Learning Speaker-Invariant Visual Features for Lipreading

Lipreading is a challenging cross-modal task that aims to convert visual lip movements into spoken text. Existing lipreading methods often extract visual features that include speaker-specific lip attributes (e.g., shape, color, texture), which introduce spurious correlations between vision and text. These correlations lead to suboptimal lipreading accuracy and restrict model generalization. To address this challenge, we introduce SIFLip, a speaker-invariant visual feature learning framework that disentangles speaker-specific attributes using two complementary disentanglement modules (Implicit Disentanglement and Explicit Disentanglement) to improve generalization. Specifically, since different speakers exhibit semantic consistency between lip movements and phonetic text when pronouncing the same words, our implicit disentanglement module leverages stable text embeddings as supervisory signals to learn common visual representations across speakers, implicitly decoupling speaker-specific features. Additionally, we design a speaker recognition sub-task within the main lipreading pipeline to filter speaker-specific features, then further explicitly disentangle these personalized visual features from the backbone network via gradient reversal. Experimental results demonstrate that SIFLip significantly enhances generalization performance across multiple public datasets. Experimental results demonstrate that SIFLip significantly improves generalization performance across multiple public datasets, outperforming state-of-the-art methods.

NTIRE 2025 Challenge on HR Depth from Images of Specular and Transparent Surfaces

This paper reports on the NTIRE 2025 challenge on HR Depth From images of Specular and Transparent surfaces, held in conjunction with the New Trends in Image Restoration and Enhancement (NTIRE) workshop at CVPR 2025. This challenge aims to advance the research on depth estimation, specifically to address two of the main open issues in the field: high-resolution and non-Lambertian surfaces. The challenge proposes two tracks on stereo and single-image depth estimation, attracting about 177 registered participants. In the final testing stage, 4 and 4 participating teams submitted their models and fact sheets for the two tracks.

Cues3D: Unleashing the Power of Sole NeRF for Consistent and Unique Instances in Open-Vocabulary 3D Panoptic Segmentation

Open-vocabulary 3D panoptic segmentation has recently emerged as a significant trend. Top-performing methods currently integrate 2D segmentation with geometry-aware 3D primitives. However, the advantage would be lost without high-fidelity 3D point clouds, such as methods based on Neural Radiance Field (NeRF). These methods are limited by the insufficient capacity to maintain consistency across partial observations. To address this, recent works have utilized contrastive loss or cross-view association pre-processing for view consensus. In contrast to them, we present Cues3D, a compact approach that relies solely on NeRF instead of pre-associations. The core idea is that NeRF's implicit 3D field inherently establishes a globally consistent geometry, enabling effective object distinction without explicit cross-view supervision. We propose a three-phase training framework for NeRF, initialization-disambiguation-refinement, whereby the instance IDs are corrected using the initially-learned knowledge. Additionally, an instance disambiguation method is proposed to match NeRF-rendered 3D masks and ensure globally unique 3D instance identities. With the aid of Cues3D, we obtain highly consistent and unique 3D instance ID for each object across views with a balanced version of NeRF. Our experiments are conducted on ScanNet v2, ScanNet200, ScanNet++, and Replica datasets for 3D instance, panoptic, and semantic segmentation tasks. Cues3D outperforms other 2D image-based methods and competes with the latest 2D-3D merging based methods, while even surpassing them when using additional 3D point clouds. The code link could be found in the appendix and will be released on \href{https://github.com/mRobotit/Cues3D}{github}

The Fourth Monocular Depth Estimation Challenge

This paper presents the results of the fourth edition of the Monocular Depth Estimation Challenge (MDEC), which focuses on zero-shot generalization to the SYNS-Patches benchmark, a dataset featuring challenging environments in both natural and indoor settings. In this edition, we revised the evaluation protocol to use least-squares alignment with two degrees of freedom to support disparity and affine-invariant predictions. We also revised the baselines and included popular off-the-shelf methods: Depth Anything v2 and Marigold. The challenge received a total of 24 submissions that outperformed the baselines on the test set; 10 of these included a report describing their approach, with most leading methods relying on affine-invariant predictions. The challenge winners improved the 3D F-Score over the previous edition's best result, raising it from 22.58% to 23.05%.

