VoxelSplat: Dynamic Gaussian Splatting as an Effective Loss for Occupancy and Flow Prediction

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced dynamic environments. In this paper, we analyze these challenges and their underlying causes. To address them, we propose a novel regularization framework called VoxelSplat. This framework leverages recent developments in 3D Gaussian Splatting to enhance model performance in two key ways: (i) Enhanced Semantics Supervision through 2D Projection: During training, our method decodes sparse semantic 3D Gaussians from 3D representations and projects them onto the 2D camera view. This provides additional supervision signals in the camera-visible space, allowing 2D labels to improve the learning of 3D semantics. (ii) Scene Flow Learning: Our framework uses the predicted scene flow to model the motion of Gaussians, and is thus able to learn the scene flow of moving objects in a self-supervised manner using the labels of adjacent frames. Our method can be seamlessly integrated into various existing occupancy models, enhancing performance without increasing inference time. Extensive experiments on benchmark datasets demonstrate the effectiveness of VoxelSplat in improving the accuracy of both semantic occupancy and scene flow estimation. The project page and codes are available at https://zzy816.github.io/VoxelSplat-Demo/.

AliTok: Towards Sequence Modeling Alignment between Tokenizer and Autoregressive Model

Autoregressive image generation aims to predict the next token based on previous ones. However, existing image tokenizers encode tokens with bidirectional dependencies during the compression process, which hinders the effective modeling by autoregressive models. In this paper, we propose a novel Aligned Tokenizer (AliTok), which utilizes a causal decoder to establish unidirectional dependencies among encoded tokens, thereby aligning the token modeling approach between the tokenizer and autoregressive model. Furthermore, by incorporating prefix tokens and employing two-stage tokenizer training to enhance reconstruction consistency, AliTok achieves great reconstruction performance while being generation-friendly. On ImageNet-256 benchmark, using a standard decoder-only autoregressive model as the generator with only 177M parameters, AliTok achieves a gFID score of 1.50 and an IS of 305.9. When the parameter count is increased to 662M, AliTok achieves a gFID score of 1.35, surpassing the state-of-the-art diffusion method with 10x faster sampling speed. The code and weights are available at https://github.com/ali-vilab/alitok.

See through the Dark: Learning Illumination-affined Representations for Nighttime Occupancy Prediction

Occupancy prediction aims to estimate the 3D spatial distribution of occupied regions along with their corresponding semantic labels. Existing vision-based methods perform well on daytime benchmarks but struggle in nighttime scenarios due to limited visibility and challenging lighting conditions. To address these challenges, we propose \textbf{LIAR}, a novel framework that learns illumination-affined representations. LIAR first introduces Selective Low-light Image Enhancement (SLLIE), which leverages the illumination priors from daytime scenes to adaptively determine whether a nighttime image is genuinely dark or sufficiently well-lit, enabling more targeted global enhancement. Building on the illumination maps generated by SLLIE, LIAR further incorporates two illumination-aware components: 2D Illumination-guided Sampling (2D-IGS) and 3D Illumination-driven Projection (3D-IDP), to respectively tackle local underexposure and overexposure. Specifically, 2D-IGS modulates feature sampling positions according to illumination maps, assigning larger offsets to darker regions and smaller ones to brighter regions, thereby alleviating feature degradation in underexposed areas. Subsequently, 3D-IDP enhances semantic understanding in overexposed regions by constructing illumination intensity fields and supplying refined residual queries to the BEV context refinement process. Extensive experiments on both real and synthetic datasets demonstrate the superior performance of LIAR under challenging nighttime scenarios. The source code and pretrained models are available \href{https://github.com/yanzq95/LIAR}{here}.

One-Way Ticket:Time-Independent Unified Encoder for Distilling Text-to-Image Diffusion Models

Text-to-Image (T2I) diffusion models have made remarkable advancements in generative modeling; however, they face a trade-off between inference speed and image quality, posing challenges for efficient deployment. Existing distilled T2I models can generate high-fidelity images with fewer sampling steps, but often struggle with diversity and quality, especially in one-step models. From our analysis, we observe redundant computations in the UNet encoders. Our findings suggest that, for T2I diffusion models, decoders are more adept at capturing richer and more explicit semantic information, while encoders can be effectively shared across decoders from diverse time steps. Based on these observations, we introduce the first Time-independent Unified Encoder TiUE for the student model UNet architecture, which is a loop-free image generation approach for distilling T2I diffusion models. Using a one-pass scheme, TiUE shares encoder features across multiple decoder time steps, enabling parallel sampling and significantly reducing inference time complexity. In addition, we incorporate a KL divergence term to regularize noise prediction, which enhances the perceptual realism and diversity of the generated images. Experimental results demonstrate that TiUE outperforms state-of-the-art methods, including LCM, SD-Turbo, and SwiftBrushv2, producing more diverse and realistic results while maintaining the computational efficiency.

