conditions by adaptively learning robust semantic features, but they cannot handle large-parallax cases due to homography-based registration. To solve these issues, we propose UDIS++, a parallax-tolerant unsupervised deep image stitching technique. First, we propose a robust and flexible warp to model the image registration from global homography to local thin-plate spline motion. It provides accurate alignment for overlapping regions and shape preservation for non-overlapping regions by joint optimization concerning alignment and distortion. Subsequently, to improve the generalization capability, we design a simple but effective iterative strategy to enhance the warp adaption in cross-dataset and cross-resolution applications. Finally, to further eliminate the parallax artifacts, we propose to composite the stitched image seamlessly by unsupervised learning for seam-driven composition masks. Compared with existing methods, our solution is parallax-tolerant and free from laborious designs of complicated geometric features for specific scenes. Extensive experiments show our superiority over the SoTA methods, both quantitatively and qualitatively. The code is available at https://github.com/nie-lang/UDIS2.

The topic of stitching images with globally natural structures holds paramount significance. Current methodologies exhibit the ability to preserve local geometric structures, yet fall short in maintaining relationships between these geometric structures. In this paper, we endeavor to safeguard the overall, OBJect-level structures within images based on Global Similarity Prior, while concurrently mitigating distortion and ghosting artifacts with OBJ-GSP. Our approach leverages the Segment Anything Model to extract geometric structures with semantic information, enhancing the algorithm's ability to preserve objects in a manner that aligns more intuitively with human perception. We seek to identify spatial constraints that govern the relationships between various geometric boundaries. Recognizing that multiple geometric boundaries collectively define complete objects, we employ triangular meshes to safeguard not only individual geometric structures but also the overall shapes of objects within the images. Empirical evaluations across multiple image stitching datasets demonstrate that our method establishes a new state-of-the-art benchmark in image stitching. Our implementation and dataset is publicly available at https://github.com/RussRobin/OBJ-GSP .

With the rise of generative AI, synthesizing figures from text captions becomes a compelling application. However, achieving high geometric precision and editability requires representing figures as graphics programs in languages like TikZ, and aligned training data (i.e., graphics programs with captions) remains scarce. Meanwhile, large amounts of unaligned graphics programs and captioned raster images are more readily available. We reconcile these disparate data sources by presenting TikZero, which decouples graphics program generation from text understanding by using image representations as an intermediary bridge. It enables independent training on graphics programs and captioned images and allows for zero-shot text-guided graphics program synthesis during inference. We show that our method substantially outperforms baselines that can only operate with caption-aligned graphics programs. Furthermore, when leveraging caption-aligned graphics programs as a complementary training signal, TikZero matches or exceeds the performance of much larger models, including commercial systems like GPT-4o. Our code, datasets, and select models are publicly available.

Humans naturally perceive the geometric structure and semantic content of a 3D world as intertwined dimensions, enabling coherent and accurate understanding of complex scenes. However, most prior approaches prioritize training large geometry models for low-level 3D reconstruction and treat high-level spatial understanding in isolation, overlooking the crucial interplay between these two fundamental aspects of 3D-scene analysis, thereby limiting generalization and leading to poor performance in downstream 3D understanding tasks. Recent attempts have mitigated this issue by simply aligning 3D models with specific language models, thus restricting perception to the aligned model's capacity and limiting adaptability to downstream tasks. In this paper, we propose InstanceGrounded Geometry Transformer (IGGT), an end-to-end large unified transformer to unify the knowledge for both spatial reconstruction and instance-level contextual understanding. Specifically, we design a 3D-Consistent Contrastive Learning strategy that guides IGGT to encode a unified representation with geometric structures and instance-grounded clustering through only 2D visual inputs. This representation supports consistent lifting of 2D visual inputs into a coherent 3D scene with explicitly distinct object instances. To facilitate this task, we further construct InsScene-15K, a large-scale dataset with high-quality RGB images, poses, depth maps, and 3D-consistent instance-level mask annotations with a novel data curation pipeline.

The recent upsurge in pre-trained large models (e.g. GPT-4) has swept across the entire deep learning community. Such powerful large language models (LLMs) demonstrate advanced generative ability and multimodal understanding capability, which quickly achieve new state-of-the-art performances on a variety of benchmarks. The pre-trained LLM usually plays the role as a universal AI model that can conduct various tasks, including context reasoning, article analysis and image content comprehension. However, considering the prohibitively high memory and computational cost for implementing such a large model, the conventional models (such as CNN and ViT), are still essential for many visual perception tasks. In this paper, we propose to enhance the representation ability of ordinary vision models for perception tasks (e.g. image classification) by taking advantage of large pre-trained models. We present a new learning paradigm in which the knowledge extracted from large pre-trained models are utilized to help models like CNN and ViT learn enhanced representations and achieve better performance. Firstly, we curate a high quality description set by prompting a multimodal LLM to generate descriptive text for all training images. Furthermore, we feed these detailed descriptions into a pre-trained encoder to extract text embeddings with rich semantic information that encodes the content of images. During training, text embeddings will serve as extra supervising signals and be aligned with image representations learned by vision models. The alignment process helps vision models learn better and achieve higher accuracy with the assistance of pre-trained LLMs. We conduct extensive experiments to verify that the proposed algorithm consistently improves the performance for various vision models with heterogeneous architectures.

Existing Large Multimodal Models (LMMs) struggle with mathematical geometric reasoning due to a lack of high-quality image-text paired data. Current geometric data generation approaches, which apply preset templates to generate geometric data or use Large Language Models (LLMs) to rephrase questions and answers (Q&A), unavoidably limit data accuracy and diversity. To synthesize higher-quality data, we propose a two-stage Reverse Chain-of-Thought (R-CoT) geometry problem generation pipeline. First, we introduce GeoChain to produce high-fidelity geometric images and corresponding descriptions highlighting relations among geometric elements. We then design a Reverse A&Q method that reasons step-by-step based on the descriptions and generates questions in reverse from the reasoning results. Experiments demonstrate that the proposed method brings significant and consistent improvements on multiple LMM baselines, achieving new performance records in the 2B, 7B, and 8B settings. Notably, R-CoT-8B significantly outperforms previous state-of-the-art open-source mathematical models by 16.6% on MathVista and 9.2% on GeoQA, while also surpassing the closed-source model GPT-4o by an average of 13% across both datasets. The code is available at https://github.com/dle666/R-CoT.

The rapid development of Large Multimodal Models (LMMs) has led to remarkable progress in 2D visual understanding; however, extending these capabilities to 3D scene understanding remains a significant challenge. Existing approaches predominantly rely on text-only supervision, which fails to provide the geometric constraints required for learning robust 3D spatial representations. In this paper, we introduce Reg3D, a novel Reconstructive Geometry Instruction Tuning framework that addresses this limitation by incorporating geometry-aware supervision directly into the training process. Our key insight is that effective 3D understanding necessitates reconstructing underlying geometric structures rather than merely describing them. Unlike existing methods that inject 3D information solely at the input level, Reg3D adopts a dual-supervision paradigm that leverages 3D geometric information both as input and as explicit learning targets. Specifically, we design complementary object-level and frame-level reconstruction tasks within a dual-encoder architecture, enforcing geometric consistency to encourage the development of spatial reasoning capabilities. Extensive experiments on ScanQA, Scan2Cap, ScanRefer, and SQA3D demonstrate that Reg3D delivers substantial performance improvements, establishing a new training paradigm for spatially aware multimodal models.

Referring 3D Segmentation is a visual-language task that segments all points of the specified object from a 3D point cloud described by a sentence of query. Previous works perform a two-stage paradigm, first conducting language-agnostic instance segmentation then matching with given text query. However, the semantic concepts from text query and visual cues are separately interacted during the training, and both instance and semantic labels for each object are required, which is time consuming and human-labor intensive. To mitigate these issues, we propose a novel Referring 3D Segmentation pipeline, Label-Efficient and Single-Stage, dubbed LESS, which is only under the supervision of efficient binary mask. Specifically, we design a Point-Word Cross-Modal Alignment module for aligning the fine-grained features of points and textual embedding. Query Mask Predictor module and Query-Sentence Alignment module are introduced for coarse-grained alignment between masks and query. Furthermore, we propose an area regularization loss, which coarsely reduces irrelevant background predictions on a large scale. Besides, a point-to-point contrastive loss is proposed concentrating on distinguishing points with subtly similar features. Through extensive experiments, we achieve state-of-the-art performance on ScanRefer dataset by surpassing the previous methods about 3.7% mIoU using only binary labels. Code is available at https://github.com/mellody11/LESS.

Text-to-3D generation from a single-view image is a popular but challenging task in 3D vision. Although numerous methods have been proposed, existing works still suffer from the inconsistency issues, including 1) semantic inconsistency, 2) geometric inconsistency, and 3) saturation inconsistency, resulting in distorted, overfitted, and over-saturated generations. In light of the above issues, we present Consist3D, a three-stage framework Chasing for semantic-, geometric-, and saturation-Consistent Text-to-3D generation from a single image, in which the first two stages aim to learn parameterized consistency tokens, and the last stage is for optimization. Specifically, the semantic encoding stage learns a token independent of views and estimations, promoting semantic consistency and robustness. Meanwhile, the geometric encoding stage learns another token with comprehensive geometry and reconstruction constraints under novel-view estimations, reducing overfitting and encouraging geometric consistency. Finally, the optimization stage benefits from the semantic and geometric tokens, allowing a low classifier-free guidance scale and therefore preventing oversaturation. Experimental results demonstrate that Consist3D produces more consistent, faithful, and photo-realistic 3D assets compared to previous state-of-the-art methods. Furthermore, Consist3D also allows background and object editing through text prompts.

Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving the quality of matches or filtering potential outliers, leading to limited efficiency or accuracy. In contrast, we propose an iterative matching and pose estimation framework (IMP) leveraging the geometric connections between the two tasks: a few good matches are enough for a roughly accurate pose estimation; a roughly accurate pose can be used to guide the matching by providing geometric constraints. To this end, we implement a geometry-aware recurrent attention-based module which jointly outputs sparse matches and camera poses. Specifically, for each iteration, we first implicitly embed geometric information into the module via a pose-consistency loss, allowing it to predict geometry-aware matches progressively. Second, we introduce an efficient IMP, called EIMP, to dynamically discard keypoints without potential matches, avoiding redundant updating and significantly reducing the quadratic time complexity of attention computation in transformers. Experiments on YFCC100m, Scannet, and Aachen Day-Night datasets demonstrate that the proposed method outperforms previous approaches in terms of accuracy and efficiency.

We propose a novel image editing technique that enables 3D manipulations on single images, such as object rotation and translation. Existing 3D-aware image editing approaches typically rely on synthetic multi-view datasets for training specialized models, thus constraining their effectiveness on open-domain images featuring significantly more varied layouts and styles. In contrast, our method directly leverages powerful image diffusion models trained on a broad spectrum of text-image pairs and thus retain their exceptional generalization abilities. This objective is realized through the development of an iterative novel view synthesis and geometry alignment algorithm. The algorithm harnesses diffusion models for dual purposes: they provide appearance prior by predicting novel views of the selected object using estimated depth maps, and they act as a geometry critic by correcting misalignments in 3D shapes across the sampled views. Our method can generate high-quality 3D-aware image edits with large viewpoint transformations and high appearance and shape consistency with the input image, pushing the boundaries of what is possible with single-image 3D-aware editing.

We introduce a diffusion-based framework that performs aligned novel view image and geometry generation via a warping-and-inpainting methodology. Unlike prior methods that require dense posed images or pose-embedded generative models limited to in-domain views, our method leverages off-the-shelf geometry predictors to predict partial geometries viewed from reference images, and formulates novel-view synthesis as an inpainting task for both image and geometry. To ensure accurate alignment between generated images and geometry, we propose cross-modal attention distillation, where attention maps from the image diffusion branch are injected into a parallel geometry diffusion branch during both training and inference. This multi-task approach achieves synergistic effects, facilitating geometrically robust image synthesis as well as well-defined geometry prediction. We further introduce proximity-based mesh conditioning to integrate depth and normal cues, interpolating between point cloud and filtering erroneously predicted geometry from influencing the generation process. Empirically, our method achieves high-fidelity extrapolative view synthesis on both image and geometry across a range of unseen scenes, delivers competitive reconstruction quality under interpolation settings, and produces geometrically aligned colored point clouds for comprehensive 3D completion. Project page is available at https://cvlab-kaist.github.io/MoAI.

As text-conditioned diffusion models (DMs) achieve breakthroughs in image, video, and 3D generation, the research community's focus has shifted to the more challenging task of text-to-4D synthesis, which introduces a temporal dimension to generate dynamic 3D objects. In this context, we identify Score Distillation Sampling (SDS), a widely used technique for text-to-3D synthesis, as a significant hindrance to text-to-4D performance due to its Janus-faced and texture-unrealistic problems coupled with high computational costs. In this paper, we propose Pixel-Level Alignments for Text-to-4D Gaussian Splatting (PLA4D), a novel method that utilizes text-to-video frames as explicit pixel alignment targets to generate static 3D objects and inject motion into them. Specifically, we introduce Focal Alignment to calibrate camera poses for rendering and GS-Mesh Contrastive Learning to distill geometry priors from rendered image contrasts at the pixel level. Additionally, we develop Motion Alignment using a deformation network to drive changes in Gaussians and implement Reference Refinement for smooth 4D object surfaces. These techniques enable 4D Gaussian Splatting to align geometry, texture, and motion with generated videos at the pixel level. Compared to previous methods, PLA4D produces synthesized outputs with better texture details in less time and effectively mitigates the Janus-faced problem. PLA4D is fully implemented using open-source models, offering an accessible, user-friendly, and promising direction for 4D digital content creation. Our project page: https://github.com/MiaoQiaowei/PLA4D.github.io{https://github.com/MiaoQiaowei/PLA4D.github.io}.

We propose a system for rearranging objects in a scene to achieve a desired object-scene placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline generalizes to novel geometries, poses, and layouts of both scenes and objects, and is trained from demonstrations to operate directly on 3D point clouds. Our system overcomes challenges associated with the existence of many geometrically-similar rearrangement solutions for a given scene. By leveraging an iterative pose de-noising training procedure, we can fit multi-modal demonstration data and produce multi-modal outputs while remaining precise and accurate. We also show the advantages of conditioning on relevant local geometric features while ignoring irrelevant global structure that harms both generalization and precision. We demonstrate our approach on three distinct rearrangement tasks that require handling multi-modality and generalization over object shape and pose in both simulation and the real world. Project website, code, and videos: https://anthonysimeonov.github.io/rpdiff-multi-modal/

Self-supervised learning (SSL) for point cloud pre-training has become a cornerstone for many 3D vision tasks, enabling effective learning from large-scale unannotated data. At the scene level, existing SSL methods often incorporate volume rendering into the pre-training framework, using RGB-D images as reconstruction signals to facilitate cross-modal learning. This strategy promotes alignment between 2D and 3D modalities and enables the model to benefit from rich visual cues in the RGB-D inputs. However, these approaches are limited by their reliance on implicit scene representations and high memory demands. Furthermore, since their reconstruction objectives are applied only in 2D space, they often fail to capture underlying 3D geometric structures. To address these challenges, we propose Gaussian2Scene, a novel scene-level SSL framework that leverages the efficiency and explicit nature of 3D Gaussian Splatting (3DGS) for pre-training. The use of 3DGS not only alleviates the computational burden associated with volume rendering but also supports direct 3D scene reconstruction, thereby enhancing the geometric understanding of the backbone network. Our approach follows a progressive two-stage training strategy. In the first stage, a dual-branch masked autoencoder learns both 2D and 3D scene representations. In the second stage, we initialize training with reconstructed point clouds and further supervise learning using the geometric locations of Gaussian primitives and rendered RGB images. This process reinforces both geometric and cross-modal learning. We demonstrate the effectiveness of Gaussian2Scene across several downstream 3D object detection tasks, showing consistent improvements over existing pre-training methods.

We present DreamPolisher, a novel Gaussian Splatting based method with geometric guidance, tailored to learn cross-view consistency and intricate detail from textual descriptions. While recent progress on text-to-3D generation methods have been promising, prevailing methods often fail to ensure view-consistency and textural richness. This problem becomes particularly noticeable for methods that work with text input alone. To address this, we propose a two-stage Gaussian Splatting based approach that enforces geometric consistency among views. Initially, a coarse 3D generation undergoes refinement via geometric optimization. Subsequently, we use a ControlNet driven refiner coupled with the geometric consistency term to improve both texture fidelity and overall consistency of the generated 3D asset. Empirical evaluations across diverse textual prompts spanning various object categories demonstrate the efficacy of DreamPolisher in generating consistent and realistic 3D objects, aligning closely with the semantics of the textual instructions.

This paper presents a pose-free, feed-forward 3D Gaussian Splatting (3DGS) framework designed to handle unfavorable input views. A common rendering setup for training feed-forward approaches places a 3D object at the world origin and renders it from cameras pointed toward the origin -- i.e., from favorable views, limiting the applicability of these models to real-world scenarios involving varying and unknown camera poses. To overcome this limitation, we introduce a novel adaptation framework that enables pretrained pose-free feed-forward 3DGS models to handle unfavorable views. We leverage priors learned from favorable images by feeding recentered images into a pretrained model augmented with low-rank adaptation (LoRA) layers. We further propose a Gaussian adapter module to enhance the geometric consistency of the Gaussians derived from the recentered inputs, along with a Gaussian alignment method to render accurate target views for training. Additionally, we introduce a new training strategy that utilizes an off-the-shelf dataset composed solely of favorable images. Experimental results on both synthetic images from the Google Scanned Objects dataset and real images from the OmniObject3D dataset validate the effectiveness of our method in handling unfavorable input views.

Geometric spatial reasoning forms the foundation of many applications in artificial intelligence, yet the ability of large language models (LLMs) to operate over geometric spatial information expressed in procedural code remains underexplored. In this paper, we address this gap by formalizing the Program-to-Geometry task, which challenges models to translate programmatic drawing code into accurate and abstract geometric reasoning. To evaluate this capability, we present GeoGramBench, a benchmark of 500 carefully refined problems organized by a tailored three-level taxonomy that considers geometric complexity rather than traditional mathematical reasoning complexity. Our comprehensive evaluation of 17 frontier LLMs reveals consistent and pronounced deficiencies: even the most advanced models achieve less than 50% accuracy at the highest abstraction level. These results highlight the unique challenges posed by program-driven spatial reasoning and establish GeoGramBench as a valuable resource for advancing research in symbolic-to-spatial geometric reasoning. Project page: https://github.com/LiAuto-DSR/GeoGramBench.

Large Language Models (LLMs) rely on safety alignment to produce socially acceptable responses. This is typically achieved through instruction tuning and reinforcement learning from human feedback. However, this alignment is known to be brittle: further fine-tuning, even on benign or lightly contaminated data, can degrade safety and reintroduce harmful behaviors. A growing body of work suggests that alignment may correspond to identifiable geometric directions in weight space, forming subspaces that could, in principle, be isolated or preserved to defend against misalignment. In this work, we conduct a comprehensive empirical study of this geometric perspective. We examine whether safety-relevant behavior is concentrated in specific subspaces, whether it can be separated from general-purpose learning, and whether harmfulness arises from distinguishable patterns in internal representations. Across both parameter and activation space, our findings are consistent: subspaces that amplify safe behaviors also amplify unsafe ones, and prompts with different safety implications activate overlapping representations. We find no evidence of a subspace that selectively governs safety. These results challenge the assumption that alignment is geometrically localized. Rather than residing in distinct directions, safety appears to emerge from entangled, high-impact components of the model's broader learning dynamics. This suggests that subspace-based defenses may face fundamental limitations and underscores the need for alternative strategies to preserve alignment under continued training. We corroborate these findings through multiple experiments on five open-source LLMs. Our code is publicly available at: https://github.com/CERT-Lab/safety-subspaces.

