TerraScope: Pixel-Grounded Visual Reasoning for Earth Observation

Vision-language models (VLMs) have shown promise in earth observation (EO), yet they struggle with tasks that require grounding complex spatial reasoning in precise pixel-level visual representations. To address this problem, we introduce TerraScope, a unified VLM that delivers pixel-grounded geospatial reasoning with two key capabilities: (1) modality-flexible reasoning: it handles single-modality inputs (optical or SAR) and adaptively fuses different modalities into the reasoning process when both are available; (2) multi-temporal reasoning: it integrates temporal sequences for change analysis across multiple time points. In addition, we curate Terra-CoT, a large-scale dataset containing 1 million samples with pixel-level masks embedded in reasoning chains across multiple sources. We also propose TerraScope-Bench, the first benchmark for pixel-grounded geospatial reasoning with six sub-tasks that evaluates both answer accuracy and mask quality to ensure authentic pixel-grounded reasoning. Experiments show that TerraScope significantly outperforms existing VLMs on pixel-grounded geospatial reasoning while providing interpretable visual evidence.

Generalized Hand-Object Pose Estimation with Occlusion Awareness

Generalized 3D hand-object pose estimation from a single RGB image remains challenging due to the large variations in object appearances and interaction patterns, especially under heavy occlusion. We propose GenHOI, a framework for generalized hand-object pose estimation with occlusion awareness. GenHOI integrates hierarchical semantic knowledge with hand priors to enhance model generalization under challenging occlusion conditions. Specifically, we introduce a hierarchical semantic prompt that encodes object states, hand configurations, and interaction patterns via textual descriptions. This enables the model to learn abstract high-level representations of hand-object interactions for generalization to unseen objects and novel interactions while compensating for missing or ambiguous visual cues. To enable robust occlusion reasoning, we adopt a multi-modal masked modeling strategy over RGB images, predicted point clouds, and textual descriptions. Moreover, we leverage hand priors as stable spatial references to extract implicit interaction constraints. This allows reliable pose inference even under significant variations in object shapes and interaction patterns. Extensive experiments on the challenging DexYCB and HO3Dv2 benchmarks demonstrate that our method achieves state-of-the-art performance in hand-object pose estimation.

High-Fidelity 3D Facial Avatar Synthesis with Controllable Fine-Grained Expressions

Facial expression editing methods can be mainly categorized into two types based on their architectures: 2D-based and 3D-based methods. The former lacks 3D face modeling capabilities, making it difficult to edit 3D factors effectively. The latter has demonstrated superior performance in generating high-quality and view-consistent renderings using single-view 2D face images. Although these methods have successfully used animatable models to control facial expressions, they still have limitations in achieving precise control over fine-grained expressions. To address this issue, in this paper, we propose a novel approach by simultaneously refining both the latent code of a pretrained 3D-Aware GAN model for texture editing and the expression code of the driven 3DMM model for mesh editing. Specifically, we introduce a Dual Mappers module, comprising Texture Mapper and Emotion Mapper, to learn the transformations of the given latent code for textures and the expression code for meshes, respectively. To optimize the Dual Mappers, we propose a Text-Guided Optimization method, leveraging a CLIP-based objective function with expression text prompts as targets, while integrating a SubSpace Projection mechanism to project the text embedding to the expression subspace such that we can have more precise control over fine-grained expressions. Extensive experiments and comparative analyses demonstrate the effectiveness and superiority of our proposed method.

Panoramic Affordance Prediction

Affordance prediction serves as a critical bridge between perception and action in embodied AI. However, existing research is confined to pinhole camera models, which suffer from narrow Fields of View (FoV) and fragmented observations, often missing critical holistic environmental context. In this paper, we present the first exploration into Panoramic Affordance Prediction, utilizing 360-degree imagery to capture global spatial relationships and holistic scene understanding. To facilitate this novel task, we first introduce PAP-12K, a large-scale benchmark dataset containing over 1,000 ultra-high-resolution (12k, 11904 x 5952) panoramic images with over 12k carefully annotated QA pairs and affordance masks. Furthermore, we propose PAP, a training-free, coarse-to-fine pipeline inspired by the human foveal visual system to tackle the ultra-high resolution and severe distortion inherent in panoramic images. PAP employs recursive visual routing via grid prompting to progressively locate targets, applies an adaptive gaze mechanism to rectify local geometric distortions, and utilizes a cascaded grounding pipeline to extract precise instance-level masks. Experimental results on PAP-12K reveal that existing affordance prediction methods designed for standard perspective images suffer severe performance degradation and fail due to the unique challenges of panoramic vision. In contrast, PAP framework effectively overcomes these obstacles, significantly outperforming state-of-the-art baselines and highlighting the immense potential of panoramic perception for robust embodied intelligence.

