RA-NeRF: Robust Neural Radiance Field Reconstruction with Accurate Camera Pose Estimation under Complex Trajectories

Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to address this issue by introducing external constraints but fall short of achieving satisfactory accuracy, particularly when camera trajectories are complex. In this paper, we propose a novel method, RA-NeRF, capable of predicting highly accurate camera poses even with complex camera trajectories. Following the incremental pipeline, RA-NeRF reconstructs the scene using NeRF with photometric consistency and incorporates flow-driven pose regulation to enhance robustness during initialization and localization. Additionally, RA-NeRF employs an implicit pose filter to capture the camera movement pattern and eliminate the noise for pose estimation. To validate our method, we conduct extensive experiments on the Tanks\&Temple dataset for standard evaluation, as well as the NeRFBuster dataset, which presents challenging camera pose trajectories. On both datasets, RA-NeRF achieves state-of-the-art results in both camera pose estimation and visual quality, demonstrating its effectiveness and robustness in scene reconstruction under complex pose trajectories.

OneRec Technical Report

Recommender systems have been widely used in various large-scale user-oriented platforms for many years. However, compared to the rapid developments in the AI community, recommendation systems have not achieved a breakthrough in recent years. For instance, they still rely on a multi-stage cascaded architecture rather than an end-to-end approach, leading to computational fragmentation and optimization inconsistencies, and hindering the effective application of key breakthrough technologies from the AI community in recommendation scenarios. To address these issues, we propose OneRec, which reshapes the recommendation system through an end-to-end generative approach and achieves promising results. Firstly, we have enhanced the computational FLOPs of the current recommendation model by 10 $\times$ and have identified the scaling laws for recommendations within certain boundaries. Secondly, reinforcement learning techniques, previously difficult to apply for optimizing recommendations, show significant potential in this framework. Lastly, through infrastructure optimizations, we have achieved 23.7% and 28.8% Model FLOPs Utilization (MFU) on flagship GPUs during training and inference, respectively, aligning closely with the LLM community. This architecture significantly reduces communication and storage overhead, resulting in operating expense that is only 10.6% of traditional recommendation pipelines. Deployed in Kuaishou/Kuaishou Lite APP, it handles 25% of total queries per second, enhancing overall App Stay Time by 0.54% and 1.24%, respectively. Additionally, we have observed significant increases in metrics such as 7-day Lifetime, which is a crucial indicator of recommendation experience. We also provide practical lessons and insights derived from developing, optimizing, and maintaining a production-scale recommendation system with significant real-world impact.

Boosting Domain Incremental Learning: Selecting the Optimal Parameters is All You Need

Deep neural networks (DNNs) often underperform in real-world, dynamic settings where data distributions change over time. Domain Incremental Learning (DIL) offers a solution by enabling continual model adaptation, with Parameter-Isolation DIL (PIDIL) emerging as a promising paradigm to reduce knowledge conflicts. However, existing PIDIL methods struggle with parameter selection accuracy, especially as the number of domains and corresponding classes grows. To address this, we propose SOYO, a lightweight framework that improves domain selection in PIDIL. SOYO introduces a Gaussian Mixture Compressor (GMC) and Domain Feature Resampler (DFR) to store and balance prior domain data efficiently, while a Multi-level Domain Feature Fusion Network (MDFN) enhances domain feature extraction. Our framework supports multiple Parameter-Efficient Fine-Tuning (PEFT) methods and is validated across tasks such as image classification, object detection, and speech enhancement. Experimental results on six benchmarks demonstrate SOYO's consistent superiority over existing baselines, showcasing its robustness and adaptability in complex, evolving environments. The codes will be released in https://github.com/qwangcv/SOYO.