We present NaTex, a native texture generation framework that predicts texture color directly in 3D space. In contrast to previous approaches that rely on baking 2D multi-view images synthesized by geometry-conditioned Multi-View Diffusion models (MVDs), NaTex avoids several inherent limitations of the MVD pipeline. These include difficulties in handling occluded regions that require inpainting, achieving precise mesh-texture alignment along boundaries, and maintaining cross-view consistency and coherence in both content and color intensity. NaTex features a novel paradigm that addresses the aforementioned issues by viewing texture as a dense color point cloud. Driven by this idea, we propose latent color diffusion, which comprises a geometry-awared color point cloud VAE and a multi-control diffusion transformer (DiT), entirely trained from scratch using 3D data, for texture reconstruction and generation. To enable precise alignment, we introduce native geometry control that conditions the DiT on direct 3D spatial information via positional embeddings and geometry latents. We co-design the VAE-DiT architecture, where the geometry latents are extracted via a dedicated geometry branch tightly coupled with the color VAE, providing fine-grained surface guidance that maintains strong correspondence with the texture. With these designs, NaTex demonstrates strong performance, significantly outperforming previous methods in texture coherence and alignment. Moreover, NaTex also exhibits strong generalization capabilities, either training-free or with simple tuning, for various downstream applications, e.g., material generation, texture refinement, and part segmentation and texturing.

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of geometry-conscious features from RGB images. Recent approaches have utilized geometric-aware image backbones pretrained on depth-relevant tasks to acquire spatial information. However, these approaches overlook the critical aspect of view transformation, resulting in inadequate performance due to the misalignment of spatial knowledge between the image backbone and view transformation. To address this issue, we propose a novel geometric-aware pretraining framework called GAPretrain. Our approach incorporates spatial and structural cues to camera networks by employing the geometric-rich modality as guidance during the pretraining phase. The transference of modal-specific attributes across different modalities is non-trivial, but we bridge this gap by using a unified bird's-eye-view (BEV) representation and structural hints derived from LiDAR point clouds to facilitate the pretraining process. GAPretrain serves as a plug-and-play solution that can be flexibly applied to multiple state-of-the-art detectors. Our experiments demonstrate the effectiveness and generalization ability of the proposed method. We achieve 46.2 mAP and 55.5 NDS on the nuScenes val set using the BEVFormer method, with a gain of 2.7 and 2.1 points, respectively. We also conduct experiments on various image backbones and view transformations to validate the efficacy of our approach. Code will be released at https://github.com/OpenDriveLab/BEVPerception-Survey-Recipe.

Multi-view image generation holds significant application value in computer vision, particularly in domains like 3D reconstruction, virtual reality, and augmented reality. Most existing methods, which rely on extending single images, face notable computational challenges in maintaining cross-view consistency and generating high-resolution outputs. To address these issues, we propose the Geometry-guided Multi-View Diffusion Model, which incorporates mechanisms for extracting multi-view geometric information and adjusting the intensity of geometric features to generate images that are both consistent across views and rich in detail. Specifically, we design a multi-view geometry information extraction module that leverages depth maps, normal maps, and foreground segmentation masks to construct a shared geometric structure, ensuring shape and structural consistency across different views. To enhance consistency and detail restoration during generation, we develop a decoupled geometry-enhanced attention mechanism that strengthens feature focus on key geometric details, thereby improving overall image quality and detail preservation. Furthermore, we apply an adaptive learning strategy that fine-tunes the model to better capture spatial relationships and visual coherence between the generated views, ensuring realistic results. Our model also incorporates an iterative refinement process that progressively improves the output quality through multiple stages of image generation. Finally, a dynamic geometry information intensity adjustment mechanism is proposed to adaptively regulate the influence of geometric data, optimizing overall quality while ensuring the naturalness of generated images. More details can be found on the project page: https://sobeymil.github.io/GeoMVD.com.

Open-vocabulary 3D Object Detection (OV-3DDet) aims to detect objects from an arbitrary list of categories within a 3D scene, which remains seldom explored in the literature. There are primarily two fundamental problems in OV-3DDet, i.e., localizing and classifying novel objects. This paper aims at addressing the two problems simultaneously via a unified framework, under the condition of limited base categories. To localize novel 3D objects, we propose an effective 3D Novel Object Discovery strategy, which utilizes both the 3D box geometry priors and 2D semantic open-vocabulary priors to generate pseudo box labels of the novel objects. To classify novel object boxes, we further develop a cross-modal alignment module based on discovered novel boxes, to align feature spaces between 3D point cloud and image/text modalities. Specifically, the alignment process contains a class-agnostic and a class-discriminative alignment, incorporating not only the base objects with annotations but also the increasingly discovered novel objects, resulting in an iteratively enhanced alignment. The novel box discovery and crossmodal alignment are jointly learned to collaboratively benefit each other. The novel object discovery can directly impact the cross-modal alignment, while a better feature alignment can, in turn, boost the localization capability, leading to a unified OV-3DDet framework, named CoDA, for simultaneous novel object localization and classification. Extensive experiments on two challenging datasets (i.e., SUN-RGBD and ScanNet) demonstrate the effectiveness of our method and also show a significant mAP improvement upon the best-performing alternative method by 80%. Codes and pre-trained models are released on the project page.

Geometry problem solving is a well-recognized testbed for evaluating the high-level multi-modal reasoning capability of deep models. In most existing works, two main geometry problems: calculation and proving, are usually treated as two specific tasks, hindering a deep model to unify its reasoning capability on multiple math tasks. However, in essence, these two tasks have similar problem representations and overlapped math knowledge which can improve the understanding and reasoning ability of a deep model on both two tasks. Therefore, we construct a large-scale Unified Geometry problem benchmark, UniGeo, which contains 4,998 calculation problems and 9,543 proving problems. Each proving problem is annotated with a multi-step proof with reasons and mathematical expressions. The proof can be easily reformulated as a proving sequence that shares the same formats with the annotated program sequence for calculation problems. Naturally, we also present a unified multi-task Geometric Transformer framework, Geoformer, to tackle calculation and proving problems simultaneously in the form of sequence generation, which finally shows the reasoning ability can be improved on both two tasks by unifying formulation. Furthermore, we propose a Mathematical Expression Pretraining (MEP) method that aims to predict the mathematical expressions in the problem solution, thus improving the Geoformer model. Experiments on the UniGeo demonstrate that our proposed Geoformer obtains state-of-the-art performance by outperforming task-specific model NGS with over 5.6% and 3.2% accuracies on calculation and proving problems, respectively.

We propose 3D Congealing, a novel problem of 3D-aware alignment for 2D images capturing semantically similar objects. Given a collection of unlabeled Internet images, our goal is to associate the shared semantic parts from the inputs and aggregate the knowledge from 2D images to a shared 3D canonical space. We introduce a general framework that tackles the task without assuming shape templates, poses, or any camera parameters. At its core is a canonical 3D representation that encapsulates geometric and semantic information. The framework optimizes for the canonical representation together with the pose for each input image, and a per-image coordinate map that warps 2D pixel coordinates to the 3D canonical frame to account for the shape matching. The optimization procedure fuses prior knowledge from a pre-trained image generative model and semantic information from input images. The former provides strong knowledge guidance for this under-constraint task, while the latter provides the necessary information to mitigate the training data bias from the pre-trained model. Our framework can be used for various tasks such as correspondence matching, pose estimation, and image editing, achieving strong results on real-world image datasets under challenging illumination conditions and on in-the-wild online image collections.

Geometry and color information provided by the point clouds are both crucial for 3D scene understanding. Two pieces of information characterize the different aspects of point clouds, but existing methods lack an elaborate design for the discrimination and relevance. Hence we explore a 3D self-supervised paradigm that can better utilize the relations of point cloud information. Specifically, we propose a universal 3D scene pre-training framework via Geometry-Color Contrast (Point-GCC), which aligns geometry and color information using a Siamese network. To take care of actual application tasks, we design (i) hierarchical supervision with point-level contrast and reconstruct and object-level contrast based on the novel deep clustering module to close the gap between pre-training and downstream tasks; (ii) architecture-agnostic backbone to adapt for various downstream models. Benefiting from the object-level representation associated with downstream tasks, Point-GCC can directly evaluate model performance and the result demonstrates the effectiveness of our methods. Transfer learning results on a wide range of tasks also show consistent improvements across all datasets. e.g., new state-of-the-art object detection results on SUN RGB-D and S3DIS datasets. Codes will be released at https://github.com/Asterisci/Point-GCC.

We present PreF3R, Pose-Free Feed-forward 3D Reconstruction from an image sequence of variable length. Unlike previous approaches, PreF3R removes the need for camera calibration and reconstructs the 3D Gaussian field within a canonical coordinate frame directly from a sequence of unposed images, enabling efficient novel-view rendering. We leverage DUSt3R's ability for pair-wise 3D structure reconstruction, and extend it to sequential multi-view input via a spatial memory network, eliminating the need for optimization-based global alignment. Additionally, PreF3R incorporates a dense Gaussian parameter prediction head, which enables subsequent novel-view synthesis with differentiable rasterization. This allows supervising our model with the combination of photometric loss and pointmap regression loss, enhancing both photorealism and structural accuracy. Given a sequence of ordered images, PreF3R incrementally reconstructs the 3D Gaussian field at 20 FPS, therefore enabling real-time novel-view rendering. Empirical experiments demonstrate that PreF3R is an effective solution for the challenging task of pose-free feed-forward novel-view synthesis, while also exhibiting robust generalization to unseen scenes.

3D scene generation conditioned on text prompts has significantly progressed due to the development of 2D diffusion generation models. However, the textual description of 3D scenes is inherently inaccurate and lacks fine-grained control during training, leading to implausible scene generation. As an intuitive and feasible solution, the 3D layout allows for precise specification of object locations within the scene. To this end, we present a text-to-scene generation method (namely, Layout2Scene) using additional semantic layout as the prompt to inject precise control of 3D object positions. Specifically, we first introduce a scene hybrid representation to decouple objects and backgrounds, which is initialized via a pre-trained text-to-3D model. Then, we propose a two-stage scheme to optimize the geometry and appearance of the initialized scene separately. To fully leverage 2D diffusion priors in geometry and appearance generation, we introduce a semantic-guided geometry diffusion model and a semantic-geometry guided diffusion model which are finetuned on a scene dataset. Extensive experiments demonstrate that our method can generate more plausible and realistic scenes as compared to state-of-the-art approaches. Furthermore, the generated scene allows for flexible yet precise editing, thereby facilitating multiple downstream applications.

Recent advances in scene understanding benefit a lot from depth maps because of the 3D geometry information, especially in complex conditions (e.g., low light and overexposed). Existing approaches encode depth maps along with RGB images and perform feature fusion between them to enable more robust predictions. Taking into account that depth can be regarded as a geometry supplement for RGB images, a straightforward question arises: Do we really need to explicitly encode depth information with neural networks as done for RGB images? Based on this insight, in this paper, we investigate a new way to learn RGBD feature representations and present DFormerv2, a strong RGBD encoder that explicitly uses depth maps as geometry priors rather than encoding depth information with neural networks. Our goal is to extract the geometry clues from the depth and spatial distances among all the image patch tokens, which will then be used as geometry priors to allocate attention weights in self-attention. Extensive experiments demonstrate that DFormerv2 exhibits exceptional performance in various RGBD semantic segmentation benchmarks. Code is available at: https://github.com/VCIP-RGBD/DFormer.

Text-to-image generation models have achieved remarkable capabilities in synthesizing images, but often struggle to provide fine-grained control over the output. Existing guidance approaches, such as segmentation maps and depth maps, introduce spatial rigidity that restricts the inherent diversity of diffusion models. In this work, we introduce Deep Geometric Moments (DGM) as a novel form of guidance that encapsulates the subject's visual features and nuances through a learned geometric prior. DGMs focus specifically on the subject itself compared to DINO or CLIP features, which suffer from overemphasis on global image features or semantics. Unlike ResNets, which are sensitive to pixel-wise perturbations, DGMs rely on robust geometric moments. Our experiments demonstrate that DGM effectively balance control and diversity in diffusion-based image generation, allowing a flexible control mechanism for steering the diffusion process.

For non-rigid objects, predicting the 3D shape from 2D keypoint observations is ill-posed due to occlusions, and the need to disentangle changes in viewpoint and changes in shape. This challenge has often been addressed by embedding low-rank constraints into specialized models. These models can be hard to train, as they depend on finding a canonical way of aligning observations, before they can learn detailed geometry. These constraints have limited the reconstruction quality. We show that generic, high capacity models, trained with an unsupervised loss, allow for more accurate predicted shapes. In particular, applying low-rank constraints to localized subsets of the full shape allows the high capacity to be suitably constrained. We reduce the state-of-the-art reconstruction error on the S-Up3D dataset by over 70%.

Towards intelligent image editing, object removal should eliminate both the target object and its causal visual artifacts, such as shadows and reflections. However, existing image appearance-based methods either follow strictly mask-aligned training and fail to remove these causal effects which are not explicitly masked, or adopt loosely mask-aligned strategies that lack controllability and may unintentionally over-erase other objects. We identify that these limitations stem from ignoring the causal relationship between an object's geometry presence and its visual effects. To address this limitation, we propose a geometry-aware two-stage framework that decouples object removal into (1) geometry removal and (2) appearance rendering. In the first stage, we remove the object directly from the geometry (e.g., depth) using strictly mask-aligned supervision, enabling structure-aware editing with strong geometric constraints. In the second stage, we render a photorealistic RGB image conditioned on the updated geometry, where causal visual effects are considered implicitly as a result of the modified 3D geometry. To guide learning in the geometry removal stage, we introduce a preference-driven objective based on positive and negative sample pairs, encouraging the model to remove objects as well as their causal visual artifacts while avoiding new structural insertions. Extensive experiments demonstrate that our method achieves state-of-the-art performance in removing both objects and their associated artifacts on two popular benchmarks. The code is available at https://github.com/buxiangzhiren/GeoRemover.

Achieving meticulous segmentation of tooth point clouds from intra-oral scans stands as an indispensable prerequisite for various orthodontic applications. Given the labor-intensive nature of dental annotation, a significant amount of data remains unlabeled, driving increasing interest in semi-supervised approaches. One primary challenge of existing semi-supervised medical segmentation methods lies in noisy pseudo labels generated for unlabeled data. To address this challenge, we propose GeoT, the first framework that employs instance-dependent transition matrix (IDTM) to explicitly model noise in pseudo labels for semi-supervised dental segmentation. Specifically, to handle the extensive solution space of IDTM arising from tens of thousands of dental points, we introduce tooth geometric priors through two key components: point-level geometric regularization (PLGR) to enhance consistency between point adjacency relationships in 3D and IDTM spaces, and class-level geometric smoothing (CLGS) to leverage the fixed spatial distribution of tooth categories for optimal IDTM estimation. Extensive experiments performed on the public Teeth3DS dataset and private dataset demonstrate that our method can make full utilization of unlabeled data to facilitate segmentation, achieving performance comparable to fully supervised methods with only 20% of the labeled data.

In this paper, we present CAD2Program, a new method for reconstructing 3D parametric models from 2D CAD drawings. Our proposed method is inspired by recent successes in vision-language models (VLMs), and departs from traditional methods which rely on task-specific data representations and/or algorithms. Specifically, on the input side, we simply treat the 2D CAD drawing as a raster image, regardless of its original format, and encode the image with a standard ViT model. We show that such an encoding scheme achieves competitive performance against existing methods that operate on vector-graphics inputs, while imposing substantially fewer restrictions on the 2D drawings. On the output side, our method auto-regressively predicts a general-purpose language describing 3D parametric models in text form. Compared to other sequence modeling methods for CAD which use domain-specific sequence representations with fixed-size slots, our text-based representation is more flexible, and can be easily extended to arbitrary geometric entities and semantic or functional properties. Experimental results on a large-scale dataset of cabinet models demonstrate the effectiveness of our method.

This is the first paper in a series of work we have accomplished over the past three years. In this paper, we have constructed a consistent formal plane geometry system. This will serve as a crucial bridge between IMO-level plane geometry challenges and readable AI automated reasoning. Within this formal framework, we have been able to seamlessly integrate modern AI models with our formal system. AI is now capable of providing deductive reasoning solutions to IMO-level plane geometry problems, just like handling other natural languages, and these proofs are readable, traceable, and verifiable. We propose the geometry formalization theory (GFT) to guide the development of the geometry formal system. Based on the GFT, we have established the FormalGeo, which consists of 88 geometric predicates and 196 theorems. It can represent, validate, and solve IMO-level geometry problems. we also have crafted the FGPS (formal geometry problem solver) in Python. It serves as both an interactive assistant for verifying problem-solving processes and an automated problem solver. We've annotated the formalgeo7k and formalgeo-imo datasets. The former contains 6,981 (expand to 133,818 through data augmentation) geometry problems, while the latter includes 18 (expand to 2,627 and continuously increasing) IMO-level challenging geometry problems. All annotated problems include detailed formal language descriptions and solutions. Implementation of the formal system and experiments validate the correctness and utility of the GFT. The backward depth-first search method only yields a 2.42% problem-solving failure rate, and we can incorporate deep learning techniques to achieve lower one. The source code of FGPS and datasets are available at https://github.com/BitSecret/FGPS.

Problems involving geometric data arise in a variety of fields, including computer vision, robotics, chemistry, and physics. Such data can take numerous forms, such as points, direction vectors, planes, or transformations, but to date there is no single architecture that can be applied to such a wide variety of geometric types while respecting their symmetries. In this paper we introduce the Geometric Algebra Transformer (GATr), a general-purpose architecture for geometric data. GATr represents inputs, outputs, and hidden states in the projective geometric algebra, which offers an efficient 16-dimensional vector space representation of common geometric objects as well as operators acting on them. GATr is equivariant with respect to E(3), the symmetry group of 3D Euclidean space. As a transformer, GATr is scalable, expressive, and versatile. In experiments with n-body modeling and robotic planning, GATr shows strong improvements over non-geometric baselines.

This paper presents GPSM4K, a comprehensive geometry multimodal dataset tailored to augment the problem-solving capabilities of Large Vision Language Models (LVLMs). GPSM4K encompasses 2157 multimodal question-answer pairs manually extracted from mathematics textbooks spanning grades 7-12 and is further augmented to 5340 problems, consisting of both numerical and theorem-proving questions. In contrast to PGPS9k, Geometry3K, and Geo170K which feature only objective-type questions, GPSM4K offers detailed step-by-step solutions in a consistent format, facilitating a comprehensive evaluation of problem-solving approaches. This dataset serves as an excellent benchmark for assessing the geometric reasoning capabilities of LVLMs. Evaluation of our test set shows that there is scope for improvement needed in open-source language models in geometry problem-solving. Finetuning on our training set increases the geometry problem-solving capabilities of models. Further, We also evaluate the effectiveness of techniques such as image captioning and Retrieval Augmentation generation (RAG) on model performance. We leveraged LLM to automate the task of final answer evaluation by providing ground truth and predicted solutions. This research will help to assess and improve the geometric reasoning capabilities of LVLMs.

We present a class of novel optimisers for training neural networks that makes use of the Riemannian metric naturally induced when the loss landscape is embedded in higher-dimensional space. This is the same metric that underlies common visualisations of loss landscapes. By taking this geometric perspective literally and using the induced metric, we develop a new optimiser and compare it to existing methods, namely: SGD, Adam, AdamW, and Muon, across a range of tasks and architectures. Empirically, we conclude that this new class of optimisers is highly effective in low dimensional examples, and provides slight improvement over state-of-the-art methods for training neural networks. These new optimisers have theoretically desirable properties. In particular, the effective learning rate is automatically decreased in regions of high curvature acting as a smoothed out form of gradient clipping. Similarly, one variant of these optimisers can also be viewed as inducing an effective scheduled learning rate and decoupled weight decay is the natural choice from our geometric perspective. The basic method can be used to modify any existing preconditioning method. The new optimiser has a computational complexity comparable to that of Adam.

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.

