UrbanVideo-Bench: Benchmarking Vision-Language Models on Embodied Intelligence with Video Data in Urban Spaces

Large multimodal models exhibit remarkable intelligence, yet their embodied cognitive abilities during motion in open-ended urban 3D space remain to be explored. We introduce a benchmark to evaluate whether video-large language models (Video-LLMs) can naturally process continuous first-person visual observations like humans, enabling recall, perception, reasoning, and navigation. We have manually control drones to collect 3D embodied motion video data from real-world cities and simulated environments, resulting in 1.5k video clips. Then we design a pipeline to generate 5.2k multiple-choice questions. Evaluations of 17 widely-used Video-LLMs reveal current limitations in urban embodied cognition. Correlation analysis provides insight into the relationships between different tasks, showing that causal reasoning has a strong correlation with recall, perception, and navigation, while the abilities for counterfactual and associative reasoning exhibit lower correlation with other tasks. We also validate the potential for Sim-to-Real transfer in urban embodiment through fine-tuning.

A Unified Membership Inference Method for Visual Self-supervised Encoder via Part-aware Capability

Self-supervised learning shows promise in harnessing extensive unlabeled data, but it also confronts significant privacy concerns, especially in vision. In this paper, we aim to perform membership inference on visual self-supervised models in a more realistic setting: self-supervised training method and details are unknown for an adversary when attacking as he usually faces a black-box system in practice. In this setting, considering that self-supervised model could be trained by completely different self-supervised paradigms, e.g., masked image modeling and contrastive learning, with complex training details, we propose a unified membership inference method called PartCrop. It is motivated by the shared part-aware capability among models and stronger part response on the training data. Specifically, PartCrop crops parts of objects in an image to query responses with the image in representation space. We conduct extensive attacks on self-supervised models with different training protocols and structures using three widely used image datasets. The results verify the effectiveness and generalization of PartCrop. Moreover, to defend against PartCrop, we evaluate two common approaches, i.e., early stop and differential privacy, and propose a tailored method called shrinking crop scale range. The defense experiments indicate that all of them are effective. Our code is available at https://github.com/JiePKU/PartCrop