PAPI-Reg: Patch-to-Pixel Solution for Efficient Cross-Modal Registration between LiDAR Point Cloud and Camera Image

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration board or specific environmental features. Cross-modal registration effectively solves this problem by aligning the data directly without requiring external calibration. However, due to the domain gap between the point cloud and the image, existing methods rarely achieve satisfactory registration accuracy while maintaining real-time performance. To address this issue, we propose a framework that projects point clouds into several 2D representations for matching with camera images, which not only leverages the geometric characteristic of LiDAR point clouds more effectively but also bridge the domain gap between the point cloud and image. Moreover, to tackle the challenges of cross modal differences and the limited overlap between LiDAR point clouds and images in the image matching task, we introduce a multi-scale feature extraction network to effectively extract features from both camera images and the projection maps of LiDAR point cloud. Additionally, we propose a patch-to-pixel matching network to provide more effective supervision and achieve higher accuracy. We validate the performance of our model through experiments on the KITTI and nuScenes datasets. Our network achieves real-time performance and extremely high registration accuracy. On the KITTI dataset, our model achieves a registration accuracy rate of over 99\%.

EdgeRegNet: Edge Feature-based Multimodal Registration Network between Images and LiDAR Point Clouds

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different modalities, forming the foundation for multimodal sensor data fusion and enhancing perception systems' accuracy and reliability. The registration task between 2D images captured by cameras and 3D point clouds captured by Light Detection and Ranging (LiDAR) sensors is usually treated as a visual pose estimation problem. High-dimensional feature similarities from different modalities are leveraged to identify pixel-point correspondences, followed by pose estimation techniques using least squares methods. However, existing approaches often resort to downsampling the original point cloud and image data due to computational constraints, inevitably leading to a loss in precision. Additionally, high-dimensional features extracted using different feature extractors from various modalities require specific techniques to mitigate cross-modal differences for effective matching. To address these challenges, we propose a method that uses edge information from the original point clouds and images for cross-modal registration. We retain crucial information from the original data by extracting edge points and pixels, enhancing registration accuracy while maintaining computational efficiency. The use of edge points and edge pixels allows us to introduce an attention-based feature exchange block to eliminate cross-modal disparities. Furthermore, we incorporate an optimal matching layer to improve correspondence identification. We validate the accuracy of our method on the KITTI and nuScenes datasets, demonstrating its state-of-the-art performance.

MetricGrids: Arbitrary Nonlinear Approximation with Elementary Metric Grids based Implicit Neural Representation

This paper presents MetricGrids, a novel grid-based neural representation that combines elementary metric grids in various metric spaces to approximate complex nonlinear signals. While grid-based representations are widely adopted for their efficiency and scalability, the existing feature grids with linear indexing for continuous-space points can only provide degenerate linear latent space representations, and such representations cannot be adequately compensated to represent complex nonlinear signals by the following compact decoder. To address this problem while keeping the simplicity of a regular grid structure, our approach builds upon the standard grid-based paradigm by constructing multiple elementary metric grids as high-order terms to approximate complex nonlinearities, following the Taylor expansion principle. Furthermore, we enhance model compactness with hash encoding based on different sparsities of the grids to prevent detrimental hash collisions, and a high-order extrapolation decoder to reduce explicit grid storage requirements. experimental results on both 2D and 3D reconstructions demonstrate the superior fitting and rendering accuracy of the proposed method across diverse signal types, validating its robustness and generalizability. Code is available at https://github.com/wangshu31/MetricGrids}{https://github.com/wangshu31/MetricGrids.