Deconstructing the Failure of Ideal Noise Correction: A Three-Pillar Diagnosis

Statistically consistent methods based on the noise transition matrix ($T$) offer a theoretically grounded solution to Learning with Noisy Labels (LNL), with guarantees of convergence to the optimal clean-data classifier. In practice, however, these methods are often outperformed by empirical approaches such as sample selection, and this gap is usually attributed to the difficulty of accurately estimating $T$. The common assumption is that, given a perfect $T$, noise-correction methods would recover their theoretical advantage. In this work, we put this longstanding hypothesis to a decisive test. We conduct experiments under idealized conditions, providing correction methods with a perfect, oracle transition matrix. Even under these ideal conditions, we observe that these methods still suffer from performance collapse during training. This compellingly demonstrates that the failure is not fundamentally a $T$-estimation problem, but stems from a more deeply rooted flaw. To explain this behaviour, we provide a unified analysis that links three levels: macroscopic convergence states, microscopic optimisation dynamics, and information-theoretic limits on what can be learned from noisy labels. Together, these results give a formal account of why ideal noise correction fails and offer concrete guidance for designing more reliable methods for learning with noisy labels.

DVD: Deterministic Video Depth Estimation with Generative Priors

Existing video depth estimation faces a fundamental trade-off: generative models suffer from stochastic geometric hallucinations and scale drift, while discriminative models demand massive labeled datasets to resolve semantic ambiguities. To break this impasse, we present DVD, the first framework to deterministically adapt pre-trained video diffusion models into single-pass depth regressors. Specifically, DVD features three core designs: (i) repurposing the diffusion timestep as a structural anchor to balance global stability with high-frequency details; (ii) latent manifold rectification (LMR) to mitigate regression-induced over-smoothing, enforcing differential constraints to restore sharp boundaries and coherent motion; and (iii) global affine coherence, an inherent property bounding inter-window divergence, which enables seamless long-video inference without requiring complex temporal alignment. Extensive experiments demonstrate that DVD achieves state-of-the-art zero-shot performance across benchmarks. Furthermore, DVD successfully unlocks the profound geometric priors implicit in video foundation models using 163x less task-specific data than leading baselines. Notably, we fully release our pipeline, providing the whole training suite for SOTA video depth estimation to benefit the open-source community.

Generalizable Knowledge Distillation from Vision Foundation Models for Semantic Segmentation

Knowledge distillation (KD) has been widely applied in semantic segmentation to compress large models, but conventional approaches primarily preserve in-domain accuracy while neglecting out-of-domain generalization, which is essential under distribution shifts. This limitation becomes more severe with the emergence of vision foundation models (VFMs): although VFMs exhibit strong robustness on unseen data, distilling them with conventional KD often compromises this ability. We propose Generalizable Knowledge Distillation (GKD), a multi-stage framework that explicitly enhances generalization. GKD decouples representation learning from task learning. In the first stage, the student acquires domain-agnostic representations through selective feature distillation, and in the second stage, these representations are frozen for task adaptation, thereby mitigating overfitting to visible domains. To further support transfer, we introduce a query-based soft distillation mechanism, where student features act as queries to teacher representations to selectively retrieve transferable spatial knowledge from VFMs. Extensive experiments on five domain generalization benchmarks demonstrate that GKD consistently outperforms existing KD methods, achieving average gains of +1.9% in foundation-to-foundation (F2F) and +10.6% in foundation-to-local (F2L) distillation. The code will be available at https://github.com/Younger-hua/GKD.