Text-to-3D generation by distilling pretrained large-scale text-to-image diffusion models has shown great promise but still suffers from inconsistent 3D geometric structures (Janus problems) and severe artifacts. The aforementioned problems mainly stem from 2D diffusion models lacking 3D awareness during the lifting. In this work, we present GeoDream, a novel method that incorporates explicit generalized 3D priors with 2D diffusion priors to enhance the capability of obtaining unambiguous 3D consistent geometric structures without sacrificing diversity or fidelity. Specifically, we first utilize a multi-view diffusion model to generate posed images and then construct cost volume from the predicted image, which serves as native 3D geometric priors, ensuring spatial consistency in 3D space. Subsequently, we further propose to harness 3D geometric priors to unlock the great potential of 3D awareness in 2D diffusion priors via a disentangled design. Notably, disentangling 2D and 3D priors allows us to refine 3D geometric priors further. We justify that the refined 3D geometric priors aid in the 3D-aware capability of 2D diffusion priors, which in turn provides superior guidance for the refinement of 3D geometric priors. Our numerical and visual comparisons demonstrate that GeoDream generates more 3D consistent textured meshes with high-resolution realistic renderings (i.e., 1024 times 1024) and adheres more closely to semantic coherence.

Geometric diagrams are critical in conveying mathematical and scientific concepts, yet traditional diagram generation methods are often manual and resource-intensive. While text-to-image generation has made strides in photorealistic imagery, creating accurate geometric diagrams remains a challenge due to the need for precise spatial relationships and the scarcity of geometry-specific datasets. This paper presents MagicGeo, a training-free framework for generating geometric diagrams from textual descriptions. MagicGeo formulates the diagram generation process as a coordinate optimization problem, ensuring geometric correctness through a formal language solver, and then employs coordinate-aware generation. The framework leverages the strong language translation capability of large language models, while formal mathematical solving ensures geometric correctness. We further introduce MagicGeoBench, a benchmark dataset of 220 geometric diagram descriptions, and demonstrate that MagicGeo outperforms current methods in both qualitative and quantitative evaluations. This work provides a scalable, accurate solution for automated diagram generation, with significant implications for educational and academic applications.

Multimodal large language models (MLLMs) have made rapid progress in recent years, yet continue to struggle with low-level visual perception (LLVP) -- particularly the ability to accurately describe the geometric details of an image. This capability is crucial for applications in areas such as robotics, medical image analysis, and manufacturing. In this paper, we first introduce Geoperception, a benchmark designed to evaluate an MLLM's ability to accurately transcribe 2D geometric information from an image. Using this benchmark, we demonstrate the limitations of leading MLLMs, and then conduct a comprehensive empirical study to explore strategies for improving their performance on geometric tasks. Our findings highlight the benefits of certain model architectures, training techniques, and data strategies, including the use of high-fidelity synthetic data and multi-stage training with a data curriculum. Notably, we find that a data curriculum enables models to learn challenging geometry understanding tasks which they fail to learn from scratch. Leveraging these insights, we develop Euclid, a family of models specifically optimized for strong low-level geometric perception. Although purely trained on synthetic multimodal data, Euclid shows strong generalization ability to novel geometry shapes. For instance, Euclid outperforms the best closed-source model, Gemini-1.5-Pro, by up to 58.56% on certain Geoperception benchmark tasks and 10.65% on average across all tasks.

Dense matching methods like DUSt3R regress pairwise pointmaps for 3D reconstruction. However, the reliance on pairwise prediction and the limited generalization capability inherently restrict the global geometric consistency. In this work, we introduce Test3R, a surprisingly simple test-time learning technique that significantly boosts geometric accuracy. Using image triplets (I_1,I_2,I_3), Test3R generates reconstructions from pairs (I_1,I_2) and (I_1,I_3). The core idea is to optimize the network at test time via a self-supervised objective: maximizing the geometric consistency between these two reconstructions relative to the common image I_1. This ensures the model produces cross-pair consistent outputs, regardless of the inputs. Extensive experiments demonstrate that our technique significantly outperforms previous state-of-the-art methods on the 3D reconstruction and multi-view depth estimation tasks. Moreover, it is universally applicable and nearly cost-free, making it easily applied to other models and implemented with minimal test-time training overhead and parameter footprint. Code is available at https://github.com/nopQAQ/Test3R.

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and geometry accuracy, our research demonstrates that both can be achieved simultaneously with RGB input alone. The key idea of our approach is to enhance the ability for geometry estimation by combining easy-to-obtain monocular priors with learning-based dense SLAM, and then using 3D Gaussian splatting as our core map representation to efficiently model the scene. Upon loop closure, our method ensures on-the-fly global consistency through efficient pose graph bundle adjustment and instant map updates by explicitly deforming the 3D Gaussian units based on anchored keyframe updates. Furthermore, we introduce a grid-based scale alignment strategy to maintain improved scale consistency in prior depths for finer depth details. Through extensive experiments on Replica, ScanNet, and ScanNet++, we demonstrate significant improvements over existing Neural SLAM methods and even surpass RGB-D-based methods in both reconstruction and rendering quality. The project page and source code will be made available at https://hi-slam2.github.io/.

Symmetry is one of the most fundamental geometric cues in computer vision, and detecting it has been an ongoing challenge. With the recent advances in vision-language models,~i.e., CLIP, we investigate whether a pre-trained CLIP model can aid symmetry detection by leveraging the additional symmetry cues found in the natural image descriptions. We propose CLIPSym, which leverages CLIP's image and language encoders and a rotation-equivariant decoder based on a hybrid of Transformer and G-Convolution to detect rotation and reflection symmetries. To fully utilize CLIP's language encoder, we have developed a novel prompting technique called Semantic-Aware Prompt Grouping (SAPG), which aggregates a diverse set of frequent object-based prompts to better integrate the semantic cues for symmetry detection. Empirically, we show that CLIPSym outperforms the current state-of-the-art on three standard symmetry detection datasets (DENDI, SDRW, and LDRS). Finally, we conduct detailed ablations verifying the benefits of CLIP's pre-training, the proposed equivariant decoder, and the SAPG technique. The code is available at https://github.com/timyoung2333/CLIPSym.

Affine correspondences have received significant attention due to their benefits in tasks like image matching and pose estimation. Existing methods for extracting affine correspondences still have many limitations in terms of performance; thus, exploring a new paradigm is crucial. In this paper, we present a new pipeline designed for extracting accurate affine correspondences by integrating dense matching and geometric constraints. Specifically, a novel extraction framework is introduced, with the aid of dense matching and a novel keypoint scale and orientation estimator. For this purpose, we propose loss functions based on geometric constraints, which can effectively improve accuracy by supervising neural networks to learn feature geometry. The experimental show that the accuracy and robustness of our method outperform the existing ones in image matching tasks. To further demonstrate the effectiveness of the proposed method, we applied it to relative pose estimation. Affine correspondences extracted by our method lead to more accurate poses than the baselines on a range of real-world datasets. The code is available at https://github.com/stilcrad/DenseAffine.

Current multimodal large language models (MLLMs) often underperform on mathematical problem-solving tasks that require fine-grained visual understanding. The limitation is largely attributable to inadequate perception of geometric primitives during image-level contrastive pre-training (e.g., CLIP). While recent efforts to improve math MLLMs have focused on scaling up mathematical visual instruction datasets and employing stronger LLM backbones, they often overlook persistent errors in visual recognition. In this paper, we systematically evaluate the visual grounding capabilities of state-of-the-art MLLMs and reveal a significant negative correlation between visual grounding accuracy and problem-solving performance, underscoring the critical role of fine-grained visual understanding. Notably, advanced models like GPT-4o exhibit a 70% error rate when identifying geometric entities, highlighting that this remains a key bottleneck in visual mathematical reasoning. To address this, we propose a novel approach, SVE-Math (Selective Vision-Enhanced Mathematical MLLM), featuring a geometric-grounded vision encoder and a feature router that dynamically adjusts the contribution of hierarchical visual feature maps. Our model recognizes accurate visual primitives and generates precise visual prompts tailored to the language model's reasoning needs. In experiments, SVE-Math-Qwen2.5-7B outperforms other 7B models by 15% on MathVerse and is compatible with GPT-4V on MathVista. Despite being trained on smaller datasets, SVE-Math-7B achieves competitive performance on GeoQA, rivaling models trained on significantly larger datasets. Our findings emphasize the importance of incorporating fine-grained visual understanding into MLLMs and provide a promising direction for future research.

Large Reconstruction Models have made significant strides in the realm of automated 3D content generation from single or multiple input images. Despite their success, these models often produce 3D meshes with geometric inaccuracies, stemming from the inherent challenges of deducing 3D shapes solely from image data. In this work, we introduce a novel framework, the Large Image and Point Cloud Alignment Model (LAM3D), which utilizes 3D point cloud data to enhance the fidelity of generated 3D meshes. Our methodology begins with the development of a point-cloud-based network that effectively generates precise and meaningful latent tri-planes, laying the groundwork for accurate 3D mesh reconstruction. Building upon this, our Image-Point-Cloud Feature Alignment technique processes a single input image, aligning to the latent tri-planes to imbue image features with robust 3D information. This process not only enriches the image features but also facilitates the production of high-fidelity 3D meshes without the need for multi-view input, significantly reducing geometric distortions. Our approach achieves state-of-the-art high-fidelity 3D mesh reconstruction from a single image in just 6 seconds, and experiments on various datasets demonstrate its effectiveness.

We introduce pi^3, a feed-forward neural network that offers a novel approach to visual geometry reconstruction, breaking the reliance on a conventional fixed reference view. Previous methods often anchor their reconstructions to a designated viewpoint, an inductive bias that can lead to instability and failures if the reference is suboptimal. In contrast, pi^3 employs a fully permutation-equivariant architecture to predict affine-invariant camera poses and scale-invariant local point maps without any reference frames. This design makes our model inherently robust to input ordering and highly scalable. These advantages enable our simple and bias-free approach to achieve state-of-the-art performance on a wide range of tasks, including camera pose estimation, monocular/video depth estimation, and dense point map reconstruction. Code and models are publicly available.

Recently, Large Language Models (LLMs) have achieved significant success, prompting increased interest in expanding their generative capabilities beyond general text into domain-specific areas. This study investigates the generation of parametric sequences for computer-aided design (CAD) models using LLMs. This endeavor represents an initial step towards creating parametric 3D shapes with LLMs, as CAD model parameters directly correlate with shapes in three-dimensional space. Despite the formidable generative capacities of LLMs, this task remains challenging, as these models neither encounter parametric sequences during their pretraining phase nor possess direct awareness of 3D structures. To address this, we present CAD-Llama, a framework designed to enhance pretrained LLMs for generating parametric 3D CAD models. Specifically, we develop a hierarchical annotation pipeline and a code-like format to translate parametric 3D CAD command sequences into Structured Parametric CAD Code (SPCC), incorporating hierarchical semantic descriptions. Furthermore, we propose an adaptive pretraining approach utilizing SPCC, followed by an instruction tuning process aligned with CAD-specific guidelines. This methodology aims to equip LLMs with the spatial knowledge inherent in parametric sequences. Experimental results demonstrate that our framework significantly outperforms prior autoregressive methods and existing LLM baselines.

Generative models for 3D object synthesis have seen significant advancements with the incorporation of prior knowledge distilled from 2D diffusion models. Nevertheless, challenges persist in the form of multi-view geometric inconsistencies and slow generation speeds within the existing 3D synthesis frameworks. This can be attributed to two factors: firstly, the deficiency of abundant geometric a priori knowledge in optimization, and secondly, the entanglement issue between geometry and texture in conventional 3D generation methods.In response, we introduce MetaDreammer, a two-stage optimization approach that leverages rich 2D and 3D prior knowledge. In the first stage, our emphasis is on optimizing the geometric representation to ensure multi-view consistency and accuracy of 3D objects. In the second stage, we concentrate on fine-tuning the geometry and optimizing the texture, thereby achieving a more refined 3D object. Through leveraging 2D and 3D prior knowledge in two stages, respectively, we effectively mitigate the interdependence between geometry and texture. MetaDreamer establishes clear optimization objectives for each stage, resulting in significant time savings in the 3D generation process. Ultimately, MetaDreamer can generate high-quality 3D objects based on textual prompts within 20 minutes, and to the best of our knowledge, it is the most efficient text-to-3D generation method. Furthermore, we introduce image control into the process, enhancing the controllability of 3D generation. Extensive empirical evidence confirms that our method is not only highly efficient but also achieves a quality level that is at the forefront of current state-of-the-art 3D generation techniques.

Recent research has evidenced the significant potentials of Large Language Models (LLMs) in handling challenging tasks within 3D scenes. However, current models are constrained to addressing object-centric tasks, where each question-answer pair focuses solely on an individual object. In real-world applications, users may pose queries involving multiple objects or expect for answers that precisely reference various objects. We introduce the use of object identifiers to freely reference objects during a conversation. While this solution appears straightforward, it presents two main challenges: 1) How to establish a reliable one-to-one correspondence between each object and its identifier? 2) How to incorporate complex spatial relationships among dozens of objects into the embedding space of the LLM? To address these challenges, we propose a two-stage alignment method, which involves learning an attribute-aware token and a relation-aware token for each object. These tokens capture the object's attributes and spatial relationships with surrounding objects in the 3D scene. Once the alignment is established, we can fine-tune our model on various downstream tasks using instruction tuning. Experiments conducted on traditional datasets like ScanQA, ScanRefer, and Nr3D/Sr3D showcase the effectiveness of our proposed method. Additionally, we create a 3D scene captioning dataset annotated with rich object identifiers, with the assistant of GPT-4. This dataset aims to further explore the capability of object identifiers in effective object referencing and precise scene understanding.

While impressive progress has recently been made in image-oriented facial attribute translation, shape-oriented 3D facial attribute translation remains an unsolved issue. This is primarily limited by the lack of 3D generative models and ineffective usage of 3D facial data. We propose a learning framework for 3D facial attribute translation to relieve these limitations. Firstly, we customize a novel geometric map for 3D shape representation and embed it in an end-to-end generative adversarial network. The geometric map represents 3D shapes symmetrically on a square image grid, while preserving the neighboring relationship of 3D vertices in a local least-square sense. This enables effective learning for the latent representation of data with different attributes. Secondly, we employ a unified and unpaired learning framework for multi-domain attribute translation. It not only makes effective usage of data correlation from multiple domains, but also mitigates the constraint for hardly accessible paired data. Finally, we propose a hierarchical architecture for the discriminator to guarantee robust results against both global and local artifacts. We conduct extensive experiments to demonstrate the advantage of the proposed framework over the state-of-the-art in generating high-fidelity facial shapes. Given an input 3D facial shape, the proposed framework is able to synthesize novel shapes of different attributes, which covers some downstream applications, such as expression transfer, gender translation, and aging. Code at https://github.com/NaughtyZZ/3D_facial_shape_attribute_translation_ssgmap.

This work presents the first quantitative study of alignment errors between small uncrewed aerial systems (sUAS) geospatial imagery and a priori building polygons and finds that alignment errors are non-uniform and irregular. The work also introduces a publicly available dataset of imagery, building polygons, and human-generated and curated adjustments that can be used to evaluate existing strategies for aligning building polygons with sUAS imagery. There are no efforts that have aligned pre-existing spatial data with sUAS imagery, and thus, there is no clear state of practice. However, this effort and analysis show that the translational alignment errors present in this type of data, averaging 82px and an intersection over the union of 0.65, which would induce further errors and biases in downstream machine learning systems unless addressed. This study identifies and analyzes the translational alignment errors of 21,619 building polygons in fifty-one orthomosaic images, covering 16787.2 Acres (26.23 square miles), constructed from sUAS raw imagery from nine wide-area disasters (Hurricane Ian, Hurricane Harvey, Hurricane Michael, Hurricane Ida, Hurricane Idalia, Hurricane Laura, the Mayfield Tornado, the Musset Bayou Fire, and the Kilauea Eruption). The analysis finds no uniformity among the angle and distance metrics of the building polygon alignments as they present an average degree variance of 0.4 and an average pixel distance variance of 0.45. This work alerts the sUAS community to the problem of spatial alignment and that a simple linear transform, often used to align satellite imagery, will not be sufficient to align spatial data in sUAS orthomosaic imagery.

Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life. Different from the semantic part assembly (e.g., assembling a chair's semantic parts like legs into a whole chair), geometric part assembly (e.g., assembling bowl fragments into a complete bowl) is an emerging task in computer vision and robotics. Instead of semantic information, this task focuses on geometric information of parts. As the both geometric and pose space of fractured parts are exceptionally large, shape pose disentanglement of part representations is beneficial to geometric shape assembly. In our paper, we propose to leverage SE(3) equivariance for such shape pose disentanglement. Moreover, while previous works in vision and robotics only consider SE(3) equivariance for the representations of single objects, we move a step forward and propose leveraging SE(3) equivariance for representations considering multi-part correlations, which further boosts the performance of the multi-part assembly. Experiments demonstrate the significance of SE(3) equivariance and our proposed method for geometric shape assembly. Project page: https://crtie.github.io/SE-3-part-assembly/

Perspective projection has been extensively utilized in monocular 3D object detection methods. It introduces geometric priors from 2D bounding boxes and 3D object dimensions to reduce the uncertainty of depth estimation. However, due to depth errors originating from the object's visual surface, the height of the bounding box often fails to represent the actual projected central height, which undermines the effectiveness of geometric depth. Direct prediction for the projected height unavoidably results in a loss of 2D priors, while multi-depth prediction with complex branches does not fully leverage geometric depth. This paper presents a Transformer-based monocular 3D object detection method called MonoDGP, which adopts perspective-invariant geometry errors to modify the projection formula. We also try to systematically discuss and explain the mechanisms and efficacy behind geometry errors, which serve as a simple but effective alternative to multi-depth prediction. Additionally, MonoDGP decouples the depth-guided decoder and constructs a 2D decoder only dependent on visual features, providing 2D priors and initializing object queries without the disturbance of 3D detection. To further optimize and fine-tune input tokens of the transformer decoder, we also introduce a Region Segment Head (RSH) that generates enhanced features and segment embeddings. Our monocular method demonstrates state-of-the-art performance on the KITTI benchmark without extra data. Code is available at https://github.com/PuFanqi23/MonoDGP.

Much of the success of deep learning is drawn from building architectures that properly respect underlying symmetry and structure in the data on which they operate - a set of considerations that have been united under the banner of geometric deep learning. Often problems in the physical sciences deal with relatively small sets of points in two- or three-dimensional space wherein translation, rotation, and permutation equivariance are important or even vital for models to be useful in practice. In this work, we present rotation- and permutation-equivariant architectures for deep learning on these small point clouds, composed of a set of products of terms from the geometric algebra and reductions over those products using an attention mechanism. The geometric algebra provides valuable mathematical structure by which to combine vector, scalar, and other types of geometric inputs in a systematic way to account for rotation invariance or covariance, while attention yields a powerful way to impose permutation equivariance. We demonstrate the usefulness of these architectures by training models to solve sample problems relevant to physics, chemistry, and biology.

It has recently been discovered that using a pre-trained vision-language model (VLM), e.g., CLIP, to align a whole query image with several finer text descriptions generated by a large language model can significantly enhance zero-shot performance. However, in this paper, we empirically find that the finer descriptions tend to align more effectively with local areas of the query image rather than the whole image, and then we theoretically validate this finding. Thus, we present a method called weighted visual-text cross alignment (WCA). This method begins with a localized visual prompting technique, designed to identify local visual areas within the query image. The local visual areas are then cross-aligned with the finer descriptions by creating a similarity matrix using the pre-trained VLM. To determine how well a query image aligns with each category, we develop a score function based on the weighted similarities in this matrix. Extensive experiments demonstrate that our method significantly improves zero-shot performance across various datasets, achieving results that are even comparable to few-shot learning methods.

Referenced-based scene stylization that edits the appearance based on a content-aligned reference image is an emerging research area. Starting with a pretrained neural radiance field (NeRF), existing methods typically learn a novel appearance that matches the given style. Despite their effectiveness, they inherently suffer from time-consuming volume rendering, and thus are impractical for many real-time applications. In this work, we propose ReGS, which adapts 3D Gaussian Splatting (3DGS) for reference-based stylization to enable real-time stylized view synthesis. Editing the appearance of a pretrained 3DGS is challenging as it uses discrete Gaussians as 3D representation, which tightly bind appearance with geometry. Simply optimizing the appearance as prior methods do is often insufficient for modeling continuous textures in the given reference image. To address this challenge, we propose a novel texture-guided control mechanism that adaptively adjusts local responsible Gaussians to a new geometric arrangement, serving for desired texture details. The proposed process is guided by texture clues for effective appearance editing, and regularized by scene depth for preserving original geometric structure. With these novel designs, we show ReGs can produce state-of-the-art stylization results that respect the reference texture while embracing real-time rendering speed for free-view navigation.

