RAFT-MSF++: Temporal Geometry-Motion Feature Fusion for Self-Supervised Monocular Scene Flow

Monocular scene flow estimation aims to recover dense 3D motion from image sequences, yet most existing methods are limited to two-frame inputs, restricting temporal modeling and robustness to occlusions. We propose RAFT-MSF++, a self-supervised multi-frame framework that recurrently fuses temporal features to jointly estimate depth and scene flow. Central to our approach is the Geometry-Motion Feature (GMF), which compactly encodes coupled motion and geometry cues and is iteratively updated for effective temporal reasoning. To ensure the robustness of this temporal fusion against occlusions, we incorporate relative positional attention to inject spatial priors and an occlusion regularization module to propagate reliable motion from visible regions. These components enable the GMF to effectively propagate information even in ambiguous areas. Extensive experiments show that RAFT-MSF++ achieves 24.14% SF-all on the KITTI Scene Flow benchmark, with a 30.99% improvement over the baseline and better robustness in occluded regions. The code is available at https://github.com/sunzunyi/RAFT-MSF-PlusPlus.

Generative Texture Filtering

We present a generative method for texture filtering, which exhibits surprisingly good performance and generalizability. Our core idea is to empower texture filtering by taking full advantage of the strong learned image prior of pre-trained generative models. To this end, we propose to fine-tune a pre-trained generative model via a two-stage strategy. Specifically, we first conduct supervised fine-tuning on a very small set of paired images, and then perform reinforcement fine-tuning on a large-scale unlabeled dataset under the guidance of a reward function that quantifies the quality of texture removal and structure preservation. Extensive experiments show that our method clearly outperforms previous methods, and is effective to deal with previously challenging cases. Our code is available at https://github.com/OnlyZZZZ/Generative_Texture_Filtering.

TacticGen: Grounding Adaptable and Scalable Generation of Football Tactics

Success in association football relies on both individual skill and coordinated tactics. While recent advancements in spatio-temporal data and deep learning have enabled predictive analyses like trajectory forecasting, the development of tactical design remains limited. Bridging this gap is essential, as prediction reveals what is likely to occur, whereas tactic generation determines what should occur to achieve strategic objectives. In this work, we present TacticGen, a generative model for adaptable and scalable tactic generation. TacticGen formulates tactics as sequences of multi-agent movements and interactions conditioned on the game context. It employs a multi-agent diffusion transformer with agent-wise self-attention and context-aware cross-attention to capture cooperative and competitive dynamics among players and the ball. Trained with over 3.3 million events and 100 million tracking frames from top-tier leagues, TacticGen achieves state-of-the-art precision in predicting player trajectories. Building on it, TacticGen enables adaptable tactic generation tailored to diverse inference-time objectives through classifier guidance mechanism, specified via rules, natural language, or neural models. Its modeling performance is also inherently scalable. A case study with football experts confirms that TacticGen generates realistic, strategically valuable tactics, demonstrating its practical utility for tactical planning in professional football. The project page is available at: https://shengxu.net/TacticGen/.

BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes

Bimanual dexterous grasping is a fundamental and promising area in robotics, yet its progress is constrained by the lack of comprehensive datasets and powerful generation models. In this work, we propose BiDexGrasp, consists of a large-scale bimanual dexterous grasp dataset and a novel generation model. For dataset, we propose a novel bimanual grasp synthesis pipeline to efficiently annotate physically feasible data for dataset construction. This pipeline addresses the challenges of high-dimensional bimanual grasping through a two-stage synthesis strategy of efficient region-based grasp initialization and decoupled force-closure grasp optimization. Powered by this pipeline, we construct a large-scale bimanual dexterous grasp dataset, comprising 6351 diverse objects with sizes ranging from 30 to 80 cm, along with 9.7 million annotated grasp data. Based on this dataset, we further introduce a bimanual-coordinated and geometry-size-adaptive dexterous grasping generation framework. The framework lies in two key designs: a bimanual coordination module and a geometry-size-adaptive grasp generation strategy to generate coordinated and high-quality grasps on unseen objects. Extensive experiments conducted in both simulation and real world demonstrate the superior performance of our proposed data synthesis pipeline and learned generative framework.

SGS-Intrinsic: Semantic-Invariant Gaussian Splatting for Sparse-View Indoor Inverse Rendering

We present SGS-Intrinsic, an indoor inverse rendering framework that works well for sparse-view images. Unlike existing 3D Gaussian Splatting (3DGS) based methods that focus on object-centric reconstruction and fail to work under sparse view settings, our method allows to achieve high-quality geometry reconstruction and accurate disentanglement of material and illumination. The core idea is to construct a dense and geometry-consistent Gaussian semantic field guided by semantic and geometric priors, providing a reliable foundation for subsequent inverse rendering. Building upon this, we perform material-illumination disentanglement by combining a hybrid illumination model and material prior to effectively capture illumination-material interactions. To mitigate the impact of cast shadows and enhance the robustness of material recovery, we introduce illumination-invariant material constraint together with a deshadowing model. Extensive experiments on benchmark datasets show that our method consistently improves both reconstruction fidelity and inverse rendering quality over existing 3DGS-based inverse rendering approaches. Our code is available at https://github.com/GrumpySloths/SGS_Intrinsic.github.io.