Beyond Safe Answers: A Benchmark for Evaluating True Risk Awareness in Large Reasoning Models

Despite the remarkable proficiency of \textit{Large Reasoning Models} (LRMs) in handling complex reasoning tasks, their reliability in safety-critical scenarios remains uncertain. Existing evaluations primarily assess response-level safety, neglecting a critical issue we identify as \textbf{\textit{Superficial Safety Alignment} (SSA)} -- a phenomenon where models produce superficially safe outputs while internal reasoning processes fail to genuinely detect and mitigate underlying risks, resulting in inconsistent safety behaviors across multiple sampling attempts. To systematically investigate SSA, we introduce \textbf{Beyond Safe Answers (BSA)} bench, a novel benchmark comprising 2,000 challenging instances organized into three distinct SSA scenario types and spanning nine risk categories, each meticulously annotated with risk rationales. Evaluations of 19 state-of-the-art LRMs demonstrate the difficulty of this benchmark, with top-performing models achieving only 38.0\% accuracy in correctly identifying risk rationales. We further explore the efficacy of safety rules, specialized fine-tuning on safety reasoning data, and diverse decoding strategies in mitigating SSA. Our work provides a comprehensive assessment tool for evaluating and improving safety reasoning fidelity in LRMs, advancing the development of genuinely risk-aware and reliably safe AI systems.

USB: A Comprehensive and Unified Safety Evaluation Benchmark for Multimodal Large Language Models

Despite their remarkable achievements and widespread adoption, Multimodal Large Language Models (MLLMs) have revealed significant security vulnerabilities, highlighting the urgent need for robust safety evaluation benchmarks. Existing MLLM safety benchmarks, however, fall short in terms of data quality and coverge, and modal risk combinations, resulting in inflated and contradictory evaluation results, which hinders the discovery and governance of security concerns. Besides, we argue that vulnerabilities to harmful queries and oversensitivity to harmless ones should be considered simultaneously in MLLMs safety evaluation, whereas these were previously considered separately. In this paper, to address these shortcomings, we introduce Unified Safety Benchmarks (USB), which is one of the most comprehensive evaluation benchmarks in MLLM safety. Our benchmark features high-quality queries, extensive risk categories, comprehensive modal combinations, and encompasses both vulnerability and oversensitivity evaluations. From the perspective of two key dimensions: risk categories and modality combinations, we demonstrate that the available benchmarks -- even the union of the vast majority of them -- are far from being truly comprehensive. To bridge this gap, we design a sophisticated data synthesis pipeline that generates extensive, high-quality complementary data addressing previously unexplored aspects. By combining open-source datasets with our synthetic data, our benchmark provides 4 distinct modality combinations for each of the 61 risk sub-categories, covering both English and Chinese across both vulnerability and oversensitivity dimensions.

DISTA-Net: Dynamic Closely-Spaced Infrared Small Target Unmixing

Resolving closely-spaced small targets in dense clusters presents a significant challenge in infrared imaging, as the overlapping signals hinder precise determination of their quantity, sub-pixel positions, and radiation intensities. While deep learning has advanced the field of infrared small target detection, its application to closely-spaced infrared small targets has not yet been explored. This gap exists primarily due to the complexity of separating superimposed characteristics and the lack of an open-source infrastructure. In this work, we propose the Dynamic Iterative Shrinkage Thresholding Network (DISTA-Net), which reconceptualizes traditional sparse reconstruction within a dynamic framework. DISTA-Net adaptively generates convolution weights and thresholding parameters to tailor the reconstruction process in real time. To the best of our knowledge, DISTA-Net is the first deep learning model designed specifically for the unmixing of closely-spaced infrared small targets, achieving superior sub-pixel detection accuracy. Moreover, we have established the first open-source ecosystem to foster further research in this field. This ecosystem comprises three key components: (1) CSIST-100K, a publicly available benchmark dataset; (2) CSO-mAP, a custom evaluation metric for sub-pixel detection; and (3) GrokCSO, an open-source toolkit featuring DISTA-Net and other models. Our code and dataset are available at https://github.com/GrokCV/GrokCSO.