From a single image, visual cues can help deduce intrinsic and extrinsic camera parameters like the focal length and the gravity direction. This single-image calibration can benefit various downstream applications like image editing and 3D mapping. Current approaches to this problem are based on either classical geometry with lines and vanishing points or on deep neural networks trained end-to-end. The learned approaches are more robust but struggle to generalize to new environments and are less accurate than their classical counterparts. We hypothesize that they lack the constraints that 3D geometry provides. In this work, we introduce GeoCalib, a deep neural network that leverages universal rules of 3D geometry through an optimization process. GeoCalib is trained end-to-end to estimate camera parameters and learns to find useful visual cues from the data. Experiments on various benchmarks show that GeoCalib is more robust and more accurate than existing classical and learned approaches. Its internal optimization estimates uncertainties, which help flag failure cases and benefit downstream applications like visual localization. The code and trained models are publicly available at https://github.com/cvg/GeoCalib.

Surface cutting is a fundamental task in computer graphics, with applications in UV parameterization, texture mapping, and mesh decomposition. However, existing methods often produce technically valid but overly fragmented atlases that lack semantic coherence. We introduce SeamGPT, an auto-regressive model that generates cutting seams by mimicking professional workflows. Our key technical innovation lies in formulating surface cutting as a next token prediction task: sample point clouds on mesh vertices and edges, encode them as shape conditions, and employ a GPT-style transformer to sequentially predict seam segments with quantized 3D coordinates. Our approach achieves exceptional performance on UV unwrapping benchmarks containing both manifold and non-manifold meshes, including artist-created, and 3D-scanned models. In addition, it enhances existing 3D segmentation tools by providing clean boundaries for part decomposition.

We present Text2Room, a method for generating room-scale textured 3D meshes from a given text prompt as input. To this end, we leverage pre-trained 2D text-to-image models to synthesize a sequence of images from different poses. In order to lift these outputs into a consistent 3D scene representation, we combine monocular depth estimation with a text-conditioned inpainting model. The core idea of our approach is a tailored viewpoint selection such that the content of each image can be fused into a seamless, textured 3D mesh. More specifically, we propose a continuous alignment strategy that iteratively fuses scene frames with the existing geometry to create a seamless mesh. Unlike existing works that focus on generating single objects or zoom-out trajectories from text, our method generates complete 3D scenes with multiple objects and explicit 3D geometry. We evaluate our approach using qualitative and quantitative metrics, demonstrating it as the first method to generate room-scale 3D geometry with compelling textures from only text as input.

We present AlphaGeometry2, a significantly improved version of AlphaGeometry introduced in Trinh et al. (2024), which has now surpassed an average gold medalist in solving Olympiad geometry problems. To achieve this, we first extend the original AlphaGeometry language to tackle harder problems involving movements of objects, and problems containing linear equations of angles, ratios, and distances. This, together with other additions, has markedly improved the coverage rate of the AlphaGeometry language on International Math Olympiads (IMO) 2000-2024 geometry problems from 66% to 88%. The search process of AlphaGeometry2 has also been greatly improved through the use of Gemini architecture for better language modeling, and a novel knowledge-sharing mechanism that combines multiple search trees. Together with further enhancements to the symbolic engine and synthetic data generation, we have significantly boosted the overall solving rate of AlphaGeometry2 to 84% for all geometry problems over the last 25 years, compared to 54% previously. AlphaGeometry2 was also part of the system that achieved silver-medal standard at IMO 2024 https://dpmd.ai/imo-silver. Last but not least, we report progress towards using AlphaGeometry2 as a part of a fully automated system that reliably solves geometry problems directly from natural language input.

The rising importance of 3D representation learning, pivotal in computer vision, autonomous driving, and robotics, is evident. However, a prevailing trend, which straightforwardly resorted to transferring 2D alignment strategies to the 3D domain, encounters three distinct challenges: (1) Information Degradation: This arises from the alignment of 3D data with mere single-view 2D images and generic texts, neglecting the need for multi-view images and detailed subcategory texts. (2) Insufficient Synergy: These strategies align 3D representations to image and text features individually, hampering the overall optimization for 3D models. (3) Underutilization: The fine-grained information inherent in the learned representations is often not fully exploited, indicating a potential loss in detail. To address these issues, we introduce JM3D, a comprehensive approach integrating point cloud, text, and image. Key contributions include the Structured Multimodal Organizer (SMO), enriching vision-language representation with multiple views and hierarchical text, and the Joint Multi-modal Alignment (JMA), combining language understanding with visual representation. Our advanced model, JM3D-LLM, marries 3D representation with large language models via efficient fine-tuning. Evaluations on ModelNet40 and ScanObjectNN establish JM3D's superiority. The superior performance of JM3D-LLM further underscores the effectiveness of our representation transfer approach. Our code and models are available at https://github.com/Mr-Neko/JM3D.

Transfer learning is a crucial technique for handling a small amount of data that is potentially related to other abundant data. However, most of the existing methods are focused on classification tasks using images and language datasets. Therefore, in order to expand the transfer learning scheme to regression tasks, we propose a novel transfer technique based on differential geometry, namely the Geometrically Aligned Transfer Encoder (GATE). In this method, we interpret the latent vectors from the model to exist on a Riemannian curved manifold. We find a proper diffeomorphism between pairs of tasks to ensure that every arbitrary point maps to a locally flat coordinate in the overlapping region, allowing the transfer of knowledge from the source to the target data. This also serves as an effective regularizer for the model to behave in extrapolation regions. In this article, we demonstrate that GATE outperforms conventional methods and exhibits stable behavior in both the latent space and extrapolation regions for various molecular graph datasets.

3D editing - the task of locally modifying the geometry or appearance of a 3D asset - has wide applications in immersive content creation, digital entertainment, and AR/VR. However, unlike 2D editing, it remains challenging due to the need for cross-view consistency, structural fidelity, and fine-grained controllability. Existing approaches are often slow, prone to geometric distortions, or dependent on manual and accurate 3D masks that are error-prone and impractical. To address these challenges, we advance both the data and model fronts. On the data side, we introduce 3DEditVerse, the largest paired 3D editing benchmark to date, comprising 116,309 high-quality training pairs and 1,500 curated test pairs. Built through complementary pipelines of pose-driven geometric edits and foundation model-guided appearance edits, 3DEditVerse ensures edit locality, multi-view consistency, and semantic alignment. On the model side, we propose 3DEditFormer, a 3D-structure-preserving conditional transformer. By enhancing image-to-3D generation with dual-guidance attention and time-adaptive gating, 3DEditFormer disentangles editable regions from preserved structure, enabling precise and consistent edits without requiring auxiliary 3D masks. Extensive experiments demonstrate that our framework outperforms state-of-the-art baselines both quantitatively and qualitatively, establishing a new standard for practical and scalable 3D editing. Dataset and code will be released. Project: https://www.lv-lab.org/3DEditFormer/

Since the publication of CLIP, the approach of using InfoNCE loss for contrastive pre-training has become widely popular for bridging two or more modalities. Despite its wide adoption, CLIP's original design choices of L2 normalization and cosine similarity logit have rarely been revisited. We have systematically experimented with alternative geometries and softmax logits for language-image pre-training and identified that variants with intuitive Euclidean geometry, Euclidean CLIP (EuCLIP), match or exceed the performance of CLIP and support hierarchical relationships at least as well as more complicated hyperbolic alternative.

Significant advancements in Large Multimodal Models (LMMs) have enabled them to tackle complex problems involving visual-mathematical reasoning. However, their ability to identify geometric elements remains underexplored. To address this gap, we introduce Tangram, a novel benchmark designed to evaluate the performance of LMMs on geometric element recognition. Tangram comprises 1,080 diverse geometric diagrams sourced from primary and secondary school exams, competitions, and textbooks, ranging from simple geometric shapes to complex combinations. Each diagram is paired with four questions, resulting in 4,320 visual-question-answer pairs. Unlike existing benchmarks that emphasize higher-level cognition and reasoning, Tangram focuses on understanding geometric elements, requiring models to perform a ``simple yet challenging" counting task. Systematic evaluation of 13 prominent LMMs, such as GPT-4o and Claude 3.5 Sonnet, reveals that these models face significant challenges even in seemingly straightforward tasks. The top-performing model achieves an accuracy of only 53.0%, highlighting a substantial gap compared to human performance. These findings underscore the limitations of current multimodal AI systems in handling basic perception tasks and serve to inspire the development of the next generation of expert-level multimodal foundational models. The data and code will be released soon.

In this paper, we introduce Geometry-Inverse-Meet-Pixel-Insert, short for GEO, an exceptionally versatile image editing technique designed to cater to customized user requirements at both local and global scales. Our approach seamlessly integrates text prompts and image prompts to yield diverse and precise editing outcomes. Notably, our method operates without the need for training and is driven by two key contributions: (i) a novel geometric accumulation loss that enhances DDIM inversion to faithfully preserve pixel space geometry and layout, and (ii) an innovative boosted image prompt technique that combines pixel-level editing for text-only inversion with latent space geometry guidance for standard classifier-free reversion. Leveraging the publicly available Stable Diffusion model, our approach undergoes extensive evaluation across various image types and challenging prompt editing scenarios, consistently delivering high-fidelity editing results for real images.

Recent works have shown that, when trained at scale, uni-modal 2D vision and text encoders converge to learned features that share remarkable structural properties, despite arising from different representations. However, the role of 3D encoders with respect to other modalities remains unexplored. Furthermore, existing 3D foundation models that leverage large datasets are typically trained with explicit alignment objectives with respect to frozen encoders from other representations. In this work, we investigate the possibility of a posteriori alignment of representations obtained from uni-modal 3D encoders compared to text-based feature spaces. We show that naive post-training feature alignment of uni-modal text and 3D encoders results in limited performance. We then focus on extracting subspaces of the corresponding feature spaces and discover that by projecting learned representations onto well-chosen lower-dimensional subspaces the quality of alignment becomes significantly higher, leading to improved accuracy on matching and retrieval tasks. Our analysis further sheds light on the nature of these shared subspaces, which roughly separate between semantic and geometric data representations. Overall, ours is the first work that helps to establish a baseline for post-training alignment of 3D uni-modal and text feature spaces, and helps to highlight both the shared and unique properties of 3D data compared to other representations.

We present a novel meta-learning approach for 6D pose estimation on unknown objects. In contrast to ``instance-level" and ``category-level" pose estimation methods, our algorithm learns object representation in a category-agnostic way, which endows it with strong generalization capabilities across object categories. Specifically, we employ a neural process-based meta-learning approach to train an encoder to capture texture and geometry of an object in a latent representation, based on very few RGB-D images and ground-truth keypoints. The latent representation is then used by a simultaneously meta-trained decoder to predict the 6D pose of the object in new images. Furthermore, we propose a novel geometry-aware decoder for the keypoint prediction using a Graph Neural Network (GNN), which explicitly takes geometric constraints specific to each object into consideration. To evaluate our algorithm, extensive experiments are conducted on the \linemod dataset, and on our new fully-annotated synthetic datasets generated from Multiple Categories in Multiple Scenes (MCMS). Experimental results demonstrate that our model performs well on unseen objects with very different shapes and appearances. Remarkably, our model also shows robust performance on occluded scenes although trained fully on data without occlusion. To our knowledge, this is the first work exploring cross-category level 6D pose estimation.

Recent progress in Sign Language Translation (SLT) has focussed primarily on improving the representational capacity of large language models to incorporate Sign Language features. This work explores an alternative direction: enhancing the geometric properties of skeletal representations themselves. We propose Geo-Sign, a method that leverages the properties of hyperbolic geometry to model the hierarchical structure inherent in sign language kinematics. By projecting skeletal features derived from Spatio-Temporal Graph Convolutional Networks (ST-GCNs) into the Poincar\'e ball model, we aim to create more discriminative embeddings, particularly for fine-grained motions like finger articulations. We introduce a hyperbolic projection layer, a weighted Fr\'echet mean aggregation scheme, and a geometric contrastive loss operating directly in hyperbolic space. These components are integrated into an end-to-end translation framework as a regularisation function, to enhance the representations within the language model. This work demonstrates the potential of hyperbolic geometry to improve skeletal representations for Sign Language Translation, improving on SOTA RGB methods while preserving privacy and improving computational efficiency. Code available here: https://github.com/ed-fish/geo-sign.

We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only uncalibrated monocular cameras. While related works align submaps using similarity transforms (i.e., translation, rotation, and scale), we show that such approaches are inadequate in the case of uncalibrated cameras. In particular, we revisit the idea of reconstruction ambiguity, where given a set of uncalibrated cameras with no assumption on the camera motion or scene structure, the scene can only be reconstructed up to a 15-degrees-of-freedom projective transformation of the true geometry. This inspires us to recover a consistent scene reconstruction across submaps by optimizing over the SL(4) manifold, thus estimating 15-degrees-of-freedom homography transforms between sequential submaps while accounting for potential loop closure constraints. As verified by extensive experiments, we demonstrate that VGGT-SLAM achieves improved map quality using long video sequences that are infeasible for VGGT due to its high GPU requirements.

In this paper we show that visual diffusion models can serve as effective geometric solvers: they can directly reason about geometric problems by working in pixel space. We first demonstrate this on the Inscribed Square Problem, a long-standing problem in geometry that asks whether every Jordan curve contains four points forming a square. We then extend the approach to two other well-known hard geometric problems: the Steiner Tree Problem and the Simple Polygon Problem. Our method treats each problem instance as an image and trains a standard visual diffusion model that transforms Gaussian noise into an image representing a valid approximate solution that closely matches the exact one. The model learns to transform noisy geometric structures into correct configurations, effectively recasting geometric reasoning as image generation. Unlike prior work that necessitates specialized architectures and domain-specific adaptations when applying diffusion to parametric geometric representations, we employ a standard visual diffusion model that operates on the visual representation of the problem. This simplicity highlights a surprising bridge between generative modeling and geometric problem solving. Beyond the specific problems studied here, our results point toward a broader paradigm: operating in image space provides a general and practical framework for approximating notoriously hard problems, and opens the door to tackling a far wider class of challenging geometric tasks.

With the overwhelming trend of mask image modeling led by MAE, generative pre-training has shown a remarkable potential to boost the performance of fundamental models in 2D vision. However, in 3D vision, the over-reliance on Transformer-based backbones and the unordered nature of point clouds have restricted the further development of generative pre-training. In this paper, we propose a novel 3D-to-2D generative pre-training method that is adaptable to any point cloud model. We propose to generate view images from different instructed poses via the cross-attention mechanism as the pre-training scheme. Generating view images has more precise supervision than its point cloud counterpart, thus assisting 3D backbones to have a finer comprehension of the geometrical structure and stereoscopic relations of the point cloud. Experimental results have proved the superiority of our proposed 3D-to-2D generative pre-training over previous pre-training methods. Our method is also effective in boosting the performance of architecture-oriented approaches, achieving state-of-the-art performance when fine-tuning on ScanObjectNN classification and ShapeNetPart segmentation tasks. Code is available at https://github.com/wangzy22/TAP.

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction. Equipped with data-driven pre-trained geometric cues, these methods have demonstrated promising performance. However, inaccurate prior estimation, which is usually inevitable, can lead to suboptimal reconstruction quality, particularly in some geometrically complex regions. In this paper, we propose a two-stage training process, decouple view-dependent and view-independent colors, and leverage two novel consistency constraints to enhance detail reconstruction performance without requiring extra priors. Additionally, we introduce an essential mask scheme to adaptively influence the selection of supervision constraints, thereby improving performance in a self-supervised paradigm. Experiments on synthetic and real-world datasets show the capability of reducing the interference from prior estimation errors and achieving high-quality scene reconstruction with rich geometric details.

Significant progress has recently been made in creative applications of large pre-trained models for downstream tasks in 3D vision, such as text-to-shape generation. This motivates our investigation of how these pre-trained models can be used effectively to generate 3D shapes from sketches, which has largely remained an open challenge due to the limited sketch-shape paired datasets and the varying level of abstraction in the sketches. We discover that conditioning a 3D generative model on the features (obtained from a frozen large pre-trained vision model) of synthetic renderings during training enables us to effectively generate 3D shapes from sketches at inference time. This suggests that the large pre-trained vision model features carry semantic signals that are resilient to domain shifts, i.e., allowing us to use only RGB renderings, but generalizing to sketches at inference time. We conduct a comprehensive set of experiments investigating different design factors and demonstrate the effectiveness of our straightforward approach for generation of multiple 3D shapes per each input sketch regardless of their level of abstraction without requiring any paired datasets during training.

Geometry problems are a crucial testbed for AI reasoning capabilities. Most existing geometry solving systems cannot express problems within a unified framework, thus are difficult to integrate with other mathematical fields. Besides, since most geometric proofs rely on intuitive diagrams, verifying geometry problems is particularly challenging. To address these gaps, we introduce LeanGeo, a unified formal system for formalizing and solving competition-level geometry problems within the Lean 4 theorem prover. LeanGeo features a comprehensive library of high-level geometric theorems with Lean's foundational logic, enabling rigorous proof verification and seamless integration with Mathlib. We also present LeanGeo-Bench, a formal geometry benchmark in LeanGeo, comprising problems from the International Mathematical Olympiad (IMO) and other advanced sources. Our evaluation demonstrates the capabilities and limitations of state-of-the-art Large Language Models on this benchmark, highlighting the need for further advancements in automated geometric reasoning. We open source the theorem library and the benchmark of LeanGeo at https://github.com/project-numina/LeanGeo/tree/master.

Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, scaling these models to long-sequence image inputs remains a significant challenge due to inference-time inefficiency. In this work, we present a detailed analysis of VGGT, a state-of-the-art feed-forward visual geometry model and identify its primary bottleneck. Visualization further reveals a token collapse phenomenon in the attention maps. Motivated by these findings, we explore the potential of token merging in the feed-forward visual geometry model. Owing to the unique architectural and task-specific properties of 3D models, directly applying existing merging techniques proves challenging. To this end, we propose FastVGGT, which, for the first time, leverages token merging in the 3D domain through a training-free mechanism for accelerating VGGT. we devise a unique token partitioning strategy tailored to 3D architectures and tasks, effectively eliminating redundant computation while preserving VGGT's powerful reconstruction capacity. Extensive experiments on multiple 3D geometry benchmarks validate the effectiveness of our approach. Notably, with 1000 input images, FastVGGT achieves a 4x speedup over VGGT while mitigating error accumulation in long-sequence scenarios. These findings underscore the potential of token merging as a principled solution for scalable 3D vision systems. Code is available at: https://mystorm16.github.io/fastvggt/.

Monocular and stereo depth estimation offer complementary strengths: monocular methods capture rich contextual priors but lack geometric precision, while stereo approaches leverage epipolar geometry yet struggle with ambiguities such as reflective or textureless surfaces. Despite post-hoc synergies, these paradigms remain largely disjoint in practice. We introduce a unified framework that bridges both through iterative bidirectional alignment of their latent representations. At its core, a novel cross-attentive alignment mechanism dynamically synchronizes monocular contextual cues with stereo hypothesis representations during stereo reasoning. This mutual alignment resolves stereo ambiguities (e.g., specular surfaces) by injecting monocular structure priors while refining monocular depth with stereo geometry within a single network. Extensive experiments demonstrate state-of-the-art results: it reduces zero-shot generalization error by !>!40% on Middlebury and ETH3D, while addressing longstanding failures on transparent and reflective surfaces. By harmonizing multi-view geometry with monocular context, our approach enables robust 3D perception that transcends modality-specific limitations. Codes available at https://github.com/aeolusguan/BridgeDepth.