Towards Ambiguity-Free Spatial Foundation Model: Rethinking and Decoupling Depth Ambiguity

Depth ambiguity is a fundamental challenge in spatial scene understanding, especially in transparent scenes where single-depth estimates fail to capture full 3D structure. Existing models, limited to deterministic predictions, overlook real-world multi-layer depth. To address this, we introduce a paradigm shift from single-prediction to multi-hypothesis spatial foundation models. We first present \texttt{MD-3k}, a benchmark exposing depth biases in expert and foundational models through multi-layer spatial relationship labels and new metrics. To resolve depth ambiguity, we propose Laplacian Visual Prompting (LVP), a training-free spectral prompting technique that extracts hidden depth from pre-trained models via Laplacian-transformed RGB inputs. By integrating LVP-inferred depth with standard RGB-based estimates, our approach elicits multi-layer depth without model retraining. Extensive experiments validate the effectiveness of LVP in zero-shot multi-layer depth estimation, unlocking more robust and comprehensive geometry-conditioned visual generation, 3D-grounded spatial reasoning, and temporally consistent video-level depth inference. Our benchmark and code will be available at https://github.com/Xiaohao-Xu/Ambiguity-in-Space.

Learning Efficient Flocking Control based on Gibbs Random Fields

Flocking control is essential for multi-robot systems in diverse applications, yet achieving efficient flocking in congested environments poses challenges regarding computation burdens, performance optimality, and motion safety. This paper addresses these challenges through a multi-agent reinforcement learning (MARL) framework built on Gibbs Random Fields (GRFs). With GRFs, a multi-robot system is represented by a set of random variables conforming to a joint probability distribution, thus offering a fresh perspective on flocking reward design. A decentralized training and execution mechanism, which enhances the scalability of MARL concerning robot quantity, is realized using a GRF-based credit assignment method. An action attention module is introduced to implicitly anticipate the motion intentions of neighboring robots, consequently mitigating potential non-stationarity issues in MARL. The proposed framework enables learning an efficient distributed control policy for multi-robot systems in challenging environments with success rate around $99\%$, as demonstrated through thorough comparisons with state-of-the-art solutions in simulations and experiments. Ablation studies are also performed to validate the efficiency of different framework modules.

MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction

Real-time multi-agent collaboration for ego-motion estimation and high-fidelity 3D reconstruction is vital for scalable spatial intelligence. However, traditional methods produce sparse, low-detail maps, while recent dense mapping approaches struggle with high latency. To overcome these challenges, we present MAC-Ego3D, a novel framework for real-time collaborative photorealistic 3D reconstruction via Multi-Agent Gaussian Consensus. MAC-Ego3D enables agents to independently construct, align, and iteratively refine local maps using a unified Gaussian splat representation. Through Intra-Agent Gaussian Consensus, it enforces spatial coherence among neighboring Gaussian splats within an agent. For global alignment, parallelized Inter-Agent Gaussian Consensus, which asynchronously aligns and optimizes local maps by regularizing multi-agent Gaussian splats, seamlessly integrates them into a high-fidelity 3D model. Leveraging Gaussian primitives, MAC-Ego3D supports efficient RGB-D rendering, enabling rapid inter-agent Gaussian association and alignment. MAC-Ego3D bridges local precision and global coherence, delivering higher efficiency, largely reducing localization error, and improving mapping fidelity. It establishes a new SOTA on synthetic and real-world benchmarks, achieving a 15x increase in inference speed, order-of-magnitude reductions in ego-motion estimation error for partial cases, and RGB PSNR gains of 4 to 10 dB. Our code will be made publicly available at https://github.com/Xiaohao-Xu/MAC-Ego3D .

