How far have we gone in Generative Image Restoration? A study on its capability, limitations and evaluation practices

Generative Image Restoration (GIR) has achieved impressive perceptual realism, but how far have its practical capabilities truly advanced compared with previous methods? To answer this, we present a large-scale study grounded in a new multi-dimensional evaluation pipeline that assesses models on detail, sharpness, semantic correctness, and overall quality. Our analysis covers diverse architectures, including diffusion-based, GAN-based, PSNR-oriented, and general-purpose generation models, revealing critical performance disparities. Furthermore, our analysis uncovers a key evolution in failure modes that signifies a paradigm shift for the perception-oriented low-level vision field. The central challenge is evolving from the previous problem of detail scarcity (under-generation) to the new frontier of detail quality and semantic control (preventing over-generation). We also leverage our benchmark to train a new IQA model that better aligns with human perceptual judgments. Ultimately, this work provides a systematic study of modern generative image restoration models, offering crucial insights that redefine our understanding of their true state and chart a course for future development.

Position: Evaluation of Visual Processing Should Be Human-Centered, Not Metric-Centered

This position paper argues that the evaluation of modern visual processing systems should no longer be driven primarily by single-metric image quality assessment benchmarks, particularly in the era of generative and perception-oriented methods. Image restoration exemplifies this divergence: while objective IQA metrics enable reproducible, scalable evaluation, they have increasingly drifted apart from human perception and user preferences. We contend that this mismatch risks constraining innovation and misguiding research progress across visual processing tasks. Rather than rejecting metrics altogether, this paper calls for a rebalancing of evaluation paradigms, advocating a more human-centered, context-aware, and fine-grained approach to assessing the visual models' outcomes.

ALIVE: Animate Your World with Lifelike Audio-Video Generation

Video generation is rapidly evolving towards unified audio-video generation. In this paper, we present ALIVE, a generation model that adapts a pretrained Text-to-Video (T2V) model to Sora-style audio-video generation and animation. In particular, the model unlocks the Text-to-Video&Audio (T2VA) and Reference-to-Video&Audio (animation) capabilities compared to the T2V foundation models. To support the audio-visual synchronization and reference animation, we augment the popular MMDiT architecture with a joint audio-video branch which includes TA-CrossAttn for temporally-aligned cross-modal fusion and UniTemp-RoPE for precise audio-visual alignment. Meanwhile, a comprehensive data pipeline consisting of audio-video captioning, quality control, etc., is carefully designed to collect high-quality finetuning data. Additionally, we introduce a new benchmark to perform a comprehensive model test and comparison. After continue pretraining and finetuning on million-level high-quality data, ALIVE demonstrates outstanding performance, consistently outperforming open-source models and matching or surpassing state-of-the-art commercial solutions. With detailed recipes and benchmarks, we hope ALIVE helps the community develop audio-video generation models more efficiently. Official page: https://github.com/FoundationVision/Alive.

RRT*former: Environment-Aware Sampling-Based Motion Planning using Transformer

We investigate the sampling-based optimal path planning problem for robotics in complex and dynamic environments. Most existing sampling-based algorithms neglect environmental information or the information from previous samples. Yet, these pieces of information are highly informative, as leveraging them can provide better heuristics when sampling the next state. In this paper, we propose a novel sampling-based planning algorithm, called \emph{RRT*former}, which integrates the standard RRT* algorithm with a Transformer network in a novel way. Specifically, the Transformer is used to extract features from the environment and leverage information from previous samples to better guide the sampling process. Our extensive experiments demonstrate that, compared to existing sampling-based approaches such as RRT*, Neural RRT*, and their variants, our algorithm achieves considerable improvements in both the optimality of the path and sampling efficiency. The code for our implementation is available on https://github.com/fengmingyang666/RRTformer.

Bridging Perception and Planning: Towards End-to-End Planning for Signal Temporal Logic Tasks

We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world environments. We propose the \emph{Structured-MoE STL Planner} (\textbf{S-MSP}), a differentiable framework that maps synchronized multi-view camera observations and an STL specification directly to a feasible trajectory. S-MSP integrates STL constraints within a unified pipeline, trained with a composite loss that combines trajectory reconstruction and STL robustness. A \emph{structure-aware} Mixture-of-Experts (MoE) model enables horizon-aware specialization by projecting sub-tasks into temporally anchored embeddings. We evaluate S-MSP using a high-fidelity simulation of factory-logistics scenarios with temporally constrained tasks. Experiments show that S-MSP outperforms single-expert baselines in STL satisfaction and trajectory feasibility. A rule-based \emph{safety filter} at inference improves physical executability without compromising logical correctness, showcasing the practicality of the approach.