Computer-aided design (CAD) significantly enhances the efficiency, accuracy, and innovation of design processes by enabling precise 2D and 3D modeling, extensive analysis, and optimization. Existing methods for creating CAD models rely on latent vectors or point clouds, which are difficult to obtain and costly to store. Recent advances in Multimodal Large Language Models (MLLMs) have inspired researchers to use natural language instructions and images for CAD model construction. However, these models still struggle with inferring accurate 3D spatial location and orientation, leading to inaccuracies in determining the spatial 3D starting points and extrusion directions for constructing geometries. This work introduces CAD-GPT, a CAD synthesis method with spatial reasoning-enhanced MLLM that takes either a single image or a textual description as input. To achieve precise spatial inference, our approach introduces a 3D Modeling Spatial Mechanism. This method maps 3D spatial positions and 3D sketch plane rotation angles into a 1D linguistic feature space using a specialized spatial unfolding mechanism, while discretizing 2D sketch coordinates into an appropriate planar space to enable precise determination of spatial starting position, sketch orientation, and 2D sketch coordinate translations. Extensive experiments demonstrate that CAD-GPT consistently outperforms existing state-of-the-art methods in CAD model synthesis, both quantitatively and qualitatively.

Recent advances in dense 3D reconstruction have led to significant progress, yet achieving accurate unified geometric prediction remains a major challenge. Most existing methods are limited to predicting a single geometry quantity from input images. However, geometric quantities such as depth, surface normals, and point maps are inherently correlated, and estimating them in isolation often fails to ensure consistency, thereby limiting both accuracy and practical applicability. This motivates us to explore a unified framework that explicitly models the structural coupling among different geometric properties to enable joint regression. In this paper, we present Dens3R, a 3D foundation model designed for joint geometric dense prediction and adaptable to a wide range of downstream tasks. Dens3R adopts a two-stage training framework to progressively build a pointmap representation that is both generalizable and intrinsically invariant. Specifically, we design a lightweight shared encoder-decoder backbone and introduce position-interpolated rotary positional encoding to maintain expressive power while enhancing robustness to high-resolution inputs. By integrating image-pair matching features with intrinsic invariance modeling, Dens3R accurately regresses multiple geometric quantities such as surface normals and depth, achieving consistent geometry perception from single-view to multi-view inputs. Additionally, we propose a post-processing pipeline that supports geometrically consistent multi-view inference. Extensive experiments demonstrate the superior performance of Dens3R across various dense 3D prediction tasks and highlight its potential for broader applications.

We present 3DScenePrompt, a framework that generates the next video chunk from arbitrary-length input while enabling precise camera control and preserving scene consistency. Unlike methods conditioned on a single image or a short clip, we employ dual spatio-temporal conditioning that reformulates context-view referencing across the input video. Our approach conditions on both temporally adjacent frames for motion continuity and spatially adjacent content for scene consistency. However, when generating beyond temporal boundaries, directly using spatially adjacent frames would incorrectly preserve dynamic elements from the past. We address this by introducing a 3D scene memory that represents exclusively the static geometry extracted from the entire input video. To construct this memory, we leverage dynamic SLAM with our newly introduced dynamic masking strategy that explicitly separates static scene geometry from moving elements. The static scene representation can then be projected to any target viewpoint, providing geometrically consistent warped views that serve as strong 3D spatial prompts while allowing dynamic regions to evolve naturally from temporal context. This enables our model to maintain long-range spatial coherence and precise camera control without sacrificing computational efficiency or motion realism. Extensive experiments demonstrate that our framework significantly outperforms existing methods in scene consistency, camera controllability, and generation quality. Project page : https://cvlab-kaist.github.io/3DScenePrompt/

Unsupervised learning of depth and ego-motion, two fundamental 3D perception tasks, has made significant strides in recent years. However, most methods treat ego-motion as an auxiliary task, either mixing all motion types or excluding depth-independent rotational motions in supervision. Such designs limit the incorporation of strong geometric constraints, reducing reliability and robustness under diverse conditions. This study introduces a discriminative treatment of motion components, leveraging the geometric regularities of their respective rigid flows to benefit both depth and ego-motion estimation. Given consecutive video frames, network outputs first align the optical axes and imaging planes of the source and target cameras. Optical flows between frames are transformed through these alignments, and deviations are quantified to impose geometric constraints individually on each ego-motion component, enabling more targeted refinement. These alignments further reformulate the joint learning process into coaxial and coplanar forms, where depth and each translation component can be mutually derived through closed-form geometric relationships, introducing complementary constraints that improve depth robustness. DiMoDE, a general depth and ego-motion joint learning framework incorporating these designs, achieves state-of-the-art performance on multiple public datasets and a newly collected diverse real-world dataset, particularly under challenging conditions. Our source code will be publicly available at mias.group/DiMoDE upon publication.

Vision-language pre-training, i.e., aligning images with paired text, is a powerful paradigm to create encoders that can be directly used for tasks such as classification and retrieval, and for downstream tasks such as segmentation and report generation. In the 3D medical image domain, these capabilities allow vision-language encoders (VLEs) to support radiologists by retrieving patients with similar abnormalities or predicting likelihoods of abnormality. While the methodology holds promise, data availability limits the capabilities of current 3D VLEs. In this paper, we alleviate the lack of data by injecting additional inductive biases: introducing a report generation objective and pairing vision-language pre-training with vision-only pre-training. This allows us to leverage both image-only and paired image-text 3D datasets, increasing the total amount of data to which our model is exposed. Through these additional inductive biases, paired with best practices of the 3D medical imaging domain, we develop the Comprehensive Language-image Pre-training (COLIPRI) encoder family. Our COLIPRI encoders achieve state-of-the-art performance in report generation, classification probing, and zero-shot classification, and remain competitive for semantic segmentation.

We present WorldMirror, an all-in-one, feed-forward model for versatile 3D geometric prediction tasks. Unlike existing methods constrained to image-only inputs or customized for a specific task, our framework flexibly integrates diverse geometric priors, including camera poses, intrinsics, and depth maps, while simultaneously generating multiple 3D representations: dense point clouds, multi-view depth maps, camera parameters, surface normals, and 3D Gaussians. This elegant and unified architecture leverages available prior information to resolve structural ambiguities and delivers geometrically consistent 3D outputs in a single forward pass. WorldMirror achieves state-of-the-art performance across diverse benchmarks from camera, point map, depth, and surface normal estimation to novel view synthesis, while maintaining the efficiency of feed-forward inference. Code and models will be publicly available soon.

Training native 3D texture generative models remains a fundamental yet challenging problem, largely due to the limited availability of large-scale, high-quality 3D texture datasets. This scarcity hinders generalization to real-world scenarios. To address this, most existing methods finetune foundation image generative models to exploit their learned visual priors. However, these approaches typically generate only multi-view images and rely on post-processing to produce UV texture maps -- an essential representation in modern graphics pipelines. Such two-stage pipelines often suffer from error accumulation and spatial inconsistencies across the 3D surface. In this paper, we introduce SeqTex, a novel end-to-end framework that leverages the visual knowledge encoded in pretrained video foundation models to directly generate complete UV texture maps. Unlike previous methods that model the distribution of UV textures in isolation, SeqTex reformulates the task as a sequence generation problem, enabling the model to learn the joint distribution of multi-view renderings and UV textures. This design effectively transfers the consistent image-space priors from video foundation models into the UV domain. To further enhance performance, we propose several architectural innovations: a decoupled multi-view and UV branch design, geometry-informed attention to guide cross-domain feature alignment, and adaptive token resolution to preserve fine texture details while maintaining computational efficiency. Together, these components allow SeqTex to fully utilize pretrained video priors and synthesize high-fidelity UV texture maps without the need for post-processing. Extensive experiments show that SeqTex achieves state-of-the-art performance on both image-conditioned and text-conditioned 3D texture generation tasks, with superior 3D consistency, texture-geometry alignment, and real-world generalization.

Learning effective protein representations is critical in a variety of tasks in biology such as predicting protein function or structure. Existing approaches usually pretrain protein language models on a large number of unlabeled amino acid sequences and then finetune the models with some labeled data in downstream tasks. Despite the effectiveness of sequence-based approaches, the power of pretraining on known protein structures, which are available in smaller numbers only, has not been explored for protein property prediction, though protein structures are known to be determinants of protein function. In this paper, we propose to pretrain protein representations according to their 3D structures. We first present a simple yet effective encoder to learn the geometric features of a protein. We pretrain the protein graph encoder by leveraging multiview contrastive learning and different self-prediction tasks. Experimental results on both function prediction and fold classification tasks show that our proposed pretraining methods outperform or are on par with the state-of-the-art sequence-based methods, while using much less pretraining data. Our implementation is available at https://github.com/DeepGraphLearning/GearNet.

We tackle the task of geometric image editing, where an object within an image is repositioned, reoriented, or reshaped while preserving overall scene coherence. Previous diffusion-based editing methods often attempt to handle all relevant subtasks in a single step, proving difficult when transformations become large or structurally complex. We address this by proposing a decoupled pipeline that separates object transformation, source region inpainting, and target region refinement. Both inpainting and refinement are implemented using a training-free diffusion approach, FreeFine. In experiments on our new GeoBench benchmark, which contains both 2D and 3D editing scenarios, FreeFine outperforms state-of-the-art alternatives in image fidelity, and edit precision, especially under demanding transformations. Code and benchmark are available at: https://github.com/CIawevy/FreeFine

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

Spatial intelligence spans a rich suite of abilities, including visualising and transforming shapes, mentally rotating objects, judging relational positions and containment, and estimating numerosity. However, it still remains a critical unresolved challenge for Multimodal Large Language Models (MLLMs).To fill this gap, we propose to treat Euclidean geometry problem-solving as a surrogate task. Specifically, we meticulously constructed a curated multimodal dataset, called Euclid30K, comprising approximately 30K plane and solid geometry problems. To enable the model to acquire and apply Euclidean principles from these geometry problems, we employed Group Relative Policy Optimization (GRPO) to finetune the Qwen2.5VL family and RoboBrain2.0 family, inspiring the models to identify shapes, count, and relate entities, and perform multi-step deductive reasoning using Euclidean principles. Our experiments demonstrate that the resulting models achieve substantial zero-shot gains across four spatial reasoning benchmarks (Super-CLEVR, Omni3DBench, VSI-Bench, and MindCube) without any task-specific adaptations. Notably, after training on the Euclid30K, the mean VSI-Bench accuracy of all evaluated models rose from 34.5% to 40.5%, improving by 5.5 percentage points. Among them, RoboBrain2.0-Euclid-7B achieves 49.6\% accuracy, surpassing the previous state-of-the-art model, Spatial-MLLM.To our knowledge, this is the first systematic study showing that geometry-centric fine-tuning can confer vision-language models with broadly transferable spatial skills. Code and Euclid30K dataset can be found in https://zgca-ai4edu.github.io/Euclids_Gift.

Most existing methods in vision language pre-training rely on object-centric features extracted through object detection and make fine-grained alignments between the extracted features and texts. It is challenging for these methods to learn relations among multiple objects. To this end, we propose a new method called X-VLM to perform `multi-grained vision language pre-training.' The key to learning multi-grained alignments is to locate visual concepts in the image given the associated texts, and in the meantime align the texts with the visual concepts, where the alignments are in multi-granularity. Experimental results show that X-VLM effectively leverages the learned multi-grained alignments to many downstream vision language tasks and consistently outperforms state-of-the-art methods.

Mathematical geometric reasoning is essential for scientific discovery and educational development, requiring precise logic and rigorous formal verification. While recent advances in Multimodal Large Language Models (MLLMs) have improved reasoning tasks, existing models typically struggle with formal geometric reasoning, particularly when dynamically constructing and verifying auxiliary geometric elements. To address these challenges, we introduce Geoint-R1, a multimodal reasoning framework designed to generate formally verifiable geometric solutions from textual descriptions and visual diagrams. Geoint-R1 uniquely integrates auxiliary elements construction, formal reasoning represented via Lean4, and interactive visualization. To systematically evaluate and advance formal geometric reasoning, we propose the Geoint benchmark, comprising 1,885 rigorously annotated geometry problems across diverse topics such as plane, spatial, and solid geometry. Each problem includes structured textual annotations, precise Lean4 code for auxiliary constructions, and detailed solution steps verified by experts. Extensive experiments demonstrate that Geoint-R1 significantly surpasses existing multimodal and math-specific reasoning models, particularly on challenging problems requiring explicit auxiliary element constructions.

Absolute Pose Regression (APR) methods use deep neural networks to directly regress camera poses from RGB images. However, the predominant APR architectures only rely on 2D operations during inference, resulting in limited accuracy of pose estimation due to the lack of 3D geometry constraints or priors. In this work, we propose a test-time refinement pipeline that leverages implicit geometric constraints using a robust feature field to enhance the ability of APR methods to use 3D information during inference. We also introduce a novel Neural Feature Synthesizer (NeFeS) model, which encodes 3D geometric features during training and directly renders dense novel view features at test time to refine APR methods. To enhance the robustness of our model, we introduce a feature fusion module and a progressive training strategy. Our proposed method achieves state-of-the-art single-image APR accuracy on indoor and outdoor datasets.

Recent advances in large language models (LLMs) have demonstrated remarkable capabilities across diverse domains, particularly in mathematical reasoning, amid which geometry problem solving remains a challenging area where auxiliary construction plays a enssential role. Existing approaches either achieve suboptimal performance or rely on massive LLMs (e.g., GPT-4o), incurring massive computational costs. We posit that reinforcement learning with verifiable reward (e.g., GRPO) offers a promising direction for training smaller models that effectively combine auxiliary construction with robust geometric reasoning. However, directly applying GRPO to geometric reasoning presents fundamental limitations due to its dependence on unconditional rewards, which leads to indiscriminate and counterproductive auxiliary constructions. To address these challenges, we propose Group Contrastive Policy Optimization (GCPO), a novel reinforcement learning framework featuring two key innovations: (1) Group Contrastive Masking, which adaptively provides positive or negative reward signals for auxiliary construction based on contextual utility, and a (2) length reward that promotes longer reasoning chains. Building on GCPO, we develop GeometryZero, a family of affordable-size geometric reasoning models that judiciously determine when to employ auxiliary construction. Our extensive empirical evaluation across popular geometric benchmarks (Geometry3K, MathVista) demonstrates that GeometryZero models consistently outperform baselines (e.g. GRPO), achieving an average improvement of 4.29% across all benchmarks.

Geometric deep learning, i.e., designing neural networks to handle the ubiquitous geometric data such as point clouds and graphs, have achieved great successes in the last decade. One critical inductive bias is that the model can maintain invariance towards various transformations such as translation, rotation, and scaling. The existing graph neural network (GNN) approaches can only maintain permutation-invariance, failing to guarantee invariance with respect to other transformations. Besides GNNs, other works design sophisticated transformation-invariant layers, which are computationally expensive and difficult to be extended. To solve this problem, we revisit why the existing neural networks cannot maintain transformation invariance when handling geometric data. Our findings show that transformation-invariant and distance-preserving initial representations are sufficient to achieve transformation invariance rather than needing sophisticated neural layer designs. Motivated by these findings, we propose Transformation Invariant Neural Networks (TinvNN), a straightforward and general framework for geometric data. Specifically, we realize transformation-invariant and distance-preserving initial point representations by modifying multi-dimensional scaling before feeding the representations into neural networks. We prove that TinvNN can strictly guarantee transformation invariance, being general and flexible enough to be combined with the existing neural networks. Extensive experimental results on point cloud analysis and combinatorial optimization demonstrate the effectiveness and general applicability of our proposed method. Based on the experimental results, we advocate that TinvNN should be considered a new starting point and an essential baseline for further studies of transformation-invariant geometric deep learning.

Recent advancements in implicit 3D representations and generative models have markedly propelled the field of 3D object generation forward. However, it remains a significant challenge to accurately model geometries with defined sharp features under parametric controls, which is crucial in fields like industrial design and manufacturing. To bridge this gap, we introduce a framework that employs Large Language Models (LLMs) to generate text-driven 3D shapes, manipulating 3D software via program synthesis. We present 3D-PreMise, a dataset specifically tailored for 3D parametric modeling of industrial shapes, designed to explore state-of-the-art LLMs within our proposed pipeline. Our work reveals effective generation strategies and delves into the self-correction capabilities of LLMs using a visual interface. Our work highlights both the potential and limitations of LLMs in 3D parametric modeling for industrial applications.

The unsupervised task of Joint Alignment (JA) of images is beset by challenges such as high complexity, geometric distortions, and convergence to poor local or even global optima. Although Vision Transformers (ViT) have recently provided valuable features for JA, they fall short of fully addressing these issues. Consequently, researchers frequently depend on expensive models and numerous regularization terms, resulting in long training times and challenging hyperparameter tuning. We introduce the Spatial Joint Alignment Model (SpaceJAM), a novel approach that addresses the JA task with efficiency and simplicity. SpaceJAM leverages a compact architecture with only 16K trainable parameters and uniquely operates without the need for regularization or atlas maintenance. Evaluations on SPair-71K and CUB datasets demonstrate that SpaceJAM matches the alignment capabilities of existing methods while significantly reducing computational demands and achieving at least a 10x speedup. SpaceJAM sets a new standard for rapid and effective image alignment, making the process more accessible and efficient. Our code is available at: https://bgu-cs-vil.github.io/SpaceJAM/.

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud pre-training that learns 3D representations by leveraging pre-trained 2D networks. Different from the popular practice of predicting 2D features first and then obtaining 3D features through dimensionality lifting, our approach directly uses a 3D network for feature extraction. We train the 3D feature extraction network with the help of the novel 2D knowledge transfer loss, which enforces the 2D projections of the 3D feature to be consistent with the output of pre-trained 2D networks. To prevent the feature from discarding 3D signals, we introduce the multi-view consistency loss that additionally encourages the projected 2D feature representations to capture pixel-wise correspondences across different views. Such correspondences induce 3D geometry and effectively retain 3D features in the projected 2D features. Experimental results demonstrate that our pre-trained model can be successfully transferred to various downstream tasks, including 3D shape classification, part segmentation, 3D object detection, and semantic segmentation, achieving state-of-the-art performance.

Self-supervision can dramatically cut back the amount of manually-labelled data required to train deep neural networks. While self-supervision has usually been considered for tasks such as image classification, in this paper we aim at extending it to geometry-oriented tasks such as semantic matching and part detection. We do so by building on several recent ideas in unsupervised landmark detection. Our approach learns dense distinctive visual descriptors from an unlabelled dataset of images using synthetic image transformations. It does so by means of a robust probabilistic formulation that can introspectively determine which image regions are likely to result in stable image matching. We show empirically that a network pre-trained in this manner requires significantly less supervision to learn semantic object parts compared to numerous pre-training alternatives. We also show that the pre-trained representation is excellent for semantic object matching.

Prior ReLoc3R achieves breakthrough performance with fast 25ms inference and state-of-the-art regression accuracy, yet our analysis reveals subtle geometric inconsistencies in its internal representations that prevent reaching the precision ceiling of correspondence-based methods like MASt3R (which require 300ms per pair). In this work, we present GeLoc3r, a novel approach to relative camera pose estimation that enhances pose regression methods through Geometric Consistency Regularization (GCR). GeLoc3r overcomes the speed-accuracy dilemma by training regression networks to produce geometrically consistent poses without inference-time geometric computation. During training, GeLoc3r leverages ground-truth depth to generate dense 3D-2D correspondences, weights them using a FusionTransformer that learns correspondence importance, and computes geometrically-consistent poses via weighted RANSAC. This creates a consistency loss that transfers geometric knowledge into the regression network. Unlike FAR method which requires both regression and geometric solving at inference, GeLoc3r only uses the enhanced regression head at test time, maintaining ReLoc3R's fast speed and approaching MASt3R's high accuracy. On challenging benchmarks, GeLoc3r consistently outperforms ReLoc3R, achieving significant improvements including 40.45% vs. 34.85% AUC@5° on the CO3Dv2 dataset (16% relative improvement), 68.66% vs. 66.70% AUC@5° on RealEstate10K, and 50.45% vs. 49.60% on MegaDepth1500. By teaching geometric consistency during training rather than enforcing it at inference, GeLoc3r represents a paradigm shift in how neural networks learn camera geometry, achieving both the speed of regression and the geometric understanding of correspondence methods.