You Only Erase Once: Erasing Anything without Bringing Unexpected Content

We present YOEO, an approach for object erasure. Unlike recent diffusion-based methods which struggle to erase target objects without generating unexpected content within the masked regions due to lack of sufficient paired training data and explicit constraint on content generation, our method allows to produce high-quality object erasure results free of unwanted objects or artifacts while faithfully preserving the overall context coherence to the surrounding content. We achieve this goal by training an object erasure diffusion model on unpaired data containing only large-scale real-world images, under the supervision of a sundries detector and a context coherence loss that are built upon an entity segmentation model. To enable more efficient training and inference, a diffusion distillation strategy is employed to train for a few-step erasure diffusion model. Extensive experiments show that our method outperforms the state-of-the-art object erasure methods. Code will be available at https://zyxunh.github.io/YOEO-ProjectPage/.

UT-ACA: Uncertainty-Triggered Adaptive Context Allocation for Long-Context Inference

Long-context inference remains challenging for large language models due to attention dilution and out-of-distribution degradation. Context selection mitigates this limitation by attending to a subset of key-value cache entries, yet most methods allocate a fixed context budget throughout decoding despite highly non-uniform token-level contextual demands. To address this issue, we propose Uncertainty-Triggered Adaptive Context Allocation (UT-ACA), an inference-time framework that dynamically adjusts the context window based on token-wise uncertainty. UT-ACA learns an uncertainty detector that combines semantic embeddings with logit-based confidence while accounting for uncertainty accumulation across decoding steps. When insufficient evidence is indicated, UT-ACA selectively rolls back, expands the context window, and regenerates the token with additional support. Experiments show that UT-ACA substantially reduces average context usage while preserving generation quality in long-context settings.

DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping

To meet the demands of increasingly diverse dexterous hand hardware, it is crucial to develop a policy that enables zero-shot cross-embodiment grasping without redundant re-learning. Cross-embodiment alignment is challenging due to heterogeneous hand kinematics and physical constraints. Existing approaches typically predict intermediate motion targets and retarget them to each embodiment, which may introduce errors and violate embodiment-specific limits, hindering transfer across diverse hands. To overcome these limitations, we propose \textit{DexGrasp-Zero}, a policy that learns universal grasping skills from diverse embodiments, enabling zero-shot transfer to unseen hands. We first introduce a morphology-aligned graph representation that maps each hand's kinematic keypoints to anatomically grounded nodes and equips each node with tri-axial orthogonal motion primitives, enabling structural and semantic alignment across different morphologies. Relying on this graph-based representation, we design a \textit{Morphology-Aligned Graph Convolutional Network} (MAGCN) to encode the graph for policy learning. MAGCN incorporates a \textit{Physical Property Injection} mechanism that fuses hand-specific physical constraints into the graph features, enabling adaptive compensation for varying link lengths and actuation limits for precise and stable grasping. Our extensive simulation evaluations on the YCB dataset demonstrate that our policy, jointly trained on four heterogeneous hands (Allegro, Shadow, Schunk, Ability), achieves an 85\% zero-shot success rate on unseen hardware (LEAP, Inspire), outperforming the state-of-the-art method by 59.5\%. Real-world experiments further evaluate our policy on three robot platforms (LEAP, Inspire, Revo2), achieving an 82\% average success rate on unseen objects.

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.

Seg-ReSearch: Segmentation with Interleaved Reasoning and External Search

Segmentation based on language has been a popular topic in computer vision. While recent advances in multimodal large language models (MLLMs) have endowed segmentation systems with reasoning capabilities, these efforts remain confined by the frozen internal knowledge of MLLMs, which limits their potential for real-world scenarios that involve up-to-date information or domain-specific concepts. In this work, we propose \textbf{Seg-ReSearch}, a novel segmentation paradigm that overcomes the knowledge bottleneck of existing approaches. By enabling interleaved reasoning and external search, Seg-ReSearch empowers segmentation systems to handle dynamic, open-world queries that extend beyond the frozen knowledge of MLLMs. To effectively train this capability, we introduce a hierarchical reward design that harmonizes initial guidance with progressive incentives, mitigating the dilemma between sparse outcome signals and rigid step-wise supervision. For evaluation, we construct OK-VOS, a challenging benchmark that explicitly requires outside knowledge for video object segmentation. Experiments on OK-VOS and two existing reasoning segmentation benchmarks demonstrate that our Seg-ReSearch improves state-of-the-art approaches by a substantial margin. Code and data will be released at https://github.com/iSEE-Laboratory/Seg-ReSearch.