WARPED: Wrist-Aligned Rendering for Robot Policy Learning from Egocentric Human Demonstrations

Recent advancements in learning from human demonstration have shown promising results in addressing the scalability and high cost of data collection required to train robust visuomotor policies. However, existing approaches are often constrained by a reliance on multiview camera setups, depth sensors, or custom hardware and are typically limited to policy execution from third-person or egocentric cameras. In this paper, we present WARPED, a framework designed to synthesize realistic wrist-view observations from human demonstration videos to facilitate the training of visuomotor policies using only monocular RGB data. With data collected from an egocentric RGB camera, our system leverages vision foundation models to initialize the interactive scene. A hand-object interaction pipeline is then employed to track the hand and manipulated object and retarget the trajectories to a robotic end-effector. Lastly, photo-realistic wrist-view observations are synthesized via Gaussian Splatting to directly train a robotic policy. We demonstrate that WARPED achieves success rates comparable to policies trained on teleoperated demonstration data for five tabletop manipulation tasks, while requiring 5-8x less data collection time.

SMFD-UNet: Semantic Face Mask Is The Only Thing You Need To Deblur Faces

For applications including facial identification, forensic analysis, photographic improvement, and medical imaging diagnostics, facial image deblurring is an essential chore in computer vision allowing the restoration of high-quality images from blurry inputs. Often based on general picture priors, traditional deblurring techniques find it difficult to capture the particular structural and identity-specific features of human faces. We present SMFD-UNet (Semantic Mask Fusion Deblurring UNet), a new lightweight framework using semantic face masks to drive the deblurring process, therefore removing the need for high-quality reference photos in order to solve these difficulties. First, our dual-step method uses a UNet-based semantic mask generator to directly extract detailed facial component masks (e.g., eyes, nose, mouth) straight from blurry photos. Sharp, high-fidelity facial images are subsequently produced by integrating these masks with the blurry input using a multi-stage feature fusion technique within a computationally efficient UNet framework. We created a randomized blurring pipeline that roughly replicates real-world situations by simulating around 1.74 trillion deterioration scenarios, hence guaranteeing resilience. Examined on the CelebA dataset, SMFD-UNet shows better performance than state-of-the-art models, attaining higher Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index Measure (SSIM) while preserving satisfactory naturalness measures, including NIQE, LPIPS, and FID. Powered by Residual Dense Convolution Blocks (RDC), a multi-stage feature fusion strategy, efficient and effective upsampling techniques, attention techniques like CBAM, post-processing techniques, and the lightweight design guarantees scalability and efficiency, enabling SMFD-UNet to be a flexible solution for developing facial image restoration research and useful applications.

Genie Sim PanoRecon: Fast Immersive Scene Generation from Single-View Panorama

We present Genie Sim PanoRecon, a feed-forward Gaussian-splatting pipeline that delivers high-fidelity, low-cost 3D scenes for robotic manipulation simulation. The panorama input is decomposed into six non-overlapping cube-map faces, processed in parallel, and seamlessly reassembled. To guarantee geometric consistency across views, we devise a depth-aware fusion strategy coupled with a training-free depth-injection module that steers the monocular feed-forward network to generate coherent 3D Gaussians. The whole system reconstructs photo-realistic scenes in seconds and has been integrated into Genie Sim - a LLM-driven simulation platform for embodied synthetic data generation and evaluation - to provide scalable backgrounds for manipulation tasks. For code details, please refer to: https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_world.

Automatic dental superimposition of 3D intraorals and 2D photographs for human identification

Dental comparison is considered a primary identification method, at the level of fingerprints and DNA profiling. One crucial but time-consuming step of this method is the morphological comparison. One of the main challenges to apply this method is the lack of ante-mortem medical records, specially on scenarios such as migrant death at the border and/or in countries where there is no universal healthcare. The availability of photos on social media where teeth are visible has led many odontologists to consider morphological comparison using them. However, state-of-the-art proposals have significant limitations, including the lack of proper modeling of perspective distortion and the absence of objective approaches that quantify morphological differences. Our proposal involves a 3D (post-mortem scan) - 2D (ante-mortem photos) approach. Using computer vision and optimization techniques, we replicate the ante-mortem image with the 3D model to perform the morphological comparison. Two automatic approaches have been developed: i) using paired landmarks and ii) using a segmentation of the teeth region to estimate camera parameters. Both are capable of obtaining very promising results over 20,164 cross comparisons from 142 samples, obtaining mean ranking values of 1.6 and 1.5, respectively. These results clearly outperform filtering capabilities of automatic dental chart comparison approaches, while providing an automatic, objective and quantitative score of the morphological correspondence, easily to interpret and analyze by visualizing superimposed images.

