UltraFusion: Ultra High Dynamic Imaging using Exposure Fusion

Capturing high dynamic range (HDR) scenes is one of the most important issues in camera design. Majority of cameras use exposure fusion technique, which fuses images captured by different exposure levels, to increase dynamic range. However, this approach can only handle images with limited exposure difference, normally 3-4 stops. When applying to very high dynamic scenes where a large exposure difference is required, this approach often fails due to incorrect alignment or inconsistent lighting between inputs, or tone mapping artifacts. In this work, we propose UltraFusion, the first exposure fusion technique that can merge input with 9 stops differences. The key idea is that we model the exposure fusion as a guided inpainting problem, where the under-exposed image is used as a guidance to fill the missing information of over-exposed highlight in the over-exposed region. Using under-exposed image as a soft guidance, instead of a hard constrain, our model is robust to potential alignment issue or lighting variations. Moreover, utilizing the image prior of the generative model, our model also generates natural tone mapping, even for very high-dynamic range scene. Our approach outperforms HDR-Transformer on latest HDR benchmarks. Moreover, to test its performance in ultra high dynamic range scene, we capture a new real-world exposure fusion benchmark, UltraFusion Dataset, with exposure difference up to 9 stops, and experiments show that \model~can generate beautiful and high-quality fusion results under various scenarios. An online demo is provided at https://openimaginglab.github.io/UltraFusion/.

RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation

Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges but still faces notable limitations, particularly in handling sparse rewards and complex visual features in long-horizon environments. To address these limitations, we propose the Recognize-Sense-Plan-Act (RSPA) pipeline for long-horizon tasks and further introduce RoboHorizon, an LLM-assisted multi-view world model tailored for long-horizon robotic manipulation. In RoboHorizon, pre-trained LLMs generate dense reward structures for multi-stage sub-tasks based on task language instructions, enabling robots to better recognize long-horizon tasks. Keyframe discovery is then integrated into the multi-view masked autoencoder (MAE) architecture to enhance the robot's ability to sense critical task sequences, strengthening its multi-stage perception of long-horizon processes. Leveraging these dense rewards and multi-view representations, a robotic world model is constructed to efficiently plan long-horizon tasks, enabling the robot to reliably act through RL algorithms. Experiments on two representative benchmarks, RLBench and FurnitureBench, show that RoboHorizon outperforms state-of-the-art visual model-based RL methods, achieving a 23.35% improvement in task success rates on RLBench's 4 short-horizon tasks and a 29.23% improvement on 6 long-horizon tasks from RLBench and 3 furniture assembly tasks from FurnitureBench.

M$^3$-VOS: Multi-Phase, Multi-Transition, and Multi-Scenery Video Object Segmentation

Intelligent robots need to interact with diverse objects across various environments. The appearance and state of objects frequently undergo complex transformations depending on the object properties, e.g., phase transitions. However, in the vision community, segmenting dynamic objects with phase transitions is overlooked. In light of this, we introduce the concept of phase in segmentation, which categorizes real-world objects based on their visual characteristics and potential morphological and appearance changes. Then, we present a new benchmark, Multi-Phase, Multi-Transition, and Multi-Scenery Video Object Segmentation (M$^3$-VOS), to verify the ability of models to understand object phases, which consists of 479 high-resolution videos spanning over 10 distinct everyday scenarios. It provides dense instance mask annotations that capture both object phases and their transitions. We evaluate state-of-the-art methods on M$^3$-VOS, yielding several key insights. Notably, current appearancebased approaches show significant room for improvement when handling objects with phase transitions. The inherent changes in disorder suggest that the predictive performance of the forward entropy-increasing process can be improved through a reverse entropy-reducing process. These findings lead us to propose ReVOS, a new plug-andplay model that improves its performance by reversal refinement. Our data and code will be publicly available at https://zixuan-chen.github.io/M-cubeVOS.github.io/.

