Learning Continuous Wasserstein Barycenter Space for Generalized All-in-One Image Restoration

Despite substantial advances in all-in-one image restoration for addressing diverse degradations within a unified model, existing methods remain vulnerable to out-of-distribution degradations, thereby limiting their generalization in real-world scenarios. To tackle the challenge, this work is motivated by the intuition that multisource degraded feature distributions are induced by different degradation-specific shifts from an underlying degradation-agnostic distribution, and recovering such a shared distribution is thus crucial for achieving generalization across degradations. With this insight, we propose BaryIR, a representation learning framework that aligns multisource degraded features in the Wasserstein barycenter (WB) space, which models a degradation-agnostic distribution by minimizing the average of Wasserstein distances to multisource degraded distributions. We further introduce residual subspaces, whose embeddings are mutually contrasted while remaining orthogonal to the WB embeddings. Consequently, BaryIR explicitly decouples two orthogonal spaces: a WB space that encodes the degradation-agnostic invariant contents shared across degradations, and residual subspaces that adaptively preserve the degradation-specific knowledge. This disentanglement mitigates overfitting to in-distribution degradations and enables adaptive restoration grounded on the degradation-agnostic shared invariance. Extensive experiments demonstrate that BaryIR performs competitively against state-of-the-art all-in-one methods. Notably, BaryIR generalizes well to unseen degradations (\textit{e.g.,} types and levels) and shows remarkable robustness in learning generalized features, even when trained on limited degradation types and evaluated on real-world data with mixed degradations.

Hybrid DQN-TD3 Reinforcement Learning for Autonomous Navigation in Dynamic Environments

This paper presents a hierarchical path-planning and control framework that combines a high-level Deep Q-Network (DQN) for discrete sub-goal selection with a low-level Twin Delayed Deep Deterministic Policy Gradient (TD3) controller for continuous actuation. The high-level module selects behaviors and sub-goals; the low-level module executes smooth velocity commands. We design a practical reward shaping scheme (direction, distance, obstacle avoidance, action smoothness, collision penalty, time penalty, and progress), together with a LiDAR-based safety gate that prevents unsafe motions. The system is implemented in ROS + Gazebo (TurtleBot3) and evaluated with PathBench metrics, including success rate, collision rate, path efficiency, and re-planning efficiency, in dynamic and partially observable environments. Experiments show improved success rate and sample efficiency over single-algorithm baselines (DQN or TD3 alone) and rule-based planners, with better generalization to unseen obstacle configurations and reduced abrupt control changes. Code and evaluation scripts are available at the project repository.

BaryIR: Learning Multi-Source Unified Representation in Continuous Barycenter Space for Generalizable All-in-One Image Restoration

Despite remarkable advances made in all-in-one image restoration (AIR) for handling different types of degradations simultaneously, existing methods remain vulnerable to out-of-distribution degradations and images, limiting their real-world applicability. In this paper, we propose a multi-source representation learning framework BaryIR, which decomposes the latent space of multi-source degraded images into a continuous barycenter space for unified feature encoding and source-specific subspaces for specific semantic encoding. Specifically, we seek the multi-source unified representation by introducing a multi-source latent optimal transport barycenter problem, in which a continuous barycenter map is learned to transport the latent representations to the barycenter space. The transport cost is designed such that the representations from source-specific subspaces are contrasted with each other while maintaining orthogonality to those from the barycenter space. This enables BaryIR to learn compact representations with unified degradation-agnostic information from the barycenter space, as well as degradation-specific semantics from source-specific subspaces, capturing the inherent geometry of multi-source data manifold for generalizable AIR. Extensive experiments demonstrate that BaryIR achieves competitive performance compared to state-of-the-art all-in-one methods. Particularly, BaryIR exhibits superior generalization ability to real-world data and unseen degradations. The code will be publicly available at https://github.com/xl-tang3/BaryIR.

Degradation-Aware Residual-Conditioned Optimal Transport for Unified Image Restoration

All-in-one image restoration has emerged as a practical and promising low-level vision task for real-world applications. In this context, the key issue lies in how to deal with different types of degraded images simultaneously. In this work, we present a Degradation-Aware Residual-Conditioned Optimal Transport (DA-RCOT) approach that models (all-in-one) image restoration as an optimal transport (OT) problem for unpaired and paired settings, introducing the transport residual as a degradation-specific cue for both the transport cost and the transport map. Specifically, we formalize image restoration with a residual-guided OT objective by exploiting the degradation-specific patterns of the Fourier residual in the transport cost. More crucially, we design the transport map for restoration as a two-pass DA-RCOT map, in which the transport residual is computed in the first pass and then encoded as multi-scale residual embeddings to condition the second-pass restoration. This conditioning process injects intrinsic degradation knowledge (e.g., degradation type and level) and structural information from the multi-scale residual embeddings into the OT map, which thereby can dynamically adjust its behaviors for all-in-one restoration. Extensive experiments across five degradations demonstrate the favorable performance of DA-RCOT as compared to state-of-the-art methods, in terms of distortion measures, perceptual quality, and image structure preservation. Notably, DA-RCOT delivers superior adaptability to real-world scenarios even with multiple degradations and shows distinctive robustness to both degradation levels and the number of degradations.