GaussTR: Foundation Model-Aligned Gaussian Transformer for Self-Supervised 3D Spatial Understanding

3D Semantic Occupancy Prediction is fundamental for spatial understanding as it provides a comprehensive semantic cognition of surrounding environments. However, prevalent approaches primarily rely on extensive labeled data and computationally intensive voxel-based modeling, restricting the scalability and generalizability of 3D representation learning. In this paper, we introduce GaussTR, a novel Gaussian Transformer that leverages alignment with foundation models to advance self-supervised 3D spatial understanding. GaussTR adopts a Transformer architecture to predict sparse sets of 3D Gaussians that represent scenes in a feed-forward manner. Through aligning rendered Gaussian features with diverse knowledge from pre-trained foundation models, GaussTR facilitates the learning of versatile 3D representations and enables open-vocabulary occupancy prediction without explicit annotations. Empirical evaluations on the Occ3D-nuScenes dataset showcase GaussTR's state-of-the-art zero-shot performance, achieving 11.70 mIoU while reducing training duration by approximately 50%. These experimental results highlight the significant potential of GaussTR for scalable and holistic 3D spatial understanding, with promising implications for autonomous driving and embodied agents. Code is available at https://github.com/hustvl/GaussTR.

Gaussian Object Carver: Object-Compositional Gaussian Splatting with surfaces completion

3D scene reconstruction is a foundational problem in computer vision. Despite recent advancements in Neural Implicit Representations (NIR), existing methods often lack editability and compositional flexibility, limiting their use in scenarios requiring high interactivity and object-level manipulation. In this paper, we introduce the Gaussian Object Carver (GOC), a novel, efficient, and scalable framework for object-compositional 3D scene reconstruction. GOC leverages 3D Gaussian Splatting (GS), enriched with monocular geometry priors and multi-view geometry regularization, to achieve high-quality and flexible reconstruction. Furthermore, we propose a zero-shot Object Surface Completion (OSC) model, which uses 3D priors from 3d object data to reconstruct unobserved surfaces, ensuring object completeness even in occluded areas. Experimental results demonstrate that GOC improves reconstruction efficiency and geometric fidelity. It holds promise for advancing the practical application of digital twins in embodied AI, AR/VR, and interactive simulation environments.

GLS: Geometry-aware 3D Language Gaussian Splatting

Recently, 3D Gaussian Splatting (3DGS) has achieved significant performance on indoor surface reconstruction and open-vocabulary segmentation. This paper presents GLS, a unified framework of surface reconstruction and open-vocabulary segmentation based on 3DGS. GLS extends two fields by exploring the correlation between them. For indoor surface reconstruction, we introduce surface normal prior as a geometric cue to guide the rendered normal, and use the normal error to optimize the rendered depth. For open-vocabulary segmentation, we employ 2D CLIP features to guide instance features and utilize DEVA masks to enhance their view consistency. Extensive experiments demonstrate the effectiveness of jointly optimizing surface reconstruction and open-vocabulary segmentation, where GLS surpasses state-of-the-art approaches of each task on MuSHRoom, ScanNet++, and LERF-OVS datasets. Code will be available at https://github.com/JiaxiongQ/GLS.

DynFocus: Dynamic Cooperative Network Empowers LLMs with Video Understanding

The challenge in LLM-based video understanding lies in preserving visual and semantic information in long videos while maintaining a memory-affordable token count. However, redundancy and correspondence in videos have hindered the performance potential of existing methods. Through statistical learning on current datasets, we observe that redundancy occurs in both repeated and answer-irrelevant frames, and the corresponding frames vary with different questions. This suggests the possibility of adopting dynamic encoding to balance detailed video information preservation with token budget reduction. To this end, we propose a dynamic cooperative network, DynFocus, for memory-efficient video encoding in this paper. Specifically, i) a Dynamic Event Prototype Estimation (DPE) module to dynamically select meaningful frames for question answering; (ii) a Compact Cooperative Encoding (CCE) module that encodes meaningful frames with detailed visual appearance and the remaining frames with sketchy perception separately. We evaluate our method on five publicly available benchmarks, and experimental results consistently demonstrate that our method achieves competitive performance.

NVCiM-PT: An NVCiM-assisted Prompt Tuning Framework for Edge LLMs

Large Language Models (LLMs) deployed on edge devices, known as edge LLMs, need to continuously fine-tune their model parameters from user-generated data under limited resource constraints. However, most existing learning methods are not applicable for edge LLMs because of their reliance on high resources and low learning capacity. Prompt tuning (PT) has recently emerged as an effective fine-tuning method for edge LLMs by only modifying a small portion of LLM parameters, but it suffers from user domain shifts, resulting in repetitive training and losing resource efficiency. Conventional techniques to address domain shift issues often involve complex neural networks and sophisticated training, which are incompatible for PT for edge LLMs. Therefore, an open research question is how to address domain shift issues for edge LLMs with limited resources. In this paper, we propose a prompt tuning framework for edge LLMs, exploiting the benefits offered by non-volatile computing-in-memory (NVCiM) architectures. We introduce a novel NVCiM-assisted PT framework, where we narrow down the core operations to matrix-matrix multiplication, which can then be accelerated by performing in-situ computation on NVCiM. To the best of our knowledge, this is the first work employing NVCiM to improve the edge LLM PT performance.