Event-assisted 12-stop HDR Imaging of Dynamic Scene

High dynamic range (HDR) imaging is a crucial task in computational photography, which captures details across diverse lighting conditions. Traditional HDR fusion methods face limitations in dynamic scenes with extreme exposure differences, as aligning low dynamic range (LDR) frames becomes challenging due to motion and brightness variation. In this work, we propose a novel 12-stop HDR imaging approach for dynamic scenes, leveraging a dual-camera system with an event camera and an RGB camera. The event camera provides temporally dense, high dynamic range signals that improve alignment between LDR frames with large exposure differences, reducing ghosting artifacts caused by motion. Also, a real-world finetuning strategy is proposed to increase the generalization of alignment module on real-world events. Additionally, we introduce a diffusion-based fusion module that incorporates image priors from pre-trained diffusion models to address artifacts in high-contrast regions and minimize errors from the alignment process. To support this work, we developed the ESHDR dataset, the first dataset for 12-stop HDR imaging with synchronized event signals, and validated our approach on both simulated and real-world data. Extensive experiments demonstrate that our method achieves state-of-the-art performance, successfully extending HDR imaging to 12 stops in dynamic scenes.

Expanding Performance Boundaries of Open-Source Multimodal Models with Model, Data, and Test-Time Scaling

We introduce InternVL 2.5, an advanced multimodal large language model (MLLM) series that builds upon InternVL 2.0, maintaining its core model architecture while introducing significant enhancements in training and testing strategies as well as data quality. In this work, we delve into the relationship between model scaling and performance, systematically exploring the performance trends in vision encoders, language models, dataset sizes, and test-time configurations. Through extensive evaluations on a wide range of benchmarks, including multi-discipline reasoning, document understanding, multi-image / video understanding, real-world comprehension, multimodal hallucination detection, visual grounding, multilingual capabilities, and pure language processing, InternVL 2.5 exhibits competitive performance, rivaling leading commercial models such as GPT-4o and Claude-3.5-Sonnet. Notably, our model is the first open-source MLLMs to surpass 70% on the MMMU benchmark, achieving a 3.7-point improvement through Chain-of-Thought (CoT) reasoning and showcasing strong potential for test-time scaling. We hope this model contributes to the open-source community by setting new standards for developing and applying multimodal AI systems. HuggingFace demo see https://huggingface.co/spaces/OpenGVLab/InternVL

GuardSplat: Efficient and Robust Watermarking for 3D Gaussian Splatting

3D Gaussian Splatting (3DGS) has recently created impressive assets for various applications. However, the copyright of these assets is not well protected as existing watermarking methods are not suited for 3DGS considering security, capacity, and invisibility. Besides, these methods often require hours or even days for optimization, limiting the application scenarios. In this paper, we propose GuardSplat, an innovative and efficient framework that effectively protects the copyright of 3DGS assets. Specifically, 1) We first propose a CLIP-guided Message Decoupling Optimization module for training the message decoder, leveraging CLIP's aligning capability and rich representations to achieve a high extraction accuracy with minimal optimization costs, presenting exceptional capability and efficiency. 2) Then, we propose a Spherical-harmonic-aware (SH-aware) Message Embedding module tailored for 3DGS, which employs a set of SH offsets to seamlessly embed the message into the SH features of each 3D Gaussian while maintaining the original 3D structure. It enables the 3DGS assets to be watermarked with minimal fidelity trade-offs and prevents malicious users from removing the messages from the model files, meeting the demands for invisibility and security. 3) We further propose an Anti-distortion Message Extraction module to improve robustness against various visual distortions. Extensive experiments demonstrate that GuardSplat outperforms the state-of-the-art methods and achieves fast optimization speed.

