Enhancing End-to-End Autonomous Driving with Latent World Model

End-to-end autonomous driving has garnered widespread attention. Current end-to-end approaches largely rely on the supervision from perception tasks such as detection, tracking, and map segmentation to aid in learning scene representations. However, these methods require extensive annotations, hindering the data scalability. To address this challenge, we propose a novel self-supervised method to enhance end-to-end driving without the need for costly labels. Specifically, our framework \textbf{LAW} uses a LAtent World model to predict future latent features based on the predicted ego actions and the latent feature of the current frame. The predicted latent features are supervised by the actually observed features in the future. This supervision jointly optimizes the latent feature learning and action prediction, which greatly enhances the driving performance. As a result, our approach achieves state-of-the-art performance in both open-loop and closed-loop benchmarks without costly annotations.

Trim 3D Gaussian Splatting for Accurate Geometry Representation

In this paper, we introduce Trim 3D Gaussian Splatting (TrimGS) to reconstruct accurate 3D geometry from images. Previous arts for geometry reconstruction from 3D Gaussians mainly focus on exploring strong geometry regularization. Instead, from a fresh perspective, we propose to obtain accurate 3D geometry of a scene by Gaussian trimming, which selectively removes the inaccurate geometry while preserving accurate structures. To achieve this, we analyze the contributions of individual 3D Gaussians and propose a contribution-based trimming strategy to remove the redundant or inaccurate Gaussians. Furthermore, our experimental and theoretical analyses reveal that a relatively small Gaussian scale is a non-negligible factor in representing and optimizing the intricate details. Therefore the proposed TrimGS maintains relatively small Gaussian scales. In addition, TrimGS is also compatible with the effective geometry regularization strategies in previous arts. When combined with the original 3DGS and the state-of-the-art 2DGS, TrimGS consistently yields more accurate geometry and higher perceptual quality. Our project page is https://trimgs.github.io

Towards Flexible Interactive Reflection Removal with Human Guidance

Single image reflection removal is inherently ambiguous, as both the reflection and transmission components requiring separation may follow natural image statistics. Existing methods attempt to address the issue by using various types of low-level and physics-based cues as sources of reflection signals. However, these cues are not universally applicable, since they are only observable in specific capture scenarios. This leads to a significant performance drop when test images do not align with their assumptions. In this paper, we aim to explore a novel flexible interactive reflection removal approach that leverages various forms of sparse human guidance, such as points and bounding boxes, as auxiliary high-level prior to achieve robust reflection removal. However, incorporating the raw user guidance naively into the existing reflection removal network does not result in performance gains. To this end, we innovatively transform raw user input into a unified form -- reflection masks using an Interactive Segmentation Foundation Model. Such a design absorbs the quintessence of the foundational segmentation model and flexible human guidance, thereby mitigating the challenges of reflection separations. Furthermore, to fully utilize user guidance and reduce user annotation costs, we design a mask-guided reflection removal network, comprising our proposed self-adaptive prompt block. This block adaptively incorporates user guidance as anchors and refines transmission features via cross-attention mechanisms. Extensive results on real-world images validate that our method demonstrates state-of-the-art performance on various datasets with the help of flexible and sparse user guidance. Our code and dataset will be publicly available here https://github.com/ShawnChenn/FlexibleReflectionRemoval.

Learning Object-Centric Representation via Reverse Hierarchy Guidance

Object-Centric Learning (OCL) seeks to enable Neural Networks to identify individual objects in visual scenes, which is crucial for interpretable visual comprehension and reasoning. Most existing OCL models adopt auto-encoding structures and learn to decompose visual scenes through specially designed inductive bias, which causes the model to miss small objects during reconstruction. Reverse hierarchy theory proposes that human vision corrects perception errors through a top-down visual pathway that returns to bottom-level neurons and acquires more detailed information, inspired by which we propose Reverse Hierarchy Guided Network (RHGNet) that introduces a top-down pathway that works in different ways in the training and inference processes. This pathway allows for guiding bottom-level features with top-level object representations during training, as well as encompassing information from bottom-level features into perception during inference. Our model achieves SOTA performance on several commonly used datasets including CLEVR, CLEVRTex and MOVi-C. We demonstrate with experiments that our method promotes the discovery of small objects and also generalizes well on complex real-world scenes. Code will be available at https://anonymous.4open.science/r/RHGNet-6CEF.

StableMoFusion: Towards Robust and Efficient Diffusion-based Motion Generation Framework

Thanks to the powerful generative capacity of diffusion models, recent years have witnessed rapid progress in human motion generation. Existing diffusion-based methods employ disparate network architectures and training strategies. The effect of the design of each component is still unclear. In addition, the iterative denoising process consumes considerable computational overhead, which is prohibitive for real-time scenarios such as virtual characters and humanoid robots. For this reason, we first conduct a comprehensive investigation into network architectures, training strategies, and inference processs. Based on the profound analysis, we tailor each component for efficient high-quality human motion generation. Despite the promising performance, the tailored model still suffers from foot skating which is an ubiquitous issue in diffusion-based solutions. To eliminate footskate, we identify foot-ground contact and correct foot motions along the denoising process. By organically combining these well-designed components together, we present StableMoFusion, a robust and efficient framework for human motion generation. Extensive experimental results show that our StableMoFusion performs favorably against current state-of-the-art methods. Project page: https://h-y1heng.github.io/StableMoFusion-page/

