Grounding Beyond Detection: Enhancing Contextual Understanding in Embodied 3D Grounding

Embodied 3D grounding aims to localize target objects described in human instructions from ego-centric viewpoint. Most methods typically follow a two-stage paradigm where a trained 3D detector's optimized backbone parameters are used to initialize a grounding model. In this study, we explore a fundamental question: Does embodied 3D grounding benefit enough from detection? To answer this question, we assess the grounding performance of detection models using predicted boxes filtered by the target category. Surprisingly, these detection models without any instruction-specific training outperform the grounding models explicitly trained with language instructions. This indicates that even category-level embodied 3D grounding may not be well resolved, let alone more fine-grained context-aware grounding. Motivated by this finding, we propose DEGround, which shares DETR queries as object representation for both DEtection and Grounding and enables the grounding to benefit from basic category classification and box detection. Based on this framework, we further introduce a regional activation grounding module that highlights instruction-related regions and a query-wise modulation module that incorporates sentence-level semantic into the query representation, strengthening the context-aware understanding of language instructions. Remarkably, DEGround outperforms state-of-the-art model BIP3D by 7.52\% at overall accuracy on the EmbodiedScan validation set. The source code will be publicly available at https://github.com/zyn213/DEGround.

Conformal Object Detection by Sequential Risk Control

Recent advances in object detectors have led to their adoption for industrial uses. However, their deployment in critical applications is hindered by the inherent lack of reliability of neural networks and the complex structure of object detection models. To address these challenges, we turn to Conformal Prediction, a post-hoc procedure which offers statistical guarantees that are valid for any dataset size, without requiring prior knowledge on the model or data distribution. Our contribution is manifold: first, we formally define the problem of Conformal Object Detection (COD) and introduce a novel method, Sequential Conformal Risk Control (SeqCRC), that extends the statistical guarantees of Conformal Risk Control (CRC) to two sequential tasks with two parameters, as required in the COD setting. Then, we propose loss functions and prediction sets suited to applying CRC to different applications and certification requirements. Finally, we present a conformal toolkit, enabling replication and further exploration of our methods. Using this toolkit, we perform extensive experiments, yielding a benchmark that validates the investigated methods and emphasizes trade-offs and other practical consequences.

Context-aware TFL: A Universal Context-aware Contrastive Learning Framework for Temporal Forgery Localization

Most research efforts in the multimedia forensics domain have focused on detecting forgery audio-visual content and reached sound achievements. However, these works only consider deepfake detection as a classification task and ignore the case where partial segments of the video are tampered with. Temporal forgery localization (TFL) of small fake audio-visual clips embedded in real videos is still challenging and more in line with realistic application scenarios. To resolve this issue, we propose a universal context-aware contrastive learning framework (UniCaCLF) for TFL. Our approach leverages supervised contrastive learning to discover and identify forged instants by means of anomaly detection, allowing for the precise localization of temporal forged segments. To this end, we propose a novel context-aware perception layer that utilizes a heterogeneous activation operation and an adaptive context updater to construct a context-aware contrastive objective, which enhances the discriminability of forged instant features by contrasting them with genuine instant features in terms of their distances to the global context. An efficient context-aware contrastive coding is introduced to further push the limit of instant feature distinguishability between genuine and forged instants in a supervised sample-by-sample manner, suppressing the cross-sample influence to improve temporal forgery localization performance. Extensive experimental results over five public datasets demonstrate that our proposed UniCaCLF significantly outperforms the state-of-the-art competing algorithms.