UniTalker: Conversational Speech-Visual Synthesis

Conversational Speech Synthesis (CSS) is a key task in the user-agent interaction area, aiming to generate more expressive and empathetic speech for users. However, it is well-known that "listening" and "eye contact" play crucial roles in conveying emotions during real-world interpersonal communication. Existing CSS research is limited to perceiving only text and speech within the dialogue context, which restricts its effectiveness. Moreover, speech-only responses further constrain the interactive experience. To address these limitations, we introduce a Conversational Speech-Visual Synthesis (CSVS) task as an extension of traditional CSS. By leveraging multimodal dialogue context, it provides users with coherent audiovisual responses. To this end, we develop a CSVS system named UniTalker, which is a unified model that seamlessly integrates multimodal perception and multimodal rendering capabilities. Specifically, it leverages a large-scale language model to comprehensively understand multimodal cues in the dialogue context, including speaker, text, speech, and the talking-face animations. After that, it employs multi-task sequence prediction to first infer the target utterance's emotion and then generate empathetic speech and natural talking-face animations. To ensure that the generated speech-visual content remains consistent in terms of emotion, content, and duration, we introduce three key optimizations: 1) Designing a specialized neural landmark codec to tokenize and reconstruct facial expression sequences. 2) Proposing a bimodal speech-visual hard alignment decoding strategy. 3) Applying emotion-guided rendering during the generation stage. Comprehensive objective and subjective experiments demonstrate that our model synthesizes more empathetic speech and provides users with more natural and emotionally consistent talking-face animations.

Chain-Talker: Chain Understanding and Rendering for Empathetic Conversational Speech Synthesis

Conversational Speech Synthesis (CSS) aims to align synthesized speech with the emotional and stylistic context of user-agent interactions to achieve empathy. Current generative CSS models face interpretability limitations due to insufficient emotional perception and redundant discrete speech coding. To address the above issues, we present Chain-Talker, a three-stage framework mimicking human cognition: Emotion Understanding derives context-aware emotion descriptors from dialogue history; Semantic Understanding generates compact semantic codes via serialized prediction; and Empathetic Rendering synthesizes expressive speech by integrating both components. To support emotion modeling, we develop CSS-EmCap, an LLM-driven automated pipeline for generating precise conversational speech emotion captions. Experiments on three benchmark datasets demonstrate that Chain-Talker produces more expressive and empathetic speech than existing methods, with CSS-EmCap contributing to reliable emotion modeling. The code and demos are available at: https://github.com/AI-S2-Lab/Chain-Talker.

Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments

Control Barrier Functions (CBFs) have emerged as an effective and non-invasive safety filter for ensuring the safety of autonomous systems in dynamic environments with formal guarantees. However, most existing works on CBF synthesis focus on fully known settings. Synthesizing CBFs online based on perception data in unknown environments poses particular challenges. Specifically, this requires the construction of CBFs from high-dimensional data efficiently in real time. This paper proposes a new approach for online synthesis of CBFs directly from local Occupancy Grid Maps (OGMs). Inspired by steady-state thermal fields, we show that the smoothness requirement of CBFs corresponds to the solution of the steady-state heat conduction equation with suitably chosen boundary conditions. By leveraging the sparsity of the coefficient matrix in Laplace's equation, our approach allows for efficient computation of safety values for each grid cell in the map. Simulation and real-world experiments demonstrate the effectiveness of our approach. Specifically, the results show that our CBFs can be synthesized in an average of milliseconds on a 200 * 200 grid map, highlighting its real-time applicability.

Sparse Alignment Enhanced Latent Diffusion Transformer for Zero-Shot Speech Synthesis

While recent zero-shot text-to-speech (TTS) models have significantly improved speech quality and expressiveness, mainstream systems still suffer from issues related to speech-text alignment modeling: 1) models without explicit speech-text alignment modeling exhibit less robustness, especially for hard sentences in practical applications; 2) predefined alignment-based models suffer from naturalness constraints of forced alignments. This paper introduces \textit{S-DiT}, a TTS system featuring an innovative sparse alignment algorithm that guides the latent diffusion transformer (DiT). Specifically, we provide sparse alignment boundaries to S-DiT to reduce the difficulty of alignment learning without limiting the search space, thereby achieving high naturalness. Moreover, we employ a multi-condition classifier-free guidance strategy for accent intensity adjustment and adopt the piecewise rectified flow technique to accelerate the generation process. Experiments demonstrate that S-DiT achieves state-of-the-art zero-shot TTS speech quality and supports highly flexible control over accent intensity. Notably, our system can generate high-quality one-minute speech with only 8 sampling steps. Audio samples are available at https://sditdemo.github.io/sditdemo/.

HumanDiT: Pose-Guided Diffusion Transformer for Long-form Human Motion Video Generation

Human motion video generation has advanced significantly, while existing methods still struggle with accurately rendering detailed body parts like hands and faces, especially in long sequences and intricate motions. Current approaches also rely on fixed resolution and struggle to maintain visual consistency. To address these limitations, we propose HumanDiT, a pose-guided Diffusion Transformer (DiT)-based framework trained on a large and wild dataset containing 14,000 hours of high-quality video to produce high-fidelity videos with fine-grained body rendering. Specifically, (i) HumanDiT, built on DiT, supports numerous video resolutions and variable sequence lengths, facilitating learning for long-sequence video generation; (ii) we introduce a prefix-latent reference strategy to maintain personalized characteristics across extended sequences. Furthermore, during inference, HumanDiT leverages Keypoint-DiT to generate subsequent pose sequences, facilitating video continuation from static images or existing videos. It also utilizes a Pose Adapter to enable pose transfer with given sequences. Extensive experiments demonstrate its superior performance in generating long-form, pose-accurate videos across diverse scenarios.