A Survey on Personalized Content Synthesis with Diffusion Models

Recent advancements in generative models have significantly impacted content creation, leading to the emergence of Personalized Content Synthesis (PCS). With a small set of user-provided examples, PCS aims to customize the subject of interest to specific user-defined prompts. Over the past two years, more than 150 methods have been proposed. However, existing surveys mainly focus on text-to-image generation, with few providing up-to-date summaries on PCS. This paper offers a comprehensive survey of PCS, with a particular focus on the diffusion models. Specifically, we introduce the generic frameworks of PCS research, which can be broadly classified into optimization-based and learning-based approaches. We further categorize and analyze these methodologies, discussing their strengths, limitations, and key techniques. Additionally, we delve into specialized tasks within the field, such as personalized object generation, face synthesis, and style personalization, highlighting their unique challenges and innovations. Despite encouraging progress, we also present an analysis of the challenges such as overfitting and the trade-off between subject fidelity and text alignment. Through this detailed overview and analysis, we propose future directions to advance the development of PCS.

Dual-Image Enhanced CLIP for Zero-Shot Anomaly Detection

Image Anomaly Detection has been a challenging task in Computer Vision field. The advent of Vision-Language models, particularly the rise of CLIP-based frameworks, has opened new avenues for zero-shot anomaly detection. Recent studies have explored the use of CLIP by aligning images with normal and prompt descriptions. However, the exclusive dependence on textual guidance often falls short, highlighting the critical importance of additional visual references. In this work, we introduce a Dual-Image Enhanced CLIP approach, leveraging a joint vision-language scoring system. Our methods process pairs of images, utilizing each as a visual reference for the other, thereby enriching the inference process with visual context. This dual-image strategy markedly enhanced both anomaly classification and localization performances. Furthermore, we have strengthened our model with a test-time adaptation module that incorporates synthesized anomalies to refine localization capabilities. Our approach significantly exploits the potential of vision-language joint anomaly detection and demonstrates comparable performance with current SOTA methods across various datasets.

Is Sora a World Simulator? A Comprehensive Survey on General World Models and Beyond

General world models represent a crucial pathway toward achieving Artificial General Intelligence (AGI), serving as the cornerstone for various applications ranging from virtual environments to decision-making systems. Recently, the emergence of the Sora model has attained significant attention due to its remarkable simulation capabilities, which exhibits an incipient comprehension of physical laws. In this survey, we embark on a comprehensive exploration of the latest advancements in world models. Our analysis navigates through the forefront of generative methodologies in video generation, where world models stand as pivotal constructs facilitating the synthesis of highly realistic visual content. Additionally, we scrutinize the burgeoning field of autonomous-driving world models, meticulously delineating their indispensable role in reshaping transportation and urban mobility. Furthermore, we delve into the intricacies inherent in world models deployed within autonomous agents, shedding light on their profound significance in enabling intelligent interactions within dynamic environmental contexts. At last, we examine challenges and limitations of world models, and discuss their potential future directions. We hope this survey can serve as a foundational reference for the research community and inspire continued innovation. This survey will be regularly updated at: https://github.com/GigaAI-research/General-World-Models-Survey.

MaterialSeg3D: Segmenting Dense Materials from 2D Priors for 3D Assets

Driven by powerful image diffusion models, recent research has achieved the automatic creation of 3D objects from textual or visual guidance. By performing score distillation sampling (SDS) iteratively across different views, these methods succeed in lifting 2D generative prior to the 3D space. However, such a 2D generative image prior bakes the effect of illumination and shadow into the texture. As a result, material maps optimized by SDS inevitably involve spurious correlated components. The absence of precise material definition makes it infeasible to relight the generated assets reasonably in novel scenes, which limits their application in downstream scenarios. In contrast, humans can effortlessly circumvent this ambiguity by deducing the material of the object from its appearance and semantics. Motivated by this insight, we propose MaterialSeg3D, a 3D asset material generation framework to infer underlying material from the 2D semantic prior. Based on such a prior model, we devise a mechanism to parse material in 3D space. We maintain a UV stack, each map of which is unprojected from a specific viewpoint. After traversing all viewpoints, we fuse the stack through a weighted voting scheme and then employ region unification to ensure the coherence of the object parts. To fuel the learning of semantics prior, we collect a material dataset, named Materialized Individual Objects (MIO), which features abundant images, diverse categories, and accurate annotations. Extensive quantitative and qualitative experiments demonstrate the effectiveness of our method.

CityGaussian: Real-time High-quality Large-Scale Scene Rendering with Gaussians

The advancement of real-time 3D scene reconstruction and novel view synthesis has been significantly propelled by 3D Gaussian Splatting (3DGS). However, effectively training large-scale 3DGS and rendering it in real-time across various scales remains challenging. This paper introduces CityGaussian (CityGS), which employs a novel divide-and-conquer training approach and Level-of-Detail (LoD) strategy for efficient large-scale 3DGS training and rendering. Specifically, the global scene prior and adaptive training data selection enables efficient training and seamless fusion. Based on fused Gaussian primitives, we generate different detail levels through compression, and realize fast rendering across various scales through the proposed block-wise detail levels selection and aggregation strategy. Extensive experimental results on large-scale scenes demonstrate that our approach attains state-of-theart rendering quality, enabling consistent real-time rendering of largescale scenes across vastly different scales. Our project page is available at https://dekuliutesla.github.io/citygs/.