Rooms from Motion: Un-posed Indoor 3D Object Detection as Localization and Mapping

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches operate globally and implicitly rely on the a priori existence of metric camera poses, our method, Rooms from Motion (RfM) operates on a collection of un-posed images. By replacing the standard 2D keypoint-based matcher of structure-from-motion with an object-centric matcher based on image-derived 3D boxes, we estimate metric camera poses, object tracks, and finally produce a global, semantic 3D object map. When a priori pose is available, we can significantly improve map quality through optimization of global 3D boxes against individual observations. RfM shows strong localization performance and subsequently produces maps of higher quality than leading point-based and multi-view 3D object detection methods on CA-1M and ScanNet++, despite these global methods relying on overparameterization through point clouds or dense volumes. Rooms from Motion achieves a general, object-centric representation which not only extends the work of Cubify Anything to full scenes but also allows for inherently sparse localization and parametric mapping proportional to the number of objects in a scene.

Language-guided Learning for Object Detection Tackling Multiple Variations in Aerial Images

Despite recent advancements in computer vision research, object detection in aerial images still suffers from several challenges. One primary challenge to be mitigated is the presence of multiple types of variation in aerial images, for example, illumination and viewpoint changes. These variations result in highly diverse image scenes and drastic alterations in object appearance, so that it becomes more complicated to localize objects from the whole image scene and recognize their categories. To address this problem, in this paper, we introduce a novel object detection framework in aerial images, named LANGuage-guided Object detection (LANGO). Upon the proposed language-guided learning, the proposed framework is designed to alleviate the impacts from both scene and instance-level variations. First, we are motivated by the way humans understand the semantics of scenes while perceiving environmental factors in the scenes (e.g., weather). Therefore, we design a visual semantic reasoner that comprehends visual semantics of image scenes by interpreting conditions where the given images were captured. Second, we devise a training objective, named relation learning loss, to deal with instance-level variations, such as viewpoint angle and scale changes. This training objective aims to learn relations in language representations of object categories, with the help of the robust characteristics against such variations. Through extensive experiments, we demonstrate the effectiveness of the proposed method, and our method obtains noticeable detection performance improvements.

Adversarial Text Generation with Dynamic Contextual Perturbation

Adversarial attacks on Natural Language Processing (NLP) models expose vulnerabilities by introducing subtle perturbations to input text, often leading to misclassification while maintaining human readability. Existing methods typically focus on word-level or local text segment alterations, overlooking the broader context, which results in detectable or semantically inconsistent perturbations. We propose a novel adversarial text attack scheme named Dynamic Contextual Perturbation (DCP). DCP dynamically generates context-aware perturbations across sentences, paragraphs, and documents, ensuring semantic fidelity and fluency. Leveraging the capabilities of pre-trained language models, DCP iteratively refines perturbations through an adversarial objective function that balances the dual objectives of inducing model misclassification and preserving the naturalness of the text. This comprehensive approach allows DCP to produce more sophisticated and effective adversarial examples that better mimic natural language patterns. Our experimental results, conducted on various NLP models and datasets, demonstrate the efficacy of DCP in challenging the robustness of state-of-the-art NLP systems. By integrating dynamic contextual analysis, DCP significantly enhances the subtlety and impact of adversarial attacks. This study highlights the critical role of context in adversarial attacks and lays the groundwork for creating more robust NLP systems capable of withstanding sophisticated adversarial strategies.

FMG-Det: Foundation Model Guided Robust Object Detection

Collecting high quality data for object detection tasks is challenging due to the inherent subjectivity in labeling the boundaries of an object. This makes it difficult to not only collect consistent annotations across a dataset but also to validate them, as no two annotators are likely to label the same object using the exact same coordinates. These challenges are further compounded when object boundaries are partially visible or blurred, which can be the case in many domains. Training on noisy annotations significantly degrades detector performance, rendering them unusable, particularly in few-shot settings, where just a few corrupted annotations can impact model performance. In this work, we propose FMG-Det, a simple, efficient methodology for training models with noisy annotations. More specifically, we propose combining a multiple instance learning (MIL) framework with a pre-processing pipeline that leverages powerful foundation models to correct labels prior to training. This pre-processing pipeline, along with slight modifications to the detector head, results in state-of-the-art performance across a number of datasets, for both standard and few-shot scenarios, while being much simpler and more efficient than other approaches.