Automatic math problem solving has recently attracted increasing attention as a long-standing AI benchmark. In this paper, we focus on solving geometric problems, which requires a comprehensive understanding of textual descriptions, visual diagrams, and theorem knowledge. However, the existing methods were highly dependent on handcraft rules and were merely evaluated on small-scale datasets. Therefore, we propose a Geometric Question Answering dataset GeoQA, containing 4,998 geometric problems with corresponding annotated programs, which illustrate the solving process of the given problems. Compared with another publicly available dataset GeoS, GeoQA is 25 times larger, in which the program annotations can provide a practical testbed for future research on explicit and explainable numerical reasoning. Moreover, we introduce a Neural Geometric Solver (NGS) to address geometric problems by comprehensively parsing multimodal information and generating interpretable programs. We further add multiple self-supervised auxiliary tasks on NGS to enhance cross-modal semantic representation. Extensive experiments on GeoQA validate the effectiveness of our proposed NGS and auxiliary tasks. However, the results are still significantly lower than human performance, which leaves large room for future research. Our benchmark and code are released at https://github.com/chen-judge/GeoQA .

Neural representations of 3D data have been widely adopted across various applications, particularly in recent work leveraging coordinate-based networks to model scalar or vector fields. However, these approaches face inherent challenges, such as handling thin structures and non-watertight geometries, which limit their flexibility and accuracy. In contrast, we propose a novel geometric data representation that models geometry as distributions-a powerful representation that makes no assumptions about surface genus, connectivity, or boundary conditions. Our approach uses diffusion models with a novel network architecture to learn surface point distributions, capturing fine-grained geometric details. We evaluate our representation qualitatively and quantitatively across various object types, demonstrating its effectiveness in achieving high geometric fidelity. Additionally, we explore applications using our representation, such as textured mesh representation, neural surface compression, dynamic object modeling, and rendering, highlighting its potential to advance 3D geometric learning.

Vision-Language Models (VLMs) have shown remarkable performance on diverse visual and linguistic tasks, yet they remain fundamentally limited in their understanding of 3D spatial structures. We propose Geometric Distillation, a lightweight, annotation-free fine-tuning framework that injects human-inspired geometric cues into pretrained VLMs without modifying their architecture. By distilling (1) sparse correspondences, (2) relative depth relations, and (3) dense cost volumes from off-the-shelf 3D foundation models (e.g., MASt3R, VGGT), our method shapes representations to be geometry-aware while remaining compatible with natural image-text inputs. Through extensive evaluations on 3D vision-language reasoning and 3D perception benchmarks, our method consistently outperforms prior approaches, achieving improved 3D spatial reasoning with significantly lower computational cost. Our work demonstrates a scalable and efficient path to bridge 2D-trained VLMs with 3D understanding, opening up wider use in spatially grounded multimodal tasks.

Recent 3D face editing methods using masks have produced high-quality edited images by leveraging Neural Radiance Fields (NeRF). Despite their impressive performance, existing methods often provide limited user control due to the use of pre-trained segmentation masks. To utilize masks with a desired layout, an extensive training dataset is required, which is challenging to gather. We present FFaceNeRF, a NeRF-based face editing technique that can overcome the challenge of limited user control due to the use of fixed mask layouts. Our method employs a geometry adapter with feature injection, allowing for effective manipulation of geometry attributes. Additionally, we adopt latent mixing for tri-plane augmentation, which enables training with a few samples. This facilitates rapid model adaptation to desired mask layouts, crucial for applications in fields like personalized medical imaging or creative face editing. Our comparative evaluations demonstrate that FFaceNeRF surpasses existing mask based face editing methods in terms of flexibility, control, and generated image quality, paving the way for future advancements in customized and high-fidelity 3D face editing. The code is available on the {https://kwanyun.github.io/FFaceNeRF_page/{project-page}}.

Recent advances in data-driven geometric multi-view 3D reconstruction foundation models (e.g., DUSt3R) have shown remarkable performance across various 3D vision tasks, facilitated by the release of large-scale, high-quality 3D datasets. However, as we observed, constrained by their matching-based principles, the reconstruction quality of existing models suffers significant degradation in challenging regions with limited matching cues, particularly in weakly textured areas and low-light conditions. To mitigate these limitations, we propose to harness the inherent robustness of monocular geometry estimation to compensate for the inherent shortcomings of matching-based methods. Specifically, we introduce a monocular-guided refinement module that integrates monocular geometric priors into multi-view reconstruction frameworks. This integration substantially enhances the robustness of multi-view reconstruction systems, leading to high-quality feed-forward reconstructions. Comprehensive experiments across multiple benchmarks demonstrate that our method achieves substantial improvements in both mutli-view camera pose estimation and point cloud accuracy.

This paper tackles the problem of generalizable 3D-aware generation from monocular datasets, e.g., ImageNet. The key challenge of this task is learning a robust 3D-aware representation without multi-view or dynamic data, while ensuring consistent texture and geometry across different viewpoints. Although some baseline methods are capable of 3D-aware generation, the quality of the generated images still lags behind state-of-the-art 2D generation approaches, which excel in producing high-quality, detailed images. To address this severe limitation, we propose a novel feed-forward pipeline based on pixel-aligned Gaussian Splatting, coined as F3D-Gaus, which can produce more realistic and reliable 3D renderings from monocular inputs. In addition, we introduce a self-supervised cycle-aggregative constraint to enforce cross-view consistency in the learned 3D representation. This training strategy naturally allows aggregation of multiple aligned Gaussian primitives and significantly alleviates the interpolation limitations inherent in single-view pixel-aligned Gaussian Splatting. Furthermore, we incorporate video model priors to perform geometry-aware refinement, enhancing the generation of fine details in wide-viewpoint scenarios and improving the model's capability to capture intricate 3D textures. Extensive experiments demonstrate that our approach not only achieves high-quality, multi-view consistent 3D-aware generation from monocular datasets, but also significantly improves training and inference efficiency.

In the realm of computer vision and graphics, accurately establishing correspondences between geometric 3D shapes is pivotal for applications like object tracking, registration, texture transfer, and statistical shape analysis. Moving beyond traditional hand-crafted and data-driven feature learning methods, we incorporate spectral methods with deep learning, focusing on functional maps (FMs) and optimal transport (OT). Traditional OT-based approaches, often reliant on entropy regularization OT in learning-based framework, face computational challenges due to their quadratic cost. Our key contribution is to employ the sliced Wasserstein distance (SWD) for OT, which is a valid fast optimal transport metric in an unsupervised shape matching framework. This unsupervised framework integrates functional map regularizers with a novel OT-based loss derived from SWD, enhancing feature alignment between shapes treated as discrete probability measures. We also introduce an adaptive refinement process utilizing entropy regularized OT, further refining feature alignments for accurate point-to-point correspondences. Our method demonstrates superior performance in non-rigid shape matching, including near-isometric and non-isometric scenarios, and excels in downstream tasks like segmentation transfer. The empirical results on diverse datasets highlight our framework's effectiveness and generalization capabilities, setting new standards in non-rigid shape matching with efficient OT metrics and an adaptive refinement module.

General object composition (GOC) aims to seamlessly integrate a target object into a background scene with desired geometric properties, while simultaneously preserving its fine-grained appearance details. Recent approaches derive semantic embeddings and integrate them into advanced diffusion models to enable geometry-editable generation. However, these highly compact embeddings encode only high-level semantic cues and inevitably discard fine-grained appearance details. We introduce a Disentangled Geometry-editable and Appearance-preserving Diffusion (DGAD) model that first leverages semantic embeddings to implicitly capture the desired geometric transformations and then employs a cross-attention retrieval mechanism to align fine-grained appearance features with the geometry-edited representation, facilitating both precise geometry editing and faithful appearance preservation in object composition. Specifically, DGAD builds on CLIP/DINO-derived and reference networks to extract semantic embeddings and appearance-preserving representations, which are then seamlessly integrated into the encoding and decoding pipelines in a disentangled manner. We first integrate the semantic embeddings into pre-trained diffusion models that exhibit strong spatial reasoning capabilities to implicitly capture object geometry, thereby facilitating flexible object manipulation and ensuring effective editability. Then, we design a dense cross-attention mechanism that leverages the implicitly learned object geometry to retrieve and spatially align appearance features with their corresponding regions, ensuring faithful appearance consistency. Extensive experiments on public benchmarks demonstrate the effectiveness of the proposed DGAD framework.

Scene generation with 3D assets presents a complex challenge, requiring both high-level semantic understanding and low-level geometric reasoning. While Multimodal Large Language Models (MLLMs) excel at semantic tasks, their application to 3D scene generation is hindered by their limited grounding on 3D geometry. In this paper, we investigate how to best work with MLLMs in an object placement task. Towards this goal, we introduce a novel framework, FirePlace, that applies existing MLLMs in (1) 3D geometric reasoning and the extraction of relevant geometric details from the 3D scene, (2) constructing and solving geometric constraints on the extracted low-level geometry, and (3) pruning for final placements that conform to common sense. By combining geometric reasoning with real-world understanding of MLLMs, our method can propose object placements that satisfy both geometric constraints as well as high-level semantic common-sense considerations. Our experiments show that these capabilities allow our method to place objects more effectively in complex scenes with intricate geometry, surpassing the quality of prior work.

Document image rectification aims to eliminate geometric deformation in photographed documents to facilitate text recognition. However, existing methods often neglect the significance of foreground elements, which provide essential geometric references and layout information for document image correction. In this paper, we introduce Foreground-Centric Network (ForCenNet) to eliminate geometric distortions in document images. Specifically, we initially propose a foreground-centric label generation method, which extracts detailed foreground elements from an undistorted image. Then we introduce a foreground-centric mask mechanism to enhance the distinction between readable and background regions. Furthermore, we design a curvature consistency loss to leverage the detailed foreground labels to help the model understand the distorted geometric distribution. Extensive experiments demonstrate that ForCenNet achieves new state-of-the-art on four real-world benchmarks, such as DocUNet, DIR300, WarpDoc, and DocReal. Quantitative analysis shows that the proposed method effectively undistorts layout elements, such as text lines and table borders. The resources for further comparison are provided at https://github.com/caipeng328/ForCenNet.

Contrastive Language-Image Pre-Training (CLIP) is highly instrumental in machine learning applications within a large variety of domains. We investigate the geometry of this embedding, which is still not well understood. We examine the raw unnormalized embedding and show that text and image reside on linearly separable ellipsoid shells, not centered at the origin. We explain the benefits of having this structure, allowing to better embed instances according to their uncertainty during contrastive training. Frequent concepts in the dataset yield more false negatives, inducing greater uncertainty. A new notion of conformity is introduced, which measures the average cosine similarity of an instance to any other instance within a representative data set. We show this measure can be accurately estimated by simply computing the cosine similarity to the modality mean vector. Furthermore, we find that CLIP's modality gap optimizes the matching of the conformity distributions of image and text.

Given a single in-the-wild human photo, it remains a challenging task to reconstruct a high-fidelity 3D human model. Existing methods face difficulties including a) the varying body proportions captured by in-the-wild human images; b) diverse personal belongings within the shot; and c) ambiguities in human postures and inconsistency in human textures. In addition, the scarcity of high-quality human data intensifies the challenge. To address these problems, we propose a Generalizable image-to-3D huMAN reconstruction framework, dubbed GeneMAN, building upon a comprehensive multi-source collection of high-quality human data, including 3D scans, multi-view videos, single photos, and our generated synthetic human data. GeneMAN encompasses three key modules. 1) Without relying on parametric human models (e.g., SMPL), GeneMAN first trains a human-specific text-to-image diffusion model and a view-conditioned diffusion model, serving as GeneMAN 2D human prior and 3D human prior for reconstruction, respectively. 2) With the help of the pretrained human prior models, the Geometry Initialization-&-Sculpting pipeline is leveraged to recover high-quality 3D human geometry given a single image. 3) To achieve high-fidelity 3D human textures, GeneMAN employs the Multi-Space Texture Refinement pipeline, consecutively refining textures in the latent and the pixel spaces. Extensive experimental results demonstrate that GeneMAN could generate high-quality 3D human models from a single image input, outperforming prior state-of-the-art methods. Notably, GeneMAN could reveal much better generalizability in dealing with in-the-wild images, often yielding high-quality 3D human models in natural poses with common items, regardless of the body proportions in the input images.

While large multimodal models excel in broad vision-language benchmarks, they often struggle with tasks requiring precise perception of low-level visual details, such as comparing line lengths or solving simple mazes. In particular, this failure mode persists in question-answering tasks about vector graphics -- images composed purely of 2D objects and shapes. To address this challenge, we propose the Visually Descriptive Language Model (VDLM), which performs text-based reasoning about vector graphics. VDLM leverages Scalable Vector Graphics (SVG) for a more precise visual description and first uses an off-the-shelf raster-to-SVG algorithm for encoding. Since existing language models cannot understand raw SVGs in a zero-shot setting, VDLM then bridges SVG with pretrained language models through a newly introduced intermediate symbolic representation, Primal Visual Description (PVD), comprising primitive attributes (e.g., shape, position, measurement) with their corresponding predicted values. PVD is task-agnostic and represents visual primitives that are universal across all vector graphics. It can be learned with procedurally generated (SVG, PVD) pairs and also enables the direct use of LLMs for generalization to complex reasoning tasks. By casting an image to a text-based representation, we can leverage the power of language models to learn alignment from SVG to visual primitives and generalize to unseen question-answering tasks. Empirical results show that VDLM achieves stronger zero-shot performance compared to state-of-the-art LMMs, such as GPT-4V, in various low-level multimodal perception and reasoning tasks on vector graphics. We additionally present extensive analyses on VDLM's performance, demonstrating that our framework offers better interpretability due to its disentangled perception and reasoning processes. Project page: https://mikewangwzhl.github.io/VDLM/

Geometry problem solving has attracted much attention in the NLP community recently. The task is challenging as it requires abstract problem understanding and symbolic reasoning with axiomatic knowledge. However, current datasets are either small in scale or not publicly available. Thus, we construct a new large-scale benchmark, Geometry3K, consisting of 3,002 geometry problems with dense annotation in formal language. We further propose a novel geometry solving approach with formal language and symbolic reasoning, called Interpretable Geometry Problem Solver (Inter-GPS). Inter-GPS first parses the problem text and diagram into formal language automatically via rule-based text parsing and neural object detecting, respectively. Unlike implicit learning in existing methods, Inter-GPS incorporates theorem knowledge as conditional rules and performs symbolic reasoning step by step. Also, a theorem predictor is designed to infer the theorem application sequence fed to the symbolic solver for the more efficient and reasonable searching path. Extensive experiments on the Geometry3K and GEOS datasets demonstrate that Inter-GPS achieves significant improvements over existing methods. The project with code and data is available at https://lupantech.github.io/inter-gps.

Both geometry and texture are fundamental aspects of visual style. Existing style transfer methods, however, primarily focus on texture, almost entirely ignoring geometry. We propose deformable style transfer (DST), an optimization-based approach that jointly stylizes the texture and geometry of a content image to better match a style image. Unlike previous geometry-aware stylization methods, our approach is neither restricted to a particular domain (such as human faces), nor does it require training sets of matching style/content pairs. We demonstrate our method on a diverse set of content and style images including portraits, animals, objects, scenes, and paintings. Code has been made publicly available at https://github.com/sunniesuhyoung/DST.

Accurate 3D geometric perception is an important prerequisite for a wide range of spatial AI systems. While state-of-the-art methods depend on large-scale training data, acquiring consistent and precise 3D annotations from in-the-wild videos remains a key challenge. In this work, we introduce ViPE, a handy and versatile video processing engine designed to bridge this gap. ViPE efficiently estimates camera intrinsics, camera motion, and dense, near-metric depth maps from unconstrained raw videos. It is robust to diverse scenarios, including dynamic selfie videos, cinematic shots, or dashcams, and supports various camera models such as pinhole, wide-angle, and 360{\deg} panoramas. We have benchmarked ViPE on multiple benchmarks. Notably, it outperforms existing uncalibrated pose estimation baselines by 18%/50% on TUM/KITTI sequences, and runs at 3-5FPS on a single GPU for standard input resolutions. We use ViPE to annotate a large-scale collection of videos. This collection includes around 100K real-world internet videos, 1M high-quality AI-generated videos, and 2K panoramic videos, totaling approximately 96M frames -- all annotated with accurate camera poses and dense depth maps. We open-source ViPE and the annotated dataset with the hope of accelerating the development of spatial AI systems.

Currently almost all state-of-the-art novel view synthesis and reconstruction models rely on calibrated cameras or additional geometric priors for training. These prerequisites significantly limit their applicability to massive uncalibrated data. To alleviate this requirement and unlock the potential for self-supervised training on large-scale uncalibrated videos, we propose a novel two-stage strategy to train a view synthesis model from only raw video frames or multi-view images, without providing camera parameters or other priors. In the first stage, we learn to reconstruct the scene implicitly in a latent space without relying on any explicit 3D representation. Specifically, we predict per-frame latent camera and scene context features, and employ a view synthesis model as a proxy for explicit rendering. This pretraining stage substantially reduces the optimization complexity and encourages the network to learn the underlying 3D consistency in a self-supervised manner. The learned latent camera and implicit scene representation have a large gap compared with the real 3D world. To reduce this gap, we introduce the second stage training by explicitly predicting 3D Gaussian primitives. We additionally apply explicit Gaussian Splatting rendering loss and depth projection loss to align the learned latent representations with physically grounded 3D geometry. In this way, Stage 1 provides a strong initialization and Stage 2 enforces 3D consistency - the two stages are complementary and mutually beneficial. Extensive experiments demonstrate the effectiveness of our approach, achieving high-quality novel view synthesis and accurate camera pose estimation, compared to methods that employ supervision with calibration, pose, or depth information. The code is available at https://github.com/Dwawayu/Pensieve.

To address the data scarcity associated with 3D assets, 2D-lifting techniques such as Score Distillation Sampling (SDS) have become a widely adopted practice in text-to-3D generation pipelines. However, the diffusion models used in these techniques are prone to viewpoint bias and thus lead to geometric inconsistencies such as the Janus problem. To counter this, we introduce MT3D, a text-to-3D generative model that leverages a high-fidelity 3D object to overcome viewpoint bias and explicitly infuse geometric understanding into the generation pipeline. Firstly, we employ depth maps derived from a high-quality 3D model as control signals to guarantee that the generated 2D images preserve the fundamental shape and structure, thereby reducing the inherent viewpoint bias. Next, we utilize deep geometric moments to ensure geometric consistency in the 3D representation explicitly. By incorporating geometric details from a 3D asset, MT3D enables the creation of diverse and geometrically consistent objects, thereby improving the quality and usability of our 3D representations.

The rapid progress of large, pretrained models for both visual content generation and 3D reconstruction opens up new possibilities for text-to-3D generation. Intuitively, one could obtain a formidable 3D scene generator if one were able to combine the power of a modern latent text-to-video model as "generator" with the geometric abilities of a recent (feedforward) 3D reconstruction system as "decoder". We introduce VIST3A, a general framework that does just that, addressing two main challenges. First, the two components must be joined in a way that preserves the rich knowledge encoded in their weights. We revisit model stitching, i.e., we identify the layer in the 3D decoder that best matches the latent representation produced by the text-to-video generator and stitch the two parts together. That operation requires only a small dataset and no labels. Second, the text-to-video generator must be aligned with the stitched 3D decoder, to ensure that the generated latents are decodable into consistent, perceptually convincing 3D scene geometry. To that end, we adapt direct reward finetuning, a popular technique for human preference alignment. We evaluate the proposed VIST3A approach with different video generators and 3D reconstruction models. All tested pairings markedly improve over prior text-to-3D models that output Gaussian splats. Moreover, by choosing a suitable 3D base model, VIST3A also enables high-quality text-to-pointmap generation.

State-of-the-art text-to-image models produce visually impressive results but often struggle with precise alignment to text prompts, leading to missing critical elements or unintended blending of distinct concepts. We propose a novel approach that learns a high-success-rate distribution conditioned on a target prompt, ensuring that generated images faithfully reflect the corresponding prompts. Our method explicitly models the signal component during the denoising process, offering fine-grained control that mitigates over-optimization and out-of-distribution artifacts. Moreover, our framework is training-free and seamlessly integrates with both existing diffusion and flow matching architectures. It also supports additional conditioning modalities -- such as bounding boxes -- for enhanced spatial alignment. Extensive experiments demonstrate that our approach outperforms current state-of-the-art methods. The code is available at https://github.com/grimalPaul/gsn-factory.

