Visual Object Tracking across Diverse Data Modalities: A Review

Visual Object Tracking (VOT) is an attractive and significant research area in computer vision, which aims to recognize and track specific targets in video sequences where the target objects are arbitrary and class-agnostic. The VOT technology could be applied in various scenarios, processing data of diverse modalities such as RGB, thermal infrared and point cloud. Besides, since no one sensor could handle all the dynamic and varying environments, multi-modal VOT is also investigated. This paper presents a comprehensive survey of the recent progress of both single-modal and multi-modal VOT, especially the deep learning methods. Specifically, we first review three types of mainstream single-modal VOT, including RGB, thermal infrared and point cloud tracking. In particular, we conclude four widely-used single-modal frameworks, abstracting their schemas and categorizing the existing inheritors. Then we summarize four kinds of multi-modal VOT, including RGB-Depth, RGB-Thermal, RGB-LiDAR and RGB-Language. Moreover, the comparison results in plenty of VOT benchmarks of the discussed modalities are presented. Finally, we provide recommendations and insightful observations, inspiring the future development of this fast-growing literature.

GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping

Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language comprehension and time-consuming 3D radiance modeling, restricting real-time, open-vocabulary interactions with objects. To address these limitations, we propose GLOVER, a unified Generalizable Open-Vocabulary Affordance Reasoning framework, which fine-tunes the Large Language Models (LLMs) to predict visual affordance of graspable object parts within RGB feature space. We compile a dataset of over 10,000 images from human-object interactions, annotated with unified visual and linguistic affordance labels, to enable multi-modal fine-tuning. GLOVER inherits world knowledge and common-sense reasoning from LLMs, facilitating more fine-grained object understanding and sophisticated tool-use reasoning. To enable effective real-world deployment, we present Affordance-Aware Grasping Estimation (AGE), a non-parametric grasp planner that aligns the gripper pose with a superquadric surface derived from affordance data. In evaluations across 30 real-world scenes, GLOVER achieves success rates of 86.0% in part identification and 76.3% in grasping, with speeds approximately 330 times faster in affordance reasoning and 40 times faster in grasping pose estimation than the previous state-of-the-art.

Schedule Your Edit: A Simple yet Effective Diffusion Noise Schedule for Image Editing

Text-guided diffusion models have significantly advanced image editing, enabling high-quality and diverse modifications driven by text prompts. However, effective editing requires inverting the source image into a latent space, a process often hindered by prediction errors inherent in DDIM inversion. These errors accumulate during the diffusion process, resulting in inferior content preservation and edit fidelity, especially with conditional inputs. We address these challenges by investigating the primary contributors to error accumulation in DDIM inversion and identify the singularity problem in traditional noise schedules as a key issue. To resolve this, we introduce the Logistic Schedule, a novel noise schedule designed to eliminate singularities, improve inversion stability, and provide a better noise space for image editing. This schedule reduces noise prediction errors, enabling more faithful editing that preserves the original content of the source image. Our approach requires no additional retraining and is compatible with various existing editing methods. Experiments across eight editing tasks demonstrate the Logistic Schedule's superior performance in content preservation and edit fidelity compared to traditional noise schedules, highlighting its adaptability and effectiveness.

Flipped Classroom: Aligning Teacher Attention with Student in Generalized Category Discovery

Recent advancements have shown promise in applying traditional Semi-Supervised Learning strategies to the task of Generalized Category Discovery (GCD). Typically, this involves a teacher-student framework in which the teacher imparts knowledge to the student to classify categories, even in the absence of explicit labels. Nevertheless, GCD presents unique challenges, particularly the absence of priors for new classes, which can lead to the teacher's misguidance and unsynchronized learning with the student, culminating in suboptimal outcomes. In our work, we delve into why traditional teacher-student designs falter in open-world generalized category discovery as compared to their success in closed-world semi-supervised learning. We identify inconsistent pattern learning across attention layers as the crux of this issue and introduce FlipClass, a method that dynamically updates the teacher to align with the student's attention, instead of maintaining a static teacher reference. Our teacher-student attention alignment strategy refines the teacher's focus based on student feedback from an energy perspective, promoting consistent pattern recognition and synchronized learning across old and new classes. Extensive experiments on a spectrum of benchmarks affirm that FlipClass significantly surpasses contemporary GCD methods, establishing new standards for the field.

SpotActor: Training-Free Layout-Controlled Consistent Image Generation

Text-to-image diffusion models significantly enhance the efficiency of artistic creation with high-fidelity image generation. However, in typical application scenarios like comic book production, they can neither place each subject into its expected spot nor maintain the consistent appearance of each subject across images. For these issues, we pioneer a novel task, Layout-to-Consistent-Image (L2CI) generation, which produces consistent and compositional images in accordance with the given layout conditions and text prompts. To accomplish this challenging task, we present a new formalization of dual energy guidance with optimization in a dual semantic-latent space and thus propose a training-free pipeline, SpotActor, which features a layout-conditioned backward update stage and a consistent forward sampling stage. In the backward stage, we innovate a nuanced layout energy function to mimic the attention activations with a sigmoid-like objective. While in the forward stage, we design Regional Interconnection Self-Attention (RISA) and Semantic Fusion Cross-Attention (SFCA) mechanisms that allow mutual interactions across images. To evaluate the performance, we present ActorBench, a specified benchmark with hundreds of reasonable prompt-box pairs stemming from object detection datasets. Comprehensive experiments are conducted to demonstrate the effectiveness of our method. The results prove that SpotActor fulfills the expectations of this task and showcases the potential for practical applications with superior layout alignment, subject consistency, prompt conformity and background diversity.