DSDE: Using Proportion Estimation to Improve Model Selection for Out-of-Distribution Detection

Model library is an effective tool for improving the performance of single-model Out-of-Distribution (OoD) detector, mainly through model selection and detector fusion. However, existing methods in the literature do not provide uncertainty quantification for model selection results. Additionally, the model ensemble process primarily focuses on controlling the True Positive Rate (TPR) while neglecting the False Positive Rate (FPR). In this paper, we emphasize the significance of the proportion of models in the library that identify the test sample as an OoD sample. This proportion holds crucial information and directly influences the error rate of OoD detection.To address this, we propose inverting the commonly-used sequential p-value strategies. We define the rejection region initially and then estimate the error rate. Furthermore, we introduce a novel perspective from change-point detection and propose an approach for proportion estimation with automatic hyperparameter selection. We name the proposed approach as DOS-Storey-based Detector Ensemble (DSDE). Experimental results on CIFAR10 and CIFAR100 demonstrate the effectiveness of our approach in tackling OoD detection challenges. Specifically, the CIFAR10 experiments show that DSDE reduces the FPR from 11.07% to 3.31% compared to the top-performing single-model detector.

SeaS: Few-shot Industrial Anomaly Image Generation with Separation and Sharing Fine-tuning

Current segmentation methods require many training images and precise masks, while insufficient anomaly images hinder their application in industrial scenarios. To address such an issue, we explore producing diverse anomalies and accurate pixel-wise annotations. By observing the real production lines, we find that anomalies vary randomly in shape and appearance, whereas products hold globally consistent patterns with slight local variations. Such a characteristic inspires us to develop a Separation and Sharing Fine-tuning (SeaS) approach using only a few abnormal and some normal images. Firstly, we propose the Unbalanced Abnormal (UA) Text Prompt tailored to industrial anomaly generation, consisting of one product token and several anomaly tokens. Then, for anomaly images, we propose a Decoupled Anomaly Alignment (DA) loss to bind the attributes of the anomalies to different anomaly tokens. Re-blending such attributes may produce never-seen anomalies, achieving a high diversity of anomalies. For normal images, we propose a Normal-image Alignment (NA) loss to learn the products' key features that are used to synthesize products with both global consistency and local variations. The two training processes are separated but conducted on a shared U-Net. Finally, SeaS produces high-fidelity annotations for the generated anomalies by fusing discriminative features of U-Net and high-resolution VAE features. Extensive evaluations on the challenging MVTec AD and MVTec 3D AD dataset demonstrate the effectiveness of our approach. For anomaly image generation, we achieve 1.88 on IS and 0.34 on IC-LPIPS on MVTec AD dataset, 1.95 on IS and 0.30 on IC-LPIPS on MVTec 3D AD dataset. For downstream task, using our generated anomaly image-mask pairs, three common segmentation methods achieve an average 11.17% improvement on IoU on MVTec AD dataset, and a 15.49% enhancement in IoU on MVTec 3D AD dataset.

AnomalyNCD: Towards Novel Anomaly Class Discovery in Industrial Scenarios

In the industrial scenario, anomaly detection could locate but cannot classify anomalies. To complete their capability, we study to automatically discover and recognize visual classes of industrial anomalies. In terms of multi-class anomaly classification, previous methods cluster anomalies represented by frozen pre-trained models but often fail due to poor discrimination. Novel class discovery (NCD) has the potential to tackle this. However, it struggles with non-prominent and semantically weak anomalies that challenge network learning focus. To address these, we introduce AnomalyNCD, a multi-class anomaly classification framework compatible with existing anomaly detection methods. This framework learns anomaly-specific features and classifies anomalies in a self-supervised manner. Initially, a technique called Main Element Binarization (MEBin) is first designed, which segments primary anomaly regions into masks to alleviate the impact of incorrect detections on learning. Subsequently, we employ mask-guided contrastive representation learning to improve feature discrimination, which focuses network attention on isolated anomalous regions and reduces the confusion of erroneous inputs through re-corrected pseudo labels. Finally, to enable flexible classification at both region and image levels during inference, we develop a region merging strategy that determines the overall image category based on the classified anomaly regions. Our method outperforms the state-of-the-art works on the MVTec AD and MTD datasets. Compared with the current methods, AnomalyNCD combined with zero-shot anomaly detection method achieves a 10.8% $F_1$ gain, 8.8% NMI gain, and 9.5% ARI gain on MVTec AD, 12.8% $F_1$ gain, 5.7% NMI gain, and 10.8% ARI gain on MTD. The source code is available at https://github.com/HUST-SLOW/AnomalyNCD.