3D Gaussian Splatting (3DGS) has emerged as a core technique for 3D representation. Its effectiveness largely depends on precise camera poses and accurate point cloud initialization, which are often derived from pretrained Multi-View Stereo (MVS) models. However, in unposed reconstruction task from hundreds of outdoor images, existing MVS models may struggle with memory limits and lose accuracy as the number of input images grows. To address this limitation, we propose a novel unposed 3DGS reconstruction framework that integrates pretrained MVS priors with the probabilistic Procrustes mapping strategy. The method partitions input images into subsets, maps submaps into a global space, and jointly optimizes geometry and poses with 3DGS. Technically, we formulate the mapping of tens of millions of point clouds as a probabilistic Procrustes problem and solve a closed-form alignment. By employing probabilistic coupling along with a soft dustbin mechanism to reject uncertain correspondences, our method globally aligns point clouds and poses within minutes across hundreds of images. Moreover, we propose a joint optimization framework for 3DGS and camera poses. It constructs Gaussians from confidence-aware anchor points and integrates 3DGS differentiable rendering with an analytical Jacobian to jointly refine scene and poses, enabling accurate reconstruction and pose estimation. Experiments on Waymo and KITTI datasets show that our method achieves accurate reconstruction from unposed image sequences, setting a new state of the art for unposed 3DGS reconstruction.

Existing multi-view image generation methods often make invasive modifications to pre-trained text-to-image (T2I) models and require full fine-tuning, leading to (1) high computational costs, especially with large base models and high-resolution images, and (2) degradation in image quality due to optimization difficulties and scarce high-quality 3D data. In this paper, we propose the first adapter-based solution for multi-view image generation, and introduce MV-Adapter, a versatile plug-and-play adapter that enhances T2I models and their derivatives without altering the original network structure or feature space. By updating fewer parameters, MV-Adapter enables efficient training and preserves the prior knowledge embedded in pre-trained models, mitigating overfitting risks. To efficiently model the 3D geometric knowledge within the adapter, we introduce innovative designs that include duplicated self-attention layers and parallel attention architecture, enabling the adapter to inherit the powerful priors of the pre-trained models to model the novel 3D knowledge. Moreover, we present a unified condition encoder that seamlessly integrates camera parameters and geometric information, facilitating applications such as text- and image-based 3D generation and texturing. MV-Adapter achieves multi-view generation at 768 resolution on Stable Diffusion XL (SDXL), and demonstrates adaptability and versatility. It can also be extended to arbitrary view generation, enabling broader applications. We demonstrate that MV-Adapter sets a new quality standard for multi-view image generation, and opens up new possibilities due to its efficiency, adaptability and versatility.

Computer-aided design (CAD) is the digital construction of 2D and 3D objects, and is central to a wide range of engineering and manufacturing applications like automobile and aviation. Despite its importance, CAD modeling remains largely a time-intensive, manual task. Recent works have attempted to automate this process with small transformer-based models and handcrafted CAD sequence representations. However, there has been little effort to leverage the potential of large language models (LLMs) for sequential CAD design. In this work, we introduce a new large-scale dataset of more than 170k CAD models annotated with high-quality, human-like descriptions generated with our pipeline based on GPT-4.1. Using this dataset, we fine-tune powerful code-LLMs to generate CAD sequences represented in a JSON-based format from natural language descriptions, demonstrating the viability and effectiveness of this approach for text-conditioned CAD generation. Because simple metrics often fail to reflect the quality of generated objects, we introduce geometric and topological metrics based on sphericity, mean curvature, and Euler characteristic to provide richer structural insights. Our experiments and ablation studies on both synthetic and human-annotated data demonstrate that CADmium is able to automate CAD design, drastically speeding up the design of new objects. The dataset, code, and fine-tuned models are available online.

We introduce MeshGPT, a new approach for generating triangle meshes that reflects the compactness typical of artist-created meshes, in contrast to dense triangle meshes extracted by iso-surfacing methods from neural fields. Inspired by recent advances in powerful large language models, we adopt a sequence-based approach to autoregressively generate triangle meshes as sequences of triangles. We first learn a vocabulary of latent quantized embeddings, using graph convolutions, which inform these embeddings of the local mesh geometry and topology. These embeddings are sequenced and decoded into triangles by a decoder, ensuring that they can effectively reconstruct the mesh. A transformer is then trained on this learned vocabulary to predict the index of the next embedding given previous embeddings. Once trained, our model can be autoregressively sampled to generate new triangle meshes, directly generating compact meshes with sharp edges, more closely imitating the efficient triangulation patterns of human-crafted meshes. MeshGPT demonstrates a notable improvement over state of the art mesh generation methods, with a 9% increase in shape coverage and a 30-point enhancement in FID scores across various categories.

Joint Alignment (JA) of images aims to align a collection of images into a unified coordinate frame, such that semantically-similar features appear at corresponding spatial locations. Most existing approaches often require long training times, large-capacity models, and extensive hyperparameter tuning. We introduce FastJAM, a rapid, graph-based method that drastically reduces the computational complexity of joint alignment tasks. FastJAM leverages pairwise matches computed by an off-the-shelf image matcher, together with a rapid nonparametric clustering, to construct a graph representing intra- and inter-image keypoint relations. A graph neural network propagates and aggregates these correspondences, efficiently predicting per-image homography parameters via image-level pooling. Utilizing an inverse-compositional loss, that eliminates the need for a regularization term over the predicted transformations (and thus also obviates the hyperparameter tuning associated with such terms), FastJAM performs image JA quickly and effectively. Experimental results on several benchmarks demonstrate that FastJAM achieves results better than existing modern JA methods in terms of alignment quality, while reducing computation time from hours or minutes to mere seconds. Our code is available at our project webpage, https://bgu-cs-vil.github.io/FastJAM/

Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines their robustness, especially in unbounded outdoor environments with severe viewpoint and illumination changes. To address these challenges, we propose TVG-SLAM, a robust RGB-only 3DGS SLAM system that leverages a novel tri-view geometry paradigm to ensure consistent tracking and high-quality mapping. We introduce a dense tri-view matching module that aggregates reliable pairwise correspondences into consistent tri-view matches, forming robust geometric constraints across frames. For tracking, we propose Hybrid Geometric Constraints, which leverage tri-view matches to construct complementary geometric cues alongside photometric loss, ensuring accurate and stable pose estimation even under drastic viewpoint shifts and lighting variations. For mapping, we propose a new probabilistic initialization strategy that encodes geometric uncertainty from tri-view correspondences into newly initialized Gaussians. Additionally, we design a Dynamic Attenuation of Rendering Trust mechanism to mitigate tracking drift caused by mapping latency. Experiments on multiple public outdoor datasets show that our TVG-SLAM outperforms prior RGB-only 3DGS-based SLAM systems. Notably, in the most challenging dataset, our method improves tracking robustness, reducing the average Absolute Trajectory Error (ATE) by 69.0\% while achieving state-of-the-art rendering quality. The implementation of our method will be released as open-source.

Detection pre-training methods for the DETR series detector have been extensively studied in natural scenes, e.g., DETReg. However, the detection pre-training remains unexplored in remote sensing scenes. In existing pre-training methods, alignment between object embeddings extracted from a pre-trained backbone and detector features is significant. However, due to differences in feature extraction methods, a pronounced feature discrepancy still exists and hinders the pre-training performance. The remote sensing images with complex environments and more densely distributed objects exacerbate the discrepancy. In this work, we propose a novel Mutually optimizing pre-training framework for remote sensing object Detection, dubbed as MutDet. In MutDet, we propose a systemic solution against this challenge. Firstly, we propose a mutual enhancement module, which fuses the object embeddings and detector features bidirectionally in the last encoder layer, enhancing their information interaction.Secondly, contrastive alignment loss is employed to guide this alignment process softly and simultaneously enhances detector features' discriminativity. Finally, we design an auxiliary siamese head to mitigate the task gap arising from the introduction of enhancement module. Comprehensive experiments on various settings show new state-of-the-art transfer performance. The improvement is particularly pronounced when data quantity is limited. When using 10% of the DIOR-R data, MutDet improves DetReg by 6.1% in AP50. Codes and models are available at: https://github.com/floatingstarZ/MutDet.

In computer-aided design (CAD) systems, 2D line drawings are commonly used to illustrate 3D object designs. To reconstruct the 3D models depicted by a single 2D line drawing, an important key is finding the edge loops in the line drawing which correspond to the actual faces of the 3D object. In this paper, we approach the classical problem of face identification from a novel data-driven point of view. We cast it as a sequence generation problem: starting from an arbitrary edge, we adopt a variant of the popular Transformer model to predict the edges associated with the same face in a natural order. This allows us to avoid searching the space of all possible edge loops with various hand-crafted rules and heuristics as most existing methods do, deal with challenging cases such as curved surfaces and nested edge loops, and leverage additional cues such as face types. We further discuss how possibly imperfect predictions can be used for 3D object reconstruction.

Layout-guided text-to-image models offer greater control over the generation process by explicitly conditioning image synthesis on the spatial arrangement of elements. As a result, their adoption has increased in many computer vision applications, ranging from content creation to synthetic data generation. A critical challenge is achieving precise alignment between the image, textual prompt, and layout, ensuring semantic fidelity and spatial accuracy. Although recent benchmarks assess text alignment, layout alignment remains overlooked, and no existing benchmark jointly evaluates both. This gap limits the ability to evaluate a model's spatial fidelity, which is crucial when using layout-guided generation for synthetic data, as errors can introduce noise and degrade data quality. In this work, we introduce 7Bench, the first benchmark to assess both semantic and spatial alignment in layout-guided text-to-image generation. It features text-and-layout pairs spanning seven challenging scenarios, investigating object generation, color fidelity, attribute recognition, inter-object relationships, and spatial control. We propose an evaluation protocol that builds on existing frameworks by incorporating the layout alignment score to assess spatial accuracy. Using 7Bench, we evaluate several state-of-the-art diffusion models, uncovering their respective strengths and limitations across diverse alignment tasks. The benchmark is available at https://github.com/Elizzo/7Bench.

Text logo design heavily relies on the creativity and expertise of professional designers, in which arranging element layouts is one of the most important procedures. However, few attention has been paid to this specific task which needs to take precise textural details and user constraints into consideration, but only on the broader tasks such as document/poster layout generation. In this paper, we propose a VLM-based framework that generates content-aware text logo layouts by integrating multi-modal inputs with user constraints, supporting a more flexible and stable layout design in real-world applications. We introduce two model techniques to reduce the computation for processing multiple glyph images simultaneously, while does not face performance degradation. To support instruction-tuning of out model, we construct two extensive text logo datasets, which are 5x more larger than the existing public dataset. Except for the geometric annotations (e.g. text masks and character recognition), we also compliment with comprehensive layout descriptions in natural language format, for more effective training to have reasoning ability when dealing with complex layouts and custom user constraints. Experimental studies demonstrate the effectiveness of our proposed model and datasets, when comparing with previous methods in various benchmarks to evaluate geometric aesthetics and human preferences. The code and datasets will be publicly available.

Vectorized high-definition map online construction has garnered considerable attention in the field of autonomous driving research. Most existing approaches model changeable map elements using a fixed number of points, or predict local maps in a two-stage autoregressive manner, which may miss essential details and lead to error accumulation. Towards precise map element learning, we propose a simple yet effective architecture named PivotNet, which adopts unified pivot-based map representations and is formulated as a direct set prediction paradigm. Concretely, we first propose a novel point-to-line mask module to encode both the subordinate and geometrical point-line priors in the network. Then, a well-designed pivot dynamic matching module is proposed to model the topology in dynamic point sequences by introducing the concept of sequence matching. Furthermore, to supervise the position and topology of the vectorized point predictions, we propose a dynamic vectorized sequence loss. Extensive experiments and ablations show that PivotNet is remarkably superior to other SOTAs by 5.9 mAP at least. The code will be available soon.

We introduce Part-X-MLLM, a native 3D multimodal large language model that unifies diverse 3D tasks by formulating them as programs in a structured, executable grammar. Given an RGB point cloud and a natural language prompt, our model autoregressively generates a single, coherent token sequence encoding part-level bounding boxes, semantic descriptions, and edit commands. This structured output serves as a versatile interface to drive downstream geometry-aware modules for part-based generation and editing. By decoupling the symbolic planning from the geometric synthesis, our approach allows any compatible geometry engine to be controlled through a single, language-native frontend. We pre-train a dual-encoder architecture to disentangle structure from semantics and instruction-tune the model on a large-scale, part-centric dataset. Experiments demonstrate that our model excels at producing high-quality, structured plans, enabling state-of-the-art performance in grounded Q\&A, compositional generation, and localized editing through one unified interface. Project page: https://chunshi.wang/Part-X-MLLM/

Plane geometry problem solving (PGPS) has recently gained significant attention as a benchmark to assess the multi-modal reasoning capabilities of large vision-language models. Despite the growing interest in PGPS, the research community still lacks a comprehensive overview that systematically synthesizes recent work in PGPS. To fill this gap, we present a survey of existing PGPS studies. We first categorize PGPS methods into an encoder-decoder framework and summarize the corresponding output formats used by their encoders and decoders. Subsequently, we classify and analyze these encoders and decoders according to their architectural designs. Finally, we outline major challenges and promising directions for future research. In particular, we discuss the hallucination issues arising during the encoding phase within encoder-decoder architectures, as well as the problem of data leakage in current PGPS benchmarks.

Point cloud rigid registration is a fundamental problem in 3D computer vision. In the multiview case, we aim to find a set of 6D poses to align a set of objects. Methods based on pairwise registration rely on a subsequent synchronization algorithm, which makes them poorly scalable with the number of views. Generative approaches overcome this limitation, but are based on Gaussian Mixture Models and use an Expectation-Maximization algorithm. Hence, they are not well suited to handle large transformations. Moreover, most existing methods cannot handle high levels of degradations. In this paper, we introduce POLAR (POint cloud LAtent Registration), a multiview registration method able to efficiently deal with a large number of views, while being robust to a high level of degradations and large initial angles. To achieve this, we transpose the registration problem into the latent space of a pretrained autoencoder, design a loss taking degradations into account, and develop an efficient multistart optimization strategy. Our proposed method significantly outperforms state-of-the-art approaches on synthetic and real data. POLAR is available at github.com/pypolar/polar or as a standalone package which can be installed with pip install polaregistration.

Generating high-quality 3D objects from textual descriptions remains a challenging problem due to computational cost, the scarcity of 3D data, and complex 3D representations. We introduce Geometry Image Diffusion (GIMDiffusion), a novel Text-to-3D model that utilizes geometry images to efficiently represent 3D shapes using 2D images, thereby avoiding the need for complex 3D-aware architectures. By integrating a Collaborative Control mechanism, we exploit the rich 2D priors of existing Text-to-Image models such as Stable Diffusion. This enables strong generalization even with limited 3D training data (allowing us to use only high-quality training data) as well as retaining compatibility with guidance techniques such as IPAdapter. In short, GIMDiffusion enables the generation of 3D assets at speeds comparable to current Text-to-Image models. The generated objects consist of semantically meaningful, separate parts and include internal structures, enhancing both usability and versatility.

We introduce TreeMeshGPT, an autoregressive Transformer designed to generate high-quality artistic meshes aligned with input point clouds. Instead of the conventional next-token prediction in autoregressive Transformer, we propose a novel Autoregressive Tree Sequencing where the next input token is retrieved from a dynamically growing tree structure that is built upon the triangle adjacency of faces within the mesh. Our sequencing enables the mesh to extend locally from the last generated triangular face at each step, and therefore reduces training difficulty and improves mesh quality. Our approach represents each triangular face with two tokens, achieving a compression rate of approximately 22% compared to the naive face tokenization. This efficient tokenization enables our model to generate highly detailed artistic meshes with strong point cloud conditioning, surpassing previous methods in both capacity and fidelity. Furthermore, our method generates mesh with strong normal orientation constraints, minimizing flipped normals commonly encountered in previous methods. Our experiments show that TreeMeshGPT enhances the mesh generation quality with refined details and normal orientation consistency.

This paper concerns the research problem of point cloud registration to find the rigid transformation to optimally align the source point set with the target one. Learning robust point cloud registration models with deep neural networks has emerged as a powerful paradigm, offering promising performance in predicting the global geometric transformation for a pair of point sets. Existing methods firstly leverage an encoder to regress a latent shape embedding, which is then decoded into a shape-conditioned transformation via concatenation-based conditioning. However, different regions of a 3D shape vary in their geometric structures which makes it more sense that we have a region-conditioned transformation instead of the shape-conditioned one. In this paper we present a Region-Aware point cloud Registration, denoted as RAR, to predict transformation for pairwise point sets in the self-supervised learning fashion. More specifically, we develop a novel region-aware decoder (RAD) module that is formed with an implicit neural region representation parameterized by neural networks. The implicit neural region representation is learned with a self-supervised 3D shape reconstruction loss without the need for region labels. Consequently, the region-aware decoder (RAD) module guides the training of the region-aware transformation (RAT) module and region-aware weight (RAW) module, which predict the transforms and weights for different regions respectively. The global geometric transformation from source point set to target one is then formed by the weighted fusion of region-aware transforms. Compared to the state-of-the-art approaches, our experiments show that our RAR achieves superior registration performance over various benchmark datasets (e.g. ModelNet40).

With the recent advancements in single-image-based human mesh recovery, there is a growing interest in enhancing its performance in certain extreme scenarios, such as occlusion, while maintaining overall model accuracy. Although obtaining accurately annotated 3D human poses under occlusion is challenging, there is still a wealth of rich and precise 2D pose annotations that can be leveraged. However, existing works mostly focus on directly leveraging 2D pose coordinates to estimate 3D pose and mesh. In this paper, we present PostoMETRO(Pose token enhanced MEsh TRansfOrmer), which integrates occlusion-resilient 2D pose representation into transformers in a token-wise manner. Utilizing a specialized pose tokenizer, we efficiently condense 2D pose data to a compact sequence of pose tokens and feed them to the transformer together with the image tokens. This process not only ensures a rich depiction of texture from the image but also fosters a robust integration of pose and image information. Subsequently, these combined tokens are queried by vertex and joint tokens to decode 3D coordinates of mesh vertices and human joints. Facilitated by the robust pose token representation and the effective combination, we are able to produce more precise 3D coordinates, even under extreme scenarios like occlusion. Experiments on both standard and occlusion-specific benchmarks demonstrate the effectiveness of PostoMETRO. Qualitative results further illustrate the clarity of how 2D pose can help 3D reconstruction. Code will be made available.

In this work, we introduce CAD-Coder, a novel framework that reformulates text-to-CAD as the generation of CadQuery scripts - a Python-based, parametric CAD language. This representation enables direct geometric validation, a richer modeling vocabulary, and seamless integration with existing LLMs. To further enhance code validity and geometric fidelity, we propose a two-stage learning pipeline: (1) supervised fine-tuning on paired text-CadQuery data, and (2) reinforcement learning with Group Reward Policy Optimization (GRPO), guided by a CAD-specific reward comprising both a geometric reward (Chamfer Distance) and a format reward. We also introduce a chain-of-thought (CoT) planning process to improve model reasoning, and construct a large-scale, high-quality dataset of 110K text-CadQuery-3D model triplets and 1.5K CoT samples via an automated pipeline. Extensive experiments demonstrate that CAD-Coder enables LLMs to generate diverse, valid, and complex CAD models directly from natural language, advancing the state of the art of text-to-CAD generation and geometric reasoning.

Misalignment between model predictions and intended usage can be detrimental for the deployment of computer vision models. The issue is exacerbated when the task involves complex structured outputs, as it becomes harder to design procedures which address this misalignment. In natural language processing, this is often addressed using reinforcement learning techniques that align models with a task reward. We adopt this approach and show its surprising effectiveness across multiple computer vision tasks, such as object detection, panoptic segmentation, colorization and image captioning. We believe this approach has the potential to be widely useful for better aligning models with a diverse range of computer vision tasks.