AnyImageNav: Any-View Geometry for Precise Last-Meter Image-Goal Navigation

Image Goal Navigation (ImageNav) is evaluated by a coarse success criterion, the agent must stop within 1m of the target, which is sufficient for finding objects but falls short for downstream tasks such as grasping that require precise positioning. We introduce AnyImageNav, a training-free system that pushes ImageNav toward this more demanding setting. Our key insight is that the goal image can be treated as a geometric query: any photo of an object, a hallway, or a room corner can be registered to the agent's observations via dense pixel-level correspondences, enabling recovery of the exact 6-DoF camera pose. Our method realizes this through a semantic-to-geometric cascade: a semantic relevance signal guides exploration and acts as a proximity gate, invoking a 3D multi-view foundation model only when the current view is highly relevant to the goal image; the model then self-certifies its registration in a loop for an accurate recovered pose. Our method sets state-of-the-art navigation success rates on Gibson (93.1%) and HM3D (82.6%), and achieves pose recovery that prior methods do not provide: a position error of 0.27m and heading error of 3.41 degrees on Gibson, and 0.21m / 1.23 degrees on HM3D, a 5-10x improvement over adapted baselines.

SCC-Loc: A Unified Semantic Cascade Consensus Framework for UAV Thermal Geo-Localization

Cross-modal Thermal Geo-localization (TG) provides a robust, all-weather solution for Unmanned Aerial Vehicles (UAVs) in Global Navigation Satellite System (GNSS)-denied environments. However, profound thermal-visible modality gaps introduce severe feature ambiguity, systematically corrupting conventional coarse-to-fine registration. To dismantle this bottleneck, we propose SCC-Loc, a unified Semantic-Cascade-Consensus localization framework. By sharing a single DINOv2 backbone across global retrieval and MINIMA$_{\text{RoMa}}$ matching, it minimizes memory footprint and achieves zero-shot, highly accurate absolute position estimation. Specifically, we tackle modality ambiguity by introducing three cohesive components. First, we design the Semantic-Guided Viewport Alignment (SGVA) module to adaptively optimize satellite crop regions, effectively correcting initial spatial deviations. Second, we develop the Cascaded Spatial-Adaptive Texture-Structure Filtering (C-SATSF) mechanism to explicitly enforce geometric consistency, thereby eradicating dense cross-modal outliers. Finally, we propose the Consensus-Driven Reliability-Aware Position Selection (CD-RAPS) strategy to derive the optimal solution through a synergy of physically constrained pose optimization. To address data scarcity, we construct Thermal-UAV, a comprehensive dataset providing 11,890 diverse thermal queries referenced against a large-scale satellite ortho-photo and corresponding spatially aligned Digital Surface Model (DSM). Extensive experiments demonstrate that SCC-Loc establishes a new state-of-the-art, suppressing the mean localization error to 9.37 m and providing a 7.6-fold accuracy improvement within a strict 5-m threshold over the strongest baseline. Code and dataset are available at https://github.com/FloralHercules/SCC-Loc.

IDDM: Identity-Decoupled Personalized Diffusion Models with a Tunable Privacy-Utility Trade-off

Personalized text-to-image diffusion models (e.g., DreamBooth, LoRA) enable users to synthesize high-fidelity avatars from a few reference photos for social expression. However, once these generations are shared on social media platforms (e.g., Instagram, Facebook), they can be linked to the real user via face recognition systems, enabling identity tracking and profiling. Existing defenses mainly follow an anti-personalization strategy that protects publicly released reference photos by disrupting model fine-tuning. While effective against unauthorized personalization, they do not address another practical setting in which personalization is authorized, but the resulting public outputs still leak identity information. To address this problem, we introduce a new defense setting, termed model-side output immunization, whose goal is to produce a personalized model that supports authorized personalization while reducing the identity linkability of public generations, with tunable control over the privacy-utility trade-off to accommodate diverse privacy needs. To this end, we propose Identity-Decoupled personalized Diffusion Models (IDDM), a model-side defense that integrates identity decoupling into the personalization pipeline. Concretely, IDDM follows an alternating procedure that interleaves short personalization updates with identity-decoupled data optimization, using a two-stage schedule to balance identity linkability suppression and generation utility. Extensive experiments across multiple datasets, diverse prompts, and state-of-the-art face recognition systems show that IDDM consistently reduces identity linkability while preserving high-quality personalized generation.