LV-UNet: A Lightweight and Vanilla Model for Medical Image Segmentation

Although the progress made by large models in computer vision, optimization challenges, the complexity of transformer models, computational limitations, and the requirements of practical applications call for simpler designs in model architecture for medical image segmentation, especially in mobile medical devices that require lightweight and deployable models with real-time performance. However, some of the current lightweight models exhibit poor robustness across different datasets, which hinders their broader adoption. This paper proposes a lightweight and vanilla model called LV-UNet, which effectively utilizes pre-trained MobileNetv3-Large models and introduces fusible modules. It can be trained using an improved deep training strategy and switched to deployment mode during inference, reducing both parameter count and computational load. Experiments are conducted on ISIC 2016, BUSI, CVC- ClinicDB, CVC-ColonDB, and Kvair-SEG datasets, achieving better performance compared to the state-of-the-art and classic models.

LangSuitE: Planning, Controlling and Interacting with Large Language Models in Embodied Text Environments

Recent advances in Large Language Models (LLMs) have shown inspiring achievements in constructing autonomous agents that rely on language descriptions as inputs. However, it remains unclear how well LLMs can function as few-shot or zero-shot embodied agents in dynamic interactive environments. To address this gap, we introduce LangSuitE, a versatile and simulation-free testbed featuring 6 representative embodied tasks in textual embodied worlds. Compared with previous LLM-based testbeds, LangSuitE (i) offers adaptability to diverse environments without multiple simulation engines, (ii) evaluates agents' capacity to develop ``internalized world knowledge'' with embodied observations, and (iii) allows easy customization of communication and action strategies. To address the embodiment challenge, we devise a novel chain-of-thought (CoT) schema, EmMem, which summarizes embodied states w.r.t. history information. Comprehensive benchmark results illustrate challenges and insights of embodied planning. LangSuitE represents a significant step toward building embodied generalists in the context of language models.

DreamSalon: A Staged Diffusion Framework for Preserving Identity-Context in Editable Face Generation

While large-scale pre-trained text-to-image models can synthesize diverse and high-quality human-centered images, novel challenges arise with a nuanced task of "identity fine editing": precisely modifying specific features of a subject while maintaining its inherent identity and context. Existing personalization methods either require time-consuming optimization or learning additional encoders, adept in "identity re-contextualization". However, they often struggle with detailed and sensitive tasks like human face editing. To address these challenges, we introduce DreamSalon, a noise-guided, staged-editing framework, uniquely focusing on detailed image manipulations and identity-context preservation. By discerning editing and boosting stages via the frequency and gradient of predicted noises, DreamSalon first performs detailed manipulations on specific features in the editing stage, guided by high-frequency information, and then employs stochastic denoising in the boosting stage to improve image quality. For more precise editing, DreamSalon semantically mixes source and target textual prompts, guided by differences in their embedding covariances, to direct the model's focus on specific manipulation areas. Our experiments demonstrate DreamSalon's ability to efficiently and faithfully edit fine details on human faces, outperforming existing methods both qualitatively and quantitatively.

SDSTrack: Self-Distillation Symmetric Adapter Learning for Multi-Modal Visual Object Tracking

Multimodal Visual Object Tracking (VOT) has recently gained significant attention due to its robustness. Early research focused on fully fine-tuning RGB-based trackers, which was inefficient and lacked generalized representation due to the scarcity of multimodal data. Therefore, recent studies have utilized prompt tuning to transfer pre-trained RGB-based trackers to multimodal data. However, the modality gap limits pre-trained knowledge recall, and the dominance of the RGB modality persists, preventing the full utilization of information from other modalities. To address these issues, we propose a novel symmetric multimodal tracking framework called SDSTrack. We introduce lightweight adaptation for efficient fine-tuning, which directly transfers the feature extraction ability from RGB to other domains with a small number of trainable parameters and integrates multimodal features in a balanced, symmetric manner. Furthermore, we design a complementary masked patch distillation strategy to enhance the robustness of trackers in complex environments, such as extreme weather, poor imaging, and sensor failure. Extensive experiments demonstrate that SDSTrack outperforms state-of-the-art methods in various multimodal tracking scenarios, including RGB+Depth, RGB+Thermal, and RGB+Event tracking, and exhibits impressive results in extreme conditions. Our source code is available at https://github.com/hoqolo/SDSTrack.

M2-CLIP: A Multimodal, Multi-task Adapting Framework for Video Action Recognition

Recently, the rise of large-scale vision-language pretrained models like CLIP, coupled with the technology of Parameter-Efficient FineTuning (PEFT), has captured substantial attraction in video action recognition. Nevertheless, prevailing approaches tend to prioritize strong supervised performance at the expense of compromising the models' generalization capabilities during transfer. In this paper, we introduce a novel Multimodal, Multi-task CLIP adapting framework named \name to address these challenges, preserving both high supervised performance and robust transferability. Firstly, to enhance the individual modality architectures, we introduce multimodal adapters to both the visual and text branches. Specifically, we design a novel visual TED-Adapter, that performs global Temporal Enhancement and local temporal Difference modeling to improve the temporal representation capabilities of the visual encoder. Moreover, we adopt text encoder adapters to strengthen the learning of semantic label information. Secondly, we design a multi-task decoder with a rich set of supervisory signals to adeptly satisfy the need for strong supervised performance and generalization within a multimodal framework. Experimental results validate the efficacy of our approach, demonstrating exceptional performance in supervised learning while maintaining strong generalization in zero-shot scenarios.