Learning A Robust RGB-Thermal Detector for Extreme Modality Imbalance

RGB-Thermal (RGB-T) object detection utilizes thermal infrared (TIR) images to complement RGB data, improving robustness in challenging conditions. Traditional RGB-T detectors assume balanced training data, where both modalities contribute equally. However, in real-world scenarios, modality degradation-due to environmental factors or technical issues-can lead to extreme modality imbalance, causing out-of-distribution (OOD) issues during testing and disrupting model convergence during training. This paper addresses these challenges by proposing a novel base-and-auxiliary detector architecture. We introduce a modality interaction module to adaptively weigh modalities based on their quality and handle imbalanced samples effectively. Additionally, we leverage modality pseudo-degradation to simulate real-world imbalances in training data. The base detector, trained on high-quality pairs, provides a consistency constraint for the auxiliary detector, which receives degraded samples. This framework enhances model robustness, ensuring reliable performance even under severe modality degradation. Experimental results demonstrate the effectiveness of our method in handling extreme modality imbalances~(decreasing the Missing Rate by 55%) and improving performance across various baseline detectors.

Dual-Polarization Stacked Intelligent Metasurfaces for Holographic MIMO

To address the limited wave domain signal processing capabilities of traditional single-polarized stacked intelligent metasurfaces (SIMs) in holographic multiple-input multiple-output (HMIMO) systems, which stems from limited integration space, this paper proposes a dual-polarized SIM (DPSIM) architecture. By stacking dual-polarized reconfigurable intelligent surfaces (DPRIS), DPSIM can independently process signals of two orthogonal polarizations in the wave domain, thereby effectively suppressing polarization cross-interference (PCI) and inter-stream interference (ISI). We introduce a layer-by-layer gradient descent with water-filling (LGD-WF) algorithm to enhance end-to-end performance. Simulation results show that, under the same number of metasurface layers and unit size, the DPSIM-aided HMIMO system can support more simultaneous data streams for ISI-free parallel transmission compared to traditional SIM-aided systems. Furthermore, under different polarization imperfection conditions, both the spectral efficiency (SE) and energy efficiency (EE) of the DPSIM-aided HMIMO system are significantly improved, approaching the theoretical upper bound.

Beyond CLIP Generalization: Against Forward&Backward Forgetting Adapter for Continual Learning of Vision-Language Models

This study aims to address the problem of multi-domain task incremental learning~(MTIL), which requires that vision-language models~(VLMs) continuously acquire new knowledge while maintaining their inherent zero-shot recognition capability. Existing paradigms delegate the testing of unseen-domain samples to the original CLIP, which only prevents the degradation of the model's zero-shot capability but fails to enhance the generalization of the VLM further. To this end, we propose a novel MTIL framework, named AFA, which comprises two core modules: (1) an against forward-forgetting adapter that learns task-invariant information for each dataset in the incremental tasks to enhance the zero-shot recognition ability of VLMs; (2) an against backward-forgetting adapter that strengthens the few-shot learning capability of VLMs while supporting incremental learning. Extensive experiments demonstrate that the AFA method significantly outperforms existing state-of-the-art approaches, especially in few-shot MTIL tasks, and surpasses the inherent zero-shot performance of CLIP in terms of transferability. The code is provided in the Supplementary Material.

Likelihood-Free Variational Autoencoders

Variational Autoencoders (VAEs) typically rely on a probabilistic decoder with a predefined likelihood, most commonly an isotropic Gaussian, to model the data conditional on latent variables. While convenient for optimization, this choice often leads to likelihood misspecification, resulting in blurry reconstructions and poor data fidelity, especially for high-dimensional data such as images. In this work, we propose \textit{EnVAE}, a novel likelihood-free generative framework that has a deterministic decoder and employs the energy score -- a proper scoring rule -- to build the reconstruction loss. This enables likelihood-free inference without requiring explicit parametric density functions. To address the computational inefficiency of the energy score, we introduce a fast variant, \textit{FEnVAE}, based on the local smoothness of the decoder and the sharpness of the posterior distribution of latent variables. This yields an efficient single-sample training objective that integrates seamlessly into existing VAE pipelines with minimal overhead. Empirical results on standard benchmarks demonstrate that \textit{EnVAE} achieves superior reconstruction and generation quality compared to likelihood-based baselines. Our framework offers a general, scalable, and statistically principled alternative for flexible and nonparametric distribution learning in generative modeling.