Interleaved Block-based Learned Image Compression with Feature Enhancement and Quantization Error Compensation

In recent years, learned image compression (LIC) methods have achieved significant performance improvements. However, obtaining a more compact latent representation and reducing the impact of quantization errors remain key challenges in the field of LIC. To address these challenges, we propose a feature extraction module, a feature refinement module, and a feature enhancement module. Our feature extraction module shuffles the pixels in the image, splits the resulting image into sub-images, and extracts coarse features from the sub-images. Our feature refinement module stacks the coarse features and uses an attention refinement block composed of concatenated three-dimensional convolution residual blocks to learn more compact latent features by exploiting correlations across channels, within sub-images (intra-sub-image correlations), and across sub-images (inter-sub-image correlations). Our feature enhancement module reduces information loss in the decoded features following quantization. We also propose a quantization error compensation module that mitigates the quantization mismatch between training and testing. Our four modules can be readily integrated into state-of-the-art LIC methods. Experiments show that combining our modules with Tiny-LIC outperforms existing LIC methods and image compression standards in terms of peak signal-to-noise ratio (PSNR) and multi-scale structural similarity (MS-SSIM) on the Kodak dataset and the CLIC dataset.

FD-LSCIC: Frequency Decomposition-based Learned Screen Content Image Compression

The learned image compression (LIC) methods have already surpassed traditional techniques in compressing natural scene (NS) images. However, directly applying these methods to screen content (SC) images, which possess distinct characteristics such as sharp edges, repetitive patterns, embedded text and graphics, yields suboptimal results. This paper addresses three key challenges in SC image compression: learning compact latent features, adapting quantization step sizes, and the lack of large SC datasets. To overcome these challenges, we propose a novel compression method that employs a multi-frequency two-stage octave residual block (MToRB) for feature extraction, a cascaded triple-scale feature fusion residual block (CTSFRB) for multi-scale feature integration and a multi-frequency context interaction module (MFCIM) to reduce inter-frequency correlations. Additionally, we introduce an adaptive quantization module that learns scaled uniform noise for each frequency component, enabling flexible control over quantization granularity. Furthermore, we construct a large SC image compression dataset (SDU-SCICD10K), which includes over 10,000 images spanning basic SC images, computer-rendered images, and mixed NS and SC images from both PC and mobile platforms. Experimental results demonstrate that our approach significantly improves SC image compression performance, outperforming traditional standards and state-of-the-art learning-based methods in terms of peak signal-to-noise ratio (PSNR) and multi-scale structural similarity (MS-SSIM).

Training-Free Guidance Beyond Differentiability: Scalable Path Steering with Tree Search in Diffusion and Flow Models

Training-free guidance enables controlled generation in diffusion and flow models, but most existing methods assume differentiable objectives and rely on gradients. This work focuses on training-free guidance addressing challenges from non-differentiable objectives and discrete data distributions. We propose an algorithmic framework TreeG: Tree Search-Based Path Steering Guidance, applicable to both continuous and discrete settings in diffusion and flow models. TreeG offers a unified perspective on training-free guidance: proposing candidates for the next step, evaluating candidates, and selecting the best to move forward, enhanced by a tree search mechanism over active paths or parallelizing exploration. We comprehensively investigate the design space of TreeG over the candidate proposal module and the evaluation function, instantiating TreeG into three novel algorithms. Our experiments show that TreeG consistently outperforms the top guidance baselines in symbolic music generation, small molecule generation, and enhancer DNA design, all of which involve non-differentiable challenges. Additionally, we identify an inference-time scaling law showing TreeG's scalability in inference-time computation.

A First-order Generative Bilevel Optimization Framework for Diffusion Models

Diffusion models, which iteratively denoise data samples to synthesize high-quality outputs, have achieved empirical success across domains. However, optimizing these models for downstream tasks often involves nested bilevel structures, such as tuning hyperparameters for fine-tuning tasks or noise schedules in training dynamics, where traditional bilevel methods fail due to the infinite-dimensional probability space and prohibitive sampling costs. We formalize this challenge as a generative bilevel optimization problem and address two key scenarios: (1) fine-tuning pre-trained models via an inference-only lower-level solver paired with a sample-efficient gradient estimator for the upper level, and (2) training diffusion models from scratch with noise schedule optimization by reparameterizing the lower-level problem and designing a computationally tractable gradient estimator. Our first-order bilevel framework overcomes the incompatibility of conventional bilevel methods with diffusion processes, offering theoretical grounding and computational practicality. Experiments demonstrate that our method outperforms existing fine-tuning and hyperparameter search baselines.