The Meeseeks Mesh: Spatially Consistent 3D Adversarial Objects for BEV Detector

3D object detection is a critical component in autonomous driving systems. It allows real-time recognition and detection of vehicles, pedestrians and obstacles under varying environmental conditions. Among existing methods, 3D object detection in the Bird's Eye View (BEV) has emerged as the mainstream framework. To guarantee a safe, robust and trustworthy 3D object detection, 3D adversarial attacks are investigated, where attacks are placed in 3D environments to evaluate the model performance, e.g. putting a film on a car, clothing a pedestrian. The vulnerability of 3D object detection models to 3D adversarial attacks serves as an important indicator to evaluate the robustness of the model against perturbations. To investigate this vulnerability, we generate non-invasive 3D adversarial objects tailored for real-world attack scenarios. Our method verifies the existence of universal adversarial objects that are spatially consistent across time and camera views. Specifically, we employ differentiable rendering techniques to accurately model the spatial relationship between adversarial objects and the target vehicle. Furthermore, we introduce an occlusion-aware module to enhance visual consistency and realism under different viewpoints. To maintain attack effectiveness across multiple frames, we design a BEV spatial feature-guided optimization strategy. Experimental results demonstrate that our approach can reliably suppress vehicle predictions from state-of-the-art 3D object detectors, serving as an important tool to test robustness of 3D object detection models before deployment. Moreover, the generated adversarial objects exhibit strong generalization capabilities, retaining its effectiveness at various positions and distances in the scene.

WTEFNet: Real-Time Low-Light Object Detection for Advanced Driver-Assistance Systems

Object detection is a cornerstone of environmental perception in advanced driver assistance systems(ADAS). However, most existing methods rely on RGB cameras, which suffer from significant performance degradation under low-light conditions due to poor image quality. To address this challenge, we proposes WTEFNet, a real-time object detection framework specifically designed for low-light scenarios, with strong adaptability to mainstream detectors. WTEFNet comprises three core modules: a Low-Light Enhancement (LLE) module, a Wavelet-based Feature Extraction (WFE) module, and an Adaptive Fusion Detection (AFFD) module. The LLE enhances dark regions while suppressing overexposed areas; the WFE applies multi-level discrete wavelet transforms to isolate high- and low-frequency components, enabling effective denoising and structural feature retention; the AFFD fuses semantic and illumination features for robust detection. To support training and evaluation, we introduce GSN, a manually annotated dataset covering both clear and rainy night-time scenes. Extensive experiments on BDD100K, SHIFT, nuScenes, and GSN demonstrate that WTEFNet achieves state-of-the-art accuracy under low-light conditions. Furthermore, deployment on a embedded platform (NVIDIA Jetson AGX Orin) confirms the framework's suitability for real-time ADAS applications.

Hallucination at a Glance: Controlled Visual Edits and Fine-Grained Multimodal Learning

Multimodal large language models (MLLMs) have achieved strong performance on vision-language tasks but still struggle with fine-grained visual differences, leading to hallucinations or missed semantic shifts. We attribute this to limitations in both training data and learning objectives. To address these issues, we propose a controlled data generation pipeline that produces minimally edited image pairs with semantically aligned captions. Using this pipeline, we construct the Micro Edit Dataset (MED), containing over 50K image-text pairs spanning 11 fine-grained edit categories, including attribute, count, position, and object presence changes. Building on MED, we introduce a supervised fine-tuning (SFT) framework with a feature-level consistency loss that promotes stable visual embeddings under small edits. We evaluate our approach on the Micro Edit Detection benchmark, which includes carefully balanced evaluation pairs designed to test sensitivity to subtle visual variations across the same edit categories. Our method improves difference detection accuracy and reduces hallucinations compared to strong baselines, including GPT-4o. Moreover, it yields consistent gains on standard vision-language tasks such as image captioning and visual question answering. These results demonstrate the effectiveness of combining targeted data and alignment objectives for enhancing fine-grained visual reasoning in MLLMs.