Storyboard guided Alignment for Fine-grained Video Action Recognition

Fine-grained video action recognition can be conceptualized as a video-text matching problem. Previous approaches often rely on global video semantics to consolidate video embeddings, which can lead to misalignment in video-text pairs due to a lack of understanding of action semantics at an atomic granularity level. To tackle this challenge, we propose a multi-granularity framework based on two observations: (i) videos with different global semantics may share similar atomic actions or appearances, and (ii) atomic actions within a video can be momentary, slow, or even non-directly related to the global video semantics. Inspired by the concept of storyboarding, which disassembles a script into individual shots, we enhance global video semantics by generating fine-grained descriptions using a pre-trained large language model. These detailed descriptions capture common atomic actions depicted in videos. A filtering metric is proposed to select the descriptions that correspond to the atomic actions present in both the videos and the descriptions. By employing global semantics and fine-grained descriptions, we can identify key frames in videos and utilize them to aggregate embeddings, thereby making the embedding more accurate. Extensive experiments on various video action recognition datasets demonstrate superior performance of our proposed method in supervised, few-shot, and zero-shot settings.

UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models

Previous studies on robotic manipulation are based on a limited understanding of the underlying 3D motion constraints and affordances. To address these challenges, we propose a comprehensive paradigm, termed UniAff, that integrates 3D object-centric manipulation and task understanding in a unified formulation. Specifically, we constructed a dataset labeled with manipulation-related key attributes, comprising 900 articulated objects from 19 categories and 600 tools from 12 categories. Furthermore, we leverage MLLMs to infer object-centric representations for manipulation tasks, including affordance recognition and reasoning about 3D motion constraints. Comprehensive experiments in both simulation and real-world settings indicate that UniAff significantly improves the generalization of robotic manipulation for tools and articulated objects. We hope that UniAff will serve as a general baseline for unified robotic manipulation tasks in the future. Images, videos, dataset, and code are published on the project website at:https://sites.google.com/view/uni-aff/home

The curse of random quantum data

Quantum machine learning, which involves running machine learning algorithms on quantum devices, may be one of the most significant flagship applications for these devices. Unlike its classical counterparts, the role of data in quantum machine learning has not been fully understood. In this work, we quantify the performances of quantum machine learning in the landscape of quantum data. Provided that the encoding of quantum data is sufficiently random, the performance, we find that the training efficiency and generalization capabilities in quantum machine learning will be exponentially suppressed with the increase in the number of qubits, which we call "the curse of random quantum data". Our findings apply to both the quantum kernel method and the large-width limit of quantum neural networks. Conversely, we highlight that through meticulous design of quantum datasets, it is possible to avoid these curses, thereby achieving efficient convergence and robust generalization. Our conclusions are corroborated by extensive numerical simulations.

EZSR: Event-based Zero-Shot Recognition

This paper studies zero-shot object recognition using event camera data. Guided by CLIP, which is pre-trained on RGB images, existing approaches achieve zero-shot object recognition by maximizing embedding similarities between event data encoded by an event encoder and RGB images encoded by the CLIP image encoder. Alternatively, several methods learn RGB frame reconstructions from event data for the CLIP image encoder. However, these approaches often result in suboptimal zero-shot performance. This study develops an event encoder without relying on additional reconstruction networks. We theoretically analyze the performance bottlenecks of previous approaches: global similarity-based objective (i.e., maximizing the embedding similarities) cause semantic misalignments between the learned event embedding space and the CLIP text embedding space due to the degree of freedom. To mitigate the issue, we explore a scalar-wise regularization strategy. Furthermore, to scale up the number of events and RGB data pairs for training, we also propose a pipeline for synthesizing event data from static RGB images. Experimentally, our data synthesis strategy exhibits an attractive scaling property, and our method achieves superior zero-shot object recognition performance on extensive standard benchmark datasets, even compared with past supervised learning approaches. For example, we achieve 47.84% zero-shot accuracy on the N-ImageNet dataset.

Belief Information based Deep Channel Estimation for Massive MIMO Systems

In the next generation wireless communication system, transmission rates should continue to rise to support emerging scenarios, e.g., the immersive communications. From the perspective of communication system evolution, multiple-input multiple-output (MIMO) technology remains pivotal for enhancing transmission rates. However, current MIMO systems rely on inserting pilot signals to achieve accurate channel estimation. As the increase of transmit stream, the pilots consume a significant portion of transmission resources, severely reducing the spectral efficiency. In this correspondence, we propose a belief information based mechanism. By introducing a plug-and-play belief information module, existing single-antenna channel estimation networks could be seamlessly adapted to multi-antenna channel estimation and fully exploit the spatial correlation among multiple antennas. Experimental results demonstrate that the proposed method can either improve 1 ~ 2 dB channel estimation performance or reduce 1/3 ~ 1/2 pilot overhead, particularly in bad channel conditions.