MATH-Perturb: Benchmarking LLMs' Math Reasoning Abilities against Hard Perturbations

Large language models have demonstrated impressive performance on challenging mathematical reasoning tasks, which has triggered the discussion of whether the performance is achieved by true reasoning capability or memorization. To investigate this question, prior work has constructed mathematical benchmarks when questions undergo simple perturbations -- modifications that still preserve the underlying reasoning patterns of the solutions. However, no work has explored hard perturbations, which fundamentally change the nature of the problem so that the original solution steps do not apply. To bridge the gap, we construct MATH-P-Simple and MATH-P-Hard via simple perturbation and hard perturbation, respectively. Each consists of 279 perturbed math problems derived from level-5 (hardest) problems in the MATH dataset (Hendrycksmath et. al., 2021). We observe significant performance drops on MATH-P-Hard across various models, including o1-mini (-16.49%) and gemini-2.0-flash-thinking (-12.9%). We also raise concerns about a novel form of memorization where models blindly apply learned problem-solving skills without assessing their applicability to modified contexts. This issue is amplified when using original problems for in-context learning. We call for research efforts to address this challenge, which is critical for developing more robust and reliable reasoning models.

CS-Net:Contribution-based Sampling Network for Point Cloud Simplification

Point cloud sampling plays a crucial role in reducing computation costs and storage requirements for various vision tasks. Traditional sampling methods, such as farthest point sampling, lack task-specific information and, as a result, cannot guarantee optimal performance in specific applications. Learning-based methods train a network to sample the point cloud for the targeted downstream task. However, they do not guarantee that the sampled points are the most relevant ones. Moreover, they may result in duplicate sampled points, which requires completion of the sampled point cloud through post-processing techniques. To address these limitations, we propose a contribution-based sampling network (CS-Net), where the sampling operation is formulated as a Top-k operation. To ensure that the network can be trained in an end-to-end way using gradient descent algorithms, we use a differentiable approximation to the Top-k operation via entropy regularization of an optimal transport problem. Our network consists of a feature embedding module, a cascade attention module, and a contribution scoring module. The feature embedding module includes a specifically designed spatial pooling layer to reduce parameters while preserving important features. The cascade attention module combines the outputs of three skip connected offset attention layers to emphasize the attractive features and suppress less important ones. The contribution scoring module generates a contribution score for each point and guides the sampling process to prioritize the most important ones. Experiments on the ModelNet40 and PU147 showed that CS-Net achieved state-of-the-art performance in two semantic-based downstream tasks (classification and registration) and two reconstruction-based tasks (compression and surface reconstruction).

Rate-Distortion Optimized Skip Coding of Region Adaptive Hierarchical Transform Coefficients for MPEG G-PCC

Three-dimensional (3D) point clouds are becoming more and more popular for representing 3D objects and scenes. Due to limited network bandwidth, efficient compression of 3D point clouds is crucial. To tackle this challenge, the Moving Picture Experts Group (MPEG) is actively developing the Geometry-based Point Cloud Compression (G-PCC) standard, incorporating innovative methods to optimize compression, such as the Region-Adaptive Hierarchical Transform (RAHT) nestled within a layer-by-layer octree-tree structure. Nevertheless, a notable problem still exists in RAHT, i.e., the proportion of zero residuals in the last few RAHT layers leads to unnecessary bitrate consumption. To address this problem, we propose an adaptive skip coding method for RAHT, which adaptively determines whether to encode the residuals of the last several layers or not, thereby improving the coding efficiency. In addition, we propose a rate-distortion cost calculation method associated with an adaptive Lagrange multiplier. Experimental results demonstrate that the proposed method achieves average Bj{\o}ntegaard rate improvements of -3.50%, -5.56%, and -4.18% for the Luma, Cb, and Cr components, respectively, on dynamic point clouds, when compared with the state-of-the-art G-PCC reference software under the common test conditions recommended by MPEG.