Distribution-aware Forgetting Compensation for Exemplar-Free Lifelong Person Re-identification

Lifelong Person Re-identification (LReID) suffers from a key challenge in preserving old knowledge while adapting to new information. The existing solutions include rehearsal-based and rehearsal-free methods to address this challenge. Rehearsal-based approaches rely on knowledge distillation, continuously accumulating forgetting during the distillation process. Rehearsal-free methods insufficiently learn the distribution of each domain, leading to forgetfulness over time. To solve these issues, we propose a novel Distribution-aware Forgetting Compensation (DAFC) model that explores cross-domain shared representation learning and domain-specific distribution integration without using old exemplars or knowledge distillation. We propose a Text-driven Prompt Aggregation (TPA) that utilizes text features to enrich prompt elements and guide the prompt model to learn fine-grained representations for each instance. This can enhance the differentiation of identity information and establish the foundation for domain distribution awareness. Then, Distribution-based Awareness and Integration (DAI) is designed to capture each domain-specific distribution by a dedicated expert network and adaptively consolidate them into a shared region in high-dimensional space. In this manner, DAI can consolidate and enhance cross-domain shared representation learning while alleviating catastrophic forgetting. Furthermore, we develop a Knowledge Consolidation Mechanism (KCM) that comprises instance-level discrimination and cross-domain consistency alignment strategies to facilitate model adaptive learning of new knowledge from the current domain and promote knowledge consolidation learning between acquired domain-specific distributions, respectively. Experimental results show that our DAFC outperforms state-of-the-art methods. Our code is available at https://github.com/LiuShiBen/DAFC.

FantasyTalking: Realistic Talking Portrait Generation via Coherent Motion Synthesis

Creating a realistic animatable avatar from a single static portrait remains challenging. Existing approaches often struggle to capture subtle facial expressions, the associated global body movements, and the dynamic background. To address these limitations, we propose a novel framework that leverages a pretrained video diffusion transformer model to generate high-fidelity, coherent talking portraits with controllable motion dynamics. At the core of our work is a dual-stage audio-visual alignment strategy. In the first stage, we employ a clip-level training scheme to establish coherent global motion by aligning audio-driven dynamics across the entire scene, including the reference portrait, contextual objects, and background. In the second stage, we refine lip movements at the frame level using a lip-tracing mask, ensuring precise synchronization with audio signals. To preserve identity without compromising motion flexibility, we replace the commonly used reference network with a facial-focused cross-attention module that effectively maintains facial consistency throughout the video. Furthermore, we integrate a motion intensity modulation module that explicitly controls expression and body motion intensity, enabling controllable manipulation of portrait movements beyond mere lip motion. Extensive experimental results show that our proposed approach achieves higher quality with better realism, coherence, motion intensity, and identity preservation. Ours project page: https://fantasy-amap.github.io/fantasy-talking/.

Pay More Attention to the Robustness of Prompt for Instruction Data Mining

Instruction tuning has emerged as a paramount method for tailoring the behaviors of LLMs. Recent work has unveiled the potential for LLMs to achieve high performance through fine-tuning with a limited quantity of high-quality instruction data. Building upon this approach, we further explore the impact of prompt's robustness on the selection of high-quality instruction data. This paper proposes a pioneering framework of high-quality online instruction data mining for instruction tuning, focusing on the impact of prompt's robustness on the data mining process. Our notable innovation, is to generate the adversarial instruction data by conducting the attack for the prompt of online instruction data. Then, we introduce an Adversarial Instruction-Following Difficulty metric to measure how much help the adversarial instruction data can provide to the generation of the corresponding response. Apart from it, we propose a novel Adversarial Instruction Output Embedding Consistency approach to select high-quality online instruction data. We conduct extensive experiments on two benchmark datasets to assess the performance. The experimental results serve to underscore the effectiveness of our proposed two methods. Moreover, the results underscore the critical practical significance of considering prompt's robustness.