Creating layouts is a fundamental step in graphic design. In this work, we propose to use text as the guidance to create graphic layouts, i.e., Text-to-Layout, aiming to lower the design barriers. Text-to-Layout is a challenging task, because it needs to consider the implicit, combined, and incomplete layout constraints from text, each of which has not been studied in previous work. To address this, we present a two-stage approach, named parse-then-place. The approach introduces an intermediate representation (IR) between text and layout to represent diverse layout constraints. With IR, Text-to-Layout is decomposed into a parse stage and a place stage. The parse stage takes a textual description as input and generates an IR, in which the implicit constraints from the text are transformed into explicit ones. The place stage generates layouts based on the IR. To model combined and incomplete constraints, we use a Transformer-based layout generation model and carefully design a way to represent constraints and layouts as sequences. Besides, we adopt the pretrain-then-finetune strategy to boost the performance of the layout generation model with large-scale unlabeled layouts. To evaluate our approach, we construct two Text-to-Layout datasets and conduct experiments on them. Quantitative results, qualitative analysis, and user studies demonstrate the effectiveness of our approach.

The paradigm of large-scale pre-training followed by downstream fine-tuning has been widely employed in various object detection algorithms. In this paper, we reveal discrepancies in data, model, and task between the pre-training and fine-tuning procedure in existing practices, which implicitly limit the detector's performance, generalization ability, and convergence speed. To this end, we propose AlignDet, a unified pre-training framework that can be adapted to various existing detectors to alleviate the discrepancies. AlignDet decouples the pre-training process into two stages, i.e., image-domain and box-domain pre-training. The image-domain pre-training optimizes the detection backbone to capture holistic visual abstraction, and box-domain pre-training learns instance-level semantics and task-aware concepts to initialize the parts out of the backbone. By incorporating the self-supervised pre-trained backbones, we can pre-train all modules for various detectors in an unsupervised paradigm. As depicted in Figure 1, extensive experiments demonstrate that AlignDet can achieve significant improvements across diverse protocols, such as detection algorithm, model backbone, data setting, and training schedule. For example, AlignDet improves FCOS by 5.3 mAP, RetinaNet by 2.1 mAP, Faster R-CNN by 3.3 mAP, and DETR by 2.3 mAP under fewer epochs.

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and susceptibility to rotational ambiguity, while approaches requiring depth sensors or multi-view setups incur significant deployment costs. To address these limitations, we introduce SplatPose, a novel framework that synergizes 3D Gaussian Splatting (3DGS) with a dual-branch neural architecture to achieve high-precision pose estimation using only a single RGB image. Central to our approach is the Dual-Attention Ray Scoring Network (DARS-Net), which innovatively decouples positional and angular alignment through geometry-domain attention mechanisms, explicitly modeling directional dependencies to mitigate rotational ambiguity. Additionally, a coarse-to-fine optimization pipeline progressively refines pose estimates by aligning dense 2D features between query images and 3DGS-synthesized views, effectively correcting feature misalignment and depth errors from sparse ray sampling. Experiments on three benchmark datasets demonstrate that SplatPose achieves state-of-the-art 6-DoF pose estimation accuracy in single RGB settings, rivaling approaches that depend on depth or multi-view images.

Large-scale text-to-image models enable a wide range of image editing techniques, using text prompts or even spatial controls. However, applying these editing methods to multi-view images depicting a single scene leads to 3D-inconsistent results. In this work, we focus on spatial control-based geometric manipulations and introduce a method to consolidate the editing process across various views. We build on two insights: (1) maintaining consistent features throughout the generative process helps attain consistency in multi-view editing, and (2) the queries in self-attention layers significantly influence the image structure. Hence, we propose to improve the geometric consistency of the edited images by enforcing the consistency of the queries. To do so, we introduce QNeRF, a neural radiance field trained on the internal query features of the edited images. Once trained, QNeRF can render 3D-consistent queries, which are then softly injected back into the self-attention layers during generation, greatly improving multi-view consistency. We refine the process through a progressive, iterative method that better consolidates queries across the diffusion timesteps. We compare our method to a range of existing techniques and demonstrate that it can achieve better multi-view consistency and higher fidelity to the input scene. These advantages allow us to train NeRFs with fewer visual artifacts, that are better aligned with the target geometry.

Model pre-training is essential in human-centric perception. In this paper, we first introduce masked image modeling (MIM) as a pre-training approach for this task. Upon revisiting the MIM training strategy, we reveal that human structure priors offer significant potential. Motivated by this insight, we further incorporate an intuitive human structure prior - human parts - into pre-training. Specifically, we employ this prior to guide the mask sampling process. Image patches, corresponding to human part regions, have high priority to be masked out. This encourages the model to concentrate more on body structure information during pre-training, yielding substantial benefits across a range of human-centric perception tasks. To further capture human characteristics, we propose a structure-invariant alignment loss that enforces different masked views, guided by the human part prior, to be closely aligned for the same image. We term the entire method as HAP. HAP simply uses a plain ViT as the encoder yet establishes new state-of-the-art performance on 11 human-centric benchmarks, and on-par result on one dataset. For example, HAP achieves 78.1% mAP on MSMT17 for person re-identification, 86.54% mA on PA-100K for pedestrian attribute recognition, 78.2% AP on MS COCO for 2D pose estimation, and 56.0 PA-MPJPE on 3DPW for 3D pose and shape estimation.

Unified visual grounding pursues a simple and generic technical route to leverage multi-task data with less task-specific design. The most advanced methods typically present boxes and masks as vertex sequences to model referring detection and segmentation as an autoregressive sequential vertex generation paradigm. However, generating high-dimensional vertex sequences sequentially is error-prone because the upstream of the sequence remains static and cannot be refined based on downstream vertex information, even if there is a significant location gap. Besides, with limited vertexes, the inferior fitting of objects with complex contours restricts the performance upper bound. To deal with this dilemma, we propose a parallel vertex generation paradigm for superior high-dimension scalability with a diffusion model by simply modifying the noise dimension. An intuitive materialization of our paradigm is Parallel Vertex Diffusion (PVD) to directly set vertex coordinates as the generation target and use a diffusion model to train and infer. We claim that it has two flaws: (1) unnormalized coordinate caused a high variance of loss value; (2) the original training objective of PVD only considers point consistency but ignores geometry consistency. To solve the first flaw, Center Anchor Mechanism (CAM) is designed to convert coordinates as normalized offset values to stabilize the training loss value. For the second flaw, Angle summation loss (ASL) is designed to constrain the geometry difference of prediction and ground truth vertexes for geometry-level consistency. Empirical results show that our PVD achieves state-of-the-art in both referring detection and segmentation, and our paradigm is more scalable and efficient than sequential vertex generation with high-dimension data.

Representation learning on text-attributed graphs (TAGs) integrates structural connectivity with rich textual semantics, enabling applications in diverse domains. Current methods largely rely on contrastive learning to maximize cross-modal similarity, assuming tighter coupling between graph and text representations improves transfer performance. However, our empirical analysis reveals that both natural gap expansion and forced gap reduction result in performance degradation by disrupting pre-trained knowledge structures and impairing generalization. This arises from the geometric incompatibility between encoders, where graph encoders capture topological patterns, while text encoders capture semantic structures. Over-alignment compresses these distinct spaces into shared subspaces, causing structure collapse that diminishes both topological reasoning and semantic understanding. We propose LLM4GTA, a gap-aware alignment framework that preserves representation gaps as geometric necessities for maintaining modality-specific knowledge and improving transfer performance. LLM4GTA includes an adaptive gap preservation module to prevent over-alignment by monitoring similarity evolution and an intra-modal compensation mechanism that boosts discriminative power using auxiliary classifiers in graph space. Extensive experiments show significant improvements over existing methods in zero-shot and few-shot scenarios.

Arbitrary-shaped text detection is a challenging task since curved texts in the wild are of the complex geometric layouts. Existing mainstream methods follow the instance segmentation pipeline to obtain the text regions. However, arbitraryshaped texts are difficult to be depicted through one single segmentation network because of the varying scales. In this paper, we propose a two-stage segmentation-based detector, termed as NASK (Need A Second looK), for arbitrary-shaped text detection. Compared to the traditional single-stage segmentation network, our NASK conducts the detection in a coarse-to-fine manner with the first stage segmentation spotting the rectangle text proposals and the second one retrieving compact representations. Specifically, NASK is composed of a Text Instance Segmentation (TIS) network (1st stage), a Geometry-aware Text RoI Alignment (GeoAlign) module, and a Fiducial pOint eXpression (FOX) module (2nd stage). Firstly, TIS extracts the augmented features with a novel Group Spatial and Channel Attention (GSCA) module and conducts instance segmentation to obtain rectangle proposals. Then, GeoAlign converts these rectangles into the fixed size and encodes RoI-wise feature representation. Finally, FOX disintegrates the text instance into serval pivotal geometrical attributes to refine the detection results. Extensive experimental results on three public benchmarks including Total-Text, SCUTCTW1500, and ICDAR 2015 verify that our NASK outperforms recent state-of-the-art methods.

Monocular object pose estimation, as a pivotal task in computer vision and robotics, heavily depends on accurate 2D-3D correspondences, which often demand costly CAD models that may not be readily available. Object 3D reconstruction methods offer an alternative, among which recent advancements in 3D Gaussian Splatting (3DGS) afford a compelling potential. Yet its performance still suffers and tends to overfit with fewer input views. Embracing this challenge, we introduce SGPose, a novel framework for sparse view object pose estimation using Gaussian-based methods. Given as few as ten views, SGPose generates a geometric-aware representation by starting with a random cuboid initialization, eschewing reliance on Structure-from-Motion (SfM) pipeline-derived geometry as required by traditional 3DGS methods. SGPose removes the dependence on CAD models by regressing dense 2D-3D correspondences between images and the reconstructed model from sparse input and random initialization, while the geometric-consistent depth supervision and online synthetic view warping are key to the success. Experiments on typical benchmarks, especially on the Occlusion LM-O dataset, demonstrate that SGPose outperforms existing methods even under sparse view constraints, under-scoring its potential in real-world applications.

Masked point modeling has become a promising scheme of self-supervised pre-training for point clouds. Existing methods reconstruct either the original points or related features as the objective of pre-training. However, considering the diversity of downstream tasks, it is necessary for the model to have both low- and high-level representation modeling capabilities to capture geometric details and semantic contexts during pre-training. To this end, M^3CS is proposed to enable the model with the above abilities. Specifically, with masked point cloud as input, M^3CS introduces two decoders to predict masked representations and the original points simultaneously. While an extra decoder doubles parameters for the decoding process and may lead to overfitting, we propose siamese decoders to keep the amount of learnable parameters unchanged. Further, we propose an online codebook projecting continuous tokens into discrete ones before reconstructing masked points. In such way, we can enforce the decoder to take effect through the combinations of tokens rather than remembering each token. Comprehensive experiments show that M^3CS achieves superior performance at both classification and segmentation tasks, outperforming existing methods.

We propose Riemannian Flow Matching (RFM), a simple yet powerful framework for training continuous normalizing flows on manifolds. Existing methods for generative modeling on manifolds either require expensive simulation, are inherently unable to scale to high dimensions, or use approximations for limiting quantities that result in biased training objectives. Riemannian Flow Matching bypasses these limitations and offers several advantages over previous approaches: it is simulation-free on simple geometries, does not require divergence computation, and computes its target vector field in closed-form. The key ingredient behind RFM is the construction of a relatively simple premetric for defining target vector fields, which encompasses the existing Euclidean case. To extend to general geometries, we rely on the use of spectral decompositions to efficiently compute premetrics on the fly. Our method achieves state-of-the-art performance on many real-world non-Euclidean datasets, and we demonstrate tractable training on general geometries, including triangular meshes with highly non-trivial curvature and boundaries.

In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query initialization problems and excessive reliance on stacked layers, rendering them incompatible with large-scale 3D scenes. This paper introduces a novel method, named SGIFormer, for 3D instance segmentation, which is composed of the Semantic-guided Mix Query (SMQ) initialization and the Geometric-enhanced Interleaving Transformer (GIT) decoder. Specifically, the principle of our SMQ initialization scheme is to leverage the predicted voxel-wise semantic information to implicitly generate the scene-aware query, yielding adequate scene prior and compensating for the learnable query set. Subsequently, we feed the formed overall query into our GIT decoder to alternately refine instance query and global scene features for further capturing fine-grained information and reducing complex design intricacies simultaneously. To emphasize geometric property, we consider bias estimation as an auxiliary task and progressively integrate shifted point coordinates embedding to reinforce instance localization. SGIFormer attains state-of-the-art performance on ScanNet V2, ScanNet200 datasets, and the challenging high-fidelity ScanNet++ benchmark, striking a balance between accuracy and efficiency. The code, weights, and demo videos are publicly available at https://rayyoh.github.io/sgiformer.

We present an algorithm for reconstructing dense, geometrically consistent depth for all pixels in a monocular video. We leverage a conventional structure-from-motion reconstruction to establish geometric constraints on pixels in the video. Unlike the ad-hoc priors in classical reconstruction, we use a learning-based prior, i.e., a convolutional neural network trained for single-image depth estimation. At test time, we fine-tune this network to satisfy the geometric constraints of a particular input video, while retaining its ability to synthesize plausible depth details in parts of the video that are less constrained. We show through quantitative validation that our method achieves higher accuracy and a higher degree of geometric consistency than previous monocular reconstruction methods. Visually, our results appear more stable. Our algorithm is able to handle challenging hand-held captured input videos with a moderate degree of dynamic motion. The improved quality of the reconstruction enables several applications, such as scene reconstruction and advanced video-based visual effects.

In recent years, text-image joint pre-training techniques have shown promising results in various tasks. However, in Optical Character Recognition (OCR) tasks, aligning text instances with their corresponding text regions in images poses a challenge, as it requires effective alignment between text and OCR-Text (referring to the text in images as OCR-Text to distinguish from the text in natural language) rather than a holistic understanding of the overall image content. In this paper, we propose a new pre-training method called OCR-Text Destylization Modeling (ODM) that transfers diverse styles of text found in images to a uniform style based on the text prompt. With ODM, we achieve better alignment between text and OCR-Text and enable pre-trained models to adapt to the complex and diverse styles of scene text detection and spotting tasks. Additionally, we have designed a new labeling generation method specifically for ODM and combined it with our proposed Text-Controller module to address the challenge of annotation costs in OCR tasks, allowing a larger amount of unlabeled data to participate in pre-training. Extensive experiments on multiple public datasets demonstrate that our method significantly improves performance and outperforms current pre-training methods in scene text detection and spotting tasks. Code is available at {https://github.com/PriNing/ODM}.

Recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time novel view synthesis (NVS) with impressive quality in indoor scenes. However, achieving high-fidelity rendering requires meticulously captured images covering the entire scene, limiting accessibility for general users. We aim to develop a practical 3DGS-based NVS framework using simple panorama-style motion with a handheld camera (e.g., mobile device). While convenient, this rotation-dominant motion and narrow baseline make accurate camera pose and 3D point estimation challenging, especially in textureless indoor scenes. To address these challenges, we propose LighthouseGS, a novel framework inspired by the lighthouse-like sweeping motion of panoramic views. LighthouseGS leverages rough geometric priors, such as mobile device camera poses and monocular depth estimation, and utilizes the planar structures often found in indoor environments. We present a new initialization method called plane scaffold assembly to generate consistent 3D points on these structures, followed by a stable pruning strategy to enhance geometry and optimization stability. Additionally, we introduce geometric and photometric corrections to resolve inconsistencies from motion drift and auto-exposure in mobile devices. Tested on collected real and synthetic indoor scenes, LighthouseGS delivers photorealistic rendering, surpassing state-of-the-art methods and demonstrating the potential for panoramic view synthesis and object placement.

With the rapid advancement and widespread adoption of VR/AR technologies, there is a growing demand for the creation of high-quality, immersive dynamic scenes. However, existing generation works predominantly concentrate on the creation of static scenes or narrow perspective-view dynamic scenes, falling short of delivering a truly 360-degree immersive experience from any viewpoint. In this paper, we introduce TiP4GEN, an advanced text-to-dynamic panorama scene generation framework that enables fine-grained content control and synthesizes motion-rich, geometry-consistent panoramic 4D scenes. TiP4GEN integrates panorama video generation and dynamic scene reconstruction to create 360-degree immersive virtual environments. For video generation, we introduce a Dual-branch Generation Model consisting of a panorama branch and a perspective branch, responsible for global and local view generation, respectively. A bidirectional cross-attention mechanism facilitates comprehensive information exchange between the branches. For scene reconstruction, we propose a Geometry-aligned Reconstruction Model based on 3D Gaussian Splatting. By aligning spatial-temporal point clouds using metric depth maps and initializing scene cameras with estimated poses, our method ensures geometric consistency and temporal coherence for the reconstructed scenes. Extensive experiments demonstrate the effectiveness of our proposed designs and the superiority of TiP4GEN in generating visually compelling and motion-coherent dynamic panoramic scenes. Our project page is at https://ke-xing.github.io/TiP4GEN/.

We introduce a novel framework for 3D human avatar generation and personalization, leveraging text prompts to enhance user engagement and customization. Central to our approach are key innovations aimed at overcoming the challenges in photo-realistic avatar synthesis. Firstly, we utilize a conditional Neural Radiance Fields (NeRF) model, trained on a large-scale unannotated multi-view dataset, to create a versatile initial solution space that accelerates and diversifies avatar generation. Secondly, we develop a geometric prior, leveraging the capabilities of Text-to-Image Diffusion Models, to ensure superior view invariance and enable direct optimization of avatar geometry. These foundational ideas are complemented by our optimization pipeline built on Variational Score Distillation (VSD), which mitigates texture loss and over-saturation issues. As supported by our extensive experiments, these strategies collectively enable the creation of custom avatars with unparalleled visual quality and better adherence to input text prompts. You can find more results and videos in our website: https://syntec-research.github.io/MagicMirror

Geometric Problem Solving (GPS) poses a unique challenge for Multimodal Large Language Models (MLLMs), requiring not only the joint interpretation of text and diagrams but also iterative visuospatial reasoning. While existing approaches process diagrams as static images, they lack the capacity for dynamic manipulation - a core aspect of human geometric reasoning involving auxiliary line construction and affine transformations. We present GeoSketch, a neural-symbolic framework that recasts geometric reasoning as an interactive perception-reasoning-action loop. GeoSketch integrates: (1) a Perception module that abstracts diagrams into structured logic forms, (2) a Symbolic Reasoning module that applies geometric theorems to decide the next deductive step, and (3) a Sketch Action module that executes operations such as drawing auxiliary lines or applying transformations, thereby updating the diagram in a closed loop. To train this agent, we develop a two-stage pipeline: supervised fine-tuning on 2,000 symbolic-curated trajectories followed by reinforcement learning with dense, symbolic rewards to enhance robustness and strategic exploration. To evaluate this paradigm, we introduce the GeoSketch Benchmark, a high-quality set of 390 geometry problems requiring auxiliary construction or affine transformations. Experiments on strong MLLM baselines demonstrate that GeoSketch significantly improves stepwise reasoning accuracy and problem-solving success over static perception methods. By unifying hierarchical decision-making, executable visual actions, and symbolic verification, GeoSketch advances multimodal reasoning from static interpretation to dynamic, verifiable interaction, establishing a new foundation for solving complex visuospatial problems.

Masked Image Modeling (MIM) has recently been established as a potent pre-training paradigm. A pretext task is constructed by masking patches in an input image, and this masked content is then predicted by a neural network using visible patches as sole input. This pre-training leads to state-of-the-art performance when finetuned for high-level semantic tasks, e.g. image classification and object detection. In this paper we instead seek to learn representations that transfer well to a wide variety of 3D vision and lower-level geometric downstream tasks, such as depth prediction or optical flow estimation. Inspired by MIM, we propose an unsupervised representation learning task trained from pairs of images showing the same scene from different viewpoints. More precisely, we propose the pretext task of cross-view completion where the first input image is partially masked, and this masked content has to be reconstructed from the visible content and the second image. In single-view MIM, the masked content often cannot be inferred precisely from the visible portion only, so the model learns to act as a prior influenced by high-level semantics. In contrast, this ambiguity can be resolved with cross-view completion from the second unmasked image, on the condition that the model is able to understand the spatial relationship between the two images. Our experiments show that our pretext task leads to significantly improved performance for monocular 3D vision downstream tasks such as depth estimation. In addition, our model can be directly applied to binocular downstream tasks like optical flow or relative camera pose estimation, for which we obtain competitive results without bells and whistles, i.e., using a generic architecture without any task-specific design.