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies

Reinforcement learning combined with sim-to-real transfer offers a general framework for developing locomotion controllers for legged robots. To facilitate successful deployment in the real world, smoothing techniques, such as low-pass filters and smoothness rewards, are often employed to develop policies with smooth behaviors. However, because these techniques are non-differentiable and usually require tedious tuning of a large set of hyperparameters, they tend to require extensive manual tuning for each robotic platform. To address this challenge and establish a general technique for enforcing smooth behaviors, we propose a simple and effective method that imposes a Lipschitz constraint on a learned policy, which we refer to as Lipschitz-Constrained Policies (LCP). We show that the Lipschitz constraint can be implemented in the form of a gradient penalty, which provides a differentiable objective that can be easily incorporated with automatic differentiation frameworks. We demonstrate that LCP effectively replaces the need for smoothing rewards or low-pass filters and can be easily integrated into training frameworks for many distinct humanoid robots. We extensively evaluate LCP in both simulation and real-world humanoid robots, producing smooth and robust locomotion controllers. All simulation and deployment code, along with complete checkpoints, is available on our project page: https://lipschitz-constrained-policy.github.io.

Generalizable Humanoid Manipulation with Improved 3D Diffusion Policies

Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the difficulty of acquiring generalizable skills. Recent advances in 3D visuomotor policies, such as the 3D Diffusion Policy (DP3), have shown promise in extending these capabilities to wilder environments. However, 3D visuomotor policies often rely on camera calibration and point-cloud segmentation, which present challenges for deployment on mobile robots like humanoids. In this work, we introduce the Improved 3D Diffusion Policy (iDP3), a novel 3D visuomotor policy that eliminates these constraints by leveraging egocentric 3D visual representations. We demonstrate that iDP3 enables a full-sized humanoid robot to autonomously perform skills in diverse real-world scenarios, using only data collected in the lab. Videos are available at: https://humanoid-manipulation.github.io

GravMAD: Grounded Spatial Value Maps Guided Action Diffusion for Generalized 3D Manipulation

Robots' ability to follow language instructions and execute diverse 3D tasks is vital in robot learning. Traditional imitation learning-based methods perform well on seen tasks but struggle with novel, unseen ones due to variability. Recent approaches leverage large foundation models to assist in understanding novel tasks, thereby mitigating this issue. However, these methods lack a task-specific learning process, which is essential for an accurate understanding of 3D environments, often leading to execution failures. In this paper, we introduce GravMAD, a sub-goal-driven, language-conditioned action diffusion framework that combines the strengths of imitation learning and foundation models. Our approach breaks tasks into sub-goals based on language instructions, allowing auxiliary guidance during both training and inference. During training, we introduce Sub-goal Keypose Discovery to identify key sub-goals from demonstrations. Inference differs from training, as there are no demonstrations available, so we use pre-trained foundation models to bridge the gap and identify sub-goals for the current task. In both phases, GravMaps are generated from sub-goals, providing flexible 3D spatial guidance compared to fixed 3D positions. Empirical evaluations on RLBench show that GravMAD significantly outperforms state-of-the-art methods, with a 28.63% improvement on novel tasks and a 13.36% gain on tasks encountered during training. These results demonstrate GravMAD's strong multi-task learning and generalization in 3D manipulation. Video demonstrations are available at: https://gravmad.github.io.

Rina: Enhancing Ring-AllReduce with In-network Aggregation in Distributed Model Training

Parameter Server (PS) and Ring-AllReduce (RAR) are two widely utilized synchronization architectures in multi-worker Deep Learning (DL), also referred to as Distributed Deep Learning (DDL). However, PS encounters challenges with the ``incast'' issue, while RAR struggles with problems caused by the long dependency chain. The emerging In-network Aggregation (INA) has been proposed to integrate with PS to mitigate its incast issue. However, such PS-based INA has poor incremental deployment abilities as it requires replacing all the switches to show significant performance improvement, which is not cost-effective. In this study, we present the incorporation of INA capabilities into RAR, called RAR with In-Network Aggregation (Rina), to tackle both the problems above. Rina features its agent-worker mechanism. When an INA-capable ToR switch is deployed, all workers in this rack run as one abstracted worker with the help of the agent, resulting in both excellent incremental deployment capabilities and better throughput. We conducted extensive testbed and simulation evaluations to substantiate the throughput advantages of Rina over existing DDL training synchronization structures. Compared with the state-of-the-art PS-based INA methods ATP, Rina can achieve more than 50\% throughput with the same hardware cost.