Token Reduction via Local and Global Contexts Optimization for Efficient Video Large Language Models

Video Large Language Models (VLLMs) demonstrate strong video understanding but suffer from inefficiency due to redundant visual tokens. Existing pruning primary targets intra-frame spatial redundancy or prunes inside the LLM with shallow-layer overhead, yielding suboptimal spatiotemporal reduction and underutilizing long-context compressibility. All of them often discard subtle yet informative context from merged or pruned tokens. In this paper, we propose a new perspective that elaborates token \textbf{A}nchors within intra-frame and inter-frame to comprehensively aggregate the informative contexts via local-global \textbf{O}ptimal \textbf{T}ransport (\textbf{AOT}). Specifically, we first establish local- and global-aware token anchors within each frame under the attention guidance, which then optimal transport aggregates the informative contexts from pruned tokens, constructing intra-frame token anchors. Then, building on the temporal frame clips, the first frame within each clip will be considered as the keyframe anchors to ensemble similar information from consecutive frames through optimal transport, while keeping distinct tokens to represent temporal dynamics, leading to efficient token reduction in a training-free manner. Extensive evaluations show that our proposed AOT obtains competitive performances across various short- and long-video benchmarks on leading video LLMs, obtaining substantial computational efficiency while preserving temporal and visual fidelity. Project webpage: \href{https://tyroneli.github.io/AOT}{AOT}.

Intrinsic Lorentz Neural Network

Real-world data frequently exhibit latent hierarchical structures, which can be naturally represented by hyperbolic geometry. Although recent hyperbolic neural networks have demonstrated promising results, many existing architectures remain partially intrinsic, mixing Euclidean operations with hyperbolic ones or relying on extrinsic parameterizations. To address it, we propose the \emph{Intrinsic Lorentz Neural Network} (ILNN), a fully intrinsic hyperbolic architecture that conducts all computations within the Lorentz model. At its core, the network introduces a novel \emph{point-to-hyperplane} fully connected layer (FC), replacing traditional Euclidean affine logits with closed-form hyperbolic distances from features to learned Lorentz hyperplanes, thereby ensuring that the resulting geometric decision functions respect the inherent curvature. Around this fundamental layer, we design intrinsic modules: GyroLBN, a Lorentz batch normalization that couples gyro-centering with gyro-scaling, consistently outperforming both LBN and GyroBN while reducing training time. We additionally proposed a gyro-additive bias for the FC output, a Lorentz patch-concatenation operator that aligns the expected log-radius across feature blocks via a digamma-based scale, and a Lorentz dropout layer. Extensive experiments conducted on CIFAR-10/100 and two genomic benchmarks (TEB and GUE) illustrate that ILNN achieves state-of-the-art performance and computational cost among hyperbolic models and consistently surpasses strong Euclidean baselines. The code is available at \href{https://github.com/Longchentong/ILNN}{\textcolor{magenta}{this url}}.

Risk-Aware World Model Predictive Control for Generalizable End-to-End Autonomous Driving

With advances in imitation learning (IL) and large-scale driving datasets, end-to-end autonomous driving (E2E-AD) has made great progress recently. Currently, IL-based methods have become a mainstream paradigm: models rely on standard driving behaviors given by experts, and learn to minimize the discrepancy between their actions and expert actions. However, this objective of "only driving like the expert" suffers from limited generalization: when encountering rare or unseen long-tail scenarios outside the distribution of expert demonstrations, models tend to produce unsafe decisions in the absence of prior experience. This raises a fundamental question: Can an E2E-AD system make reliable decisions without any expert action supervision? Motivated by this, we propose a unified framework named Risk-aware World Model Predictive Control (RaWMPC) to address this generalization dilemma through robust control, without reliance on expert demonstrations. Practically, RaWMPC leverages a world model to predict the consequences of multiple candidate actions and selects low-risk actions through explicit risk evaluation. To endow the world model with the ability to predict the outcomes of risky driving behaviors, we design a risk-aware interaction strategy that systematically exposes the world model to hazardous behaviors, making catastrophic outcomes predictable and thus avoidable. Furthermore, to generate low-risk candidate actions at test time, we introduce a self-evaluation distillation method to distill riskavoidance capabilities from the well-trained world model into a generative action proposal network without any expert demonstration. Extensive experiments show that RaWMPC outperforms state-of-the-art methods in both in-distribution and out-of-distribution scenarios, while providing superior decision interpretability.