FlowID : Enhancing Forensic Identification with Latent Flow-Matching Models

Every day, many people die under violent circumstances, whether from crimes, war, migration, or climate disasters. Medico-legal and law enforcement institutions document many portraits of the deceased for evidence, but cannot immediately carry out identification on them. While traditional image editing tools can process these photos for public release, the workflow is lengthy and produces suboptimal results. In this work, we leverage advances in image generation models, which can now produce photorealistic human portraits, to introduce FlowID, an identity-preserving facial reconstruction method. Our approach combines single-image fine-tuning, which adapts the generative model to out-of-distribution injured faces, with attention-based masking that localizes edits to damaged regions while preserving identity-critical features. Together, these components enable the removal of artifacts from violent death while retaining sufficient identity information to support identification. To evaluate our method, we introduce InjuredFaces, a novel benchmark for identity-preserving facial reconstruction under severe facial damage. Beyond serving as an evaluation tool for this work, InjuredFaces provides a standardized resource for the community to study and compare methods addressing facial reconstruction in extreme conditions. Experimental results show that FlowID outperforms state-of-the-art open-source methods while maintaining low memory requirements, making it suitable for local deployment without compromising data privacy.

RawGen: Learning Camera Raw Image Generation

Cameras capture scene-referred linear raw images, which are processed by onboard image signal processors (ISPs) into display-referred 8-bit sRGB outputs. Although raw data is more faithful for low-level vision tasks, collecting large-scale raw datasets remains a major bottleneck, as existing datasets are limited and tied to specific camera hardware. Generative models offer a promising way to address this scarcity -- however, existing diffusion frameworks are designed to synthesize photo-finished sRGB images rather than physically consistent linear representations. This paper presents RawGen, to our knowledge the first diffusion-based framework enabling text-to-raw generation for arbitrary target cameras, alongside sRGB-to-raw inversion. RawGen leverages the generative priors of large-scale sRGB diffusion models to synthesize physically meaningful linear outputs, such as CIE XYZ or camera-specific raw representations, via specialized processing in latent and pixel spaces. To handle unknown and diverse ISP pipelines and photo-finishing effects in diffusion-model training data, we build a many-to-one inverse-ISP dataset where multiple sRGB renditions of the same scene generated using diverse ISP parameters are anchored to a common scene-referred target. Fine-tuning a conditional denoiser and specialized decoder on this dataset allows RawGen to obtain camera-centric linear reconstructions that effectively invert the rendering pipeline. We demonstrate RawGen's superior performance over traditional inverse-ISP methods that assume a fixed ISP. Furthermore, we show that augmenting training pipelines with RawGen's scalable, text-driven synthetic data can benefit downstream low-level vision tasks.

ColorFLUX: A Structure-Color Decoupling Framework for Old Photo Colorization

Old photos preserve invaluable historical memories, making their restoration and colorization highly desirable. While existing restoration models can address some degradation issues like denoising and scratch removal, they often struggle with accurate colorization. This limitation arises from the unique degradation inherent in old photos, such as faded brightness and altered color hues, which are different from modern photo distributions, creating a substantial domain gap during colorization. In this paper, we propose a novel old photo colorization framework based on the generative diffusion model FLUX. Our approach introduces a structure-color decoupling strategy that separates structure preservation from color restoration, enabling accurate colorization of old photos while maintaining structural consistency. We further enhance the model with a progressive Direct Preference Optimization (Pro-DPO) strategy, which allows the model to learn subtle color preferences through coarse-to-fine transitions in color augmentation. Additionally, we address the limitations of text-based prompts by introducing visual semantic prompts, which extract fine-grained semantic information directly from old photos, helping to eliminate the color bias inherent in old photos. Experimental results on both synthetic and real datasets demonstrate that our approach outperforms existing state-of-the-art colorization methods, including closed-source commercial models, producing high-quality and vivid colorization.