Sketchy Bounding-box Supervision for 3D Instance Segmentation

Bounding box supervision has gained considerable attention in weakly supervised 3D instance segmentation. While this approach alleviates the need for extensive point-level annotations, obtaining accurate bounding boxes in practical applications remains challenging. To this end, we explore the inaccurate bounding box, named sketchy bounding box, which is imitated through perturbing ground truth bounding box by adding scaling, translation, and rotation. In this paper, we propose Sketchy-3DIS, a novel weakly 3D instance segmentation framework, which jointly learns pseudo labeler and segmentator to improve the performance under the sketchy bounding-box supervisions. Specifically, we first propose an adaptive box-to-point pseudo labeler that adaptively learns to assign points located in the overlapped parts between two sketchy bounding boxes to the correct instance, resulting in compact and pure pseudo instance labels. Then, we present a coarse-to-fine instance segmentator that first predicts coarse instances from the entire point cloud and then learns fine instances based on the region of coarse instances. Finally, by using the pseudo instance labels to supervise the instance segmentator, we can gradually generate high-quality instances through joint training. Extensive experiments show that our method achieves state-of-the-art performance on both the ScanNetV2 and S3DIS benchmarks, and even outperforms several fully supervised methods using sketchy bounding boxes. Code is available at https://github.com/dengq7/Sketchy-3DIS.

AuxDet: Auxiliary Metadata Matters for Omni-Domain Infrared Small Target Detection

Omni-domain infrared small target detection (IRSTD) poses formidable challenges, as a single model must seamlessly adapt to diverse imaging systems, varying resolutions, and multiple spectral bands simultaneously. Current approaches predominantly rely on visual-only modeling paradigms that not only struggle with complex background interference and inherently scarce target features, but also exhibit limited generalization capabilities across complex omni-scene environments where significant domain shifts and appearance variations occur. In this work, we reveal a critical oversight in existing paradigms: the neglect of readily available auxiliary metadata describing imaging parameters and acquisition conditions, such as spectral bands, sensor platforms, resolution, and observation perspectives. To address this limitation, we propose the Auxiliary Metadata Driven Infrared Small Target Detector (AuxDet), a novel multi-modal framework that fundamentally reimagines the IRSTD paradigm by incorporating textual metadata for scene-aware optimization. Through a high-dimensional fusion module based on multi-layer perceptrons (MLPs), AuxDet dynamically integrates metadata semantics with visual features, guiding adaptive representation learning for each individual sample. Additionally, we design a lightweight prior-initialized enhancement module using 1D convolutional blocks to further refine fused features and recover fine-grained target cues. Extensive experiments on the challenging WideIRSTD-Full benchmark demonstrate that AuxDet consistently outperforms state-of-the-art methods, validating the critical role of auxiliary information in improving robustness and accuracy in omni-domain IRSTD tasks. Code is available at https://github.com/GrokCV/AuxDet.

KORGym: A Dynamic Game Platform for LLM Reasoning Evaluation

Recent advancements in large language models (LLMs) underscore the need for more comprehensive evaluation methods to accurately assess their reasoning capabilities. Existing benchmarks are often domain-specific and thus cannot fully capture an LLM's general reasoning potential. To address this limitation, we introduce the Knowledge Orthogonal Reasoning Gymnasium (KORGym), a dynamic evaluation platform inspired by KOR-Bench and Gymnasium. KORGym offers over fifty games in either textual or visual formats and supports interactive, multi-turn assessments with reinforcement learning scenarios. Using KORGym, we conduct extensive experiments on 19 LLMs and 8 VLMs, revealing consistent reasoning patterns within model families and demonstrating the superior performance of closed-source models. Further analysis examines the effects of modality, reasoning strategies, reinforcement learning techniques, and response length on model performance. We expect KORGym to become a valuable resource for advancing LLM reasoning research and developing evaluation methodologies suited to complex, interactive environments.