Daily Papers

We present a model for temporally precise action spotting in videos, which uses a dense set of detection anchors, predicting a detection confidence and corresponding fine-grained temporal displacement for each anchor. We experiment with two trunk architectures, both of which are able to incorporate large temporal contexts while preserving the smaller-scale features required for precise localization: a one-dimensional version of a u-net, and a Transformer encoder (TE). We also suggest best practices for training models of this kind, by applying Sharpness-Aware Minimization (SAM) and mixup data augmentation. We achieve a new state-of-the-art on SoccerNet-v2, the largest soccer video dataset of its kind, with marked improvements in temporal localization. Additionally, our ablations show: the importance of predicting the temporal displacements; the trade-offs between the u-net and TE trunks; and the benefits of training with SAM and mixup.

Does the environment of a galaxy directly influence the kinematics of its bar? We present observational evidence that bars in high-density environments exhibit significantly slower rotation rates than bars in low-density environments. Galactic bars are central, extended structures composed of stars, dust and gas, present in approximately 30 to 70 per cent of luminous spiral galaxies in the local Universe. Recent simulation studies have suggested that the environment can influence the bar rotation rate, R, which is used to classify bars as either fast (1leq R leq1.4) or slow (R gt 1.4). We use estimates of R obtained with the Tremaine-Weinberg method applied to Integral Field Unit spectroscopy from MaNGA and CALIFA. After cross-matching these with the projected neighbour density, logΣ, we retain 286 galaxies. The analysis reveals that bars in high-density environments are significantly slower (median R = 1.67^{+0.72}_{-0.42}) compared to bars in low-density environments (median R = 1.37^{+0.51}_{-0.34}); Anderson-Darling p-value of p_{AD}= 0.002 (3.1,σ). This study marks the first empirical test of the hypothesis that fast bars are formed by global instabilities in isolated galaxies, while slow bars are triggered by tidal interactions in dense environments, in agreement with predictions from numerous N-body simulations. Future studies would benefit from a larger sample of galaxies with reliable Integral Field Unit data, required to measure bar rotation rates. Specifically, more data are necessary to study the environmental influence on bar formation within dense settings (i.e. groups, clusters and filaments).

Document expansion (DE) via query generation tackles vocabulary mismatch in sparse retrieval, yet faces limitations: uncontrolled generation producing hallucinated or redundant queries with low diversity; poor generalization from in-domain training (e.g., MS MARCO) to out-of-domain data like BEIR; and noise from concatenation harming dense retrieval. While Large Language Models (LLMs) enable cross-domain query generation, basic prompting lacks control, and taxonomy-based methods rely on domain-specific structures, limiting applicability. To address these challenges, we introduce Doc2Query++, a DE framework that structures query generation by first inferring a document's latent topics via unsupervised topic modeling for cross-domain applicability, then using hybrid keyword selection to create a diverse and relevant keyword set per document. This guides LLM not only to leverage keywords, which ensure comprehensive topic representation, but also to reduce redundancy through diverse, relevant terms. To prevent noise from query appending in dense retrieval, we propose Dual-Index Fusion strategy that isolates text and query signals, boosting performance in dense settings. Extensive experiments show Doc2Query++ significantly outperforms state-of-the-art baselines, achieving substantial gains in MAP, nDCG@10 and Recall@100 across diverse datasets on both sparse and dense retrieval.

We propose a graph clustering formulation based on multicut (a.k.a. weighted correlation clustering) on the complete graph. Our formulation does not need specification of the graph topology as in the original sparse formulation of multicut, making our approach simpler and potentially better performing. In contrast to unweighted correlation clustering we allow for a more expressive weighted cost structure. In dense multicut, the clustering objective is given in a factorized form as inner products of node feature vectors. This allows for an efficient formulation and inference in contrast to multicut/weighted correlation clustering, which has at least quadratic representation and computation complexity when working on the complete graph. We show how to rewrite classical greedy algorithms for multicut in our dense setting and how to modify them for greater efficiency and solution quality. In particular, our algorithms scale to graphs with tens of thousands of nodes. Empirical evidence on instance segmentation on Cityscapes and clustering of ImageNet datasets shows the merits of our approach.

In this paper, we focus on 3D scene inpainting, where parts of an input image set, captured from different viewpoints, are masked out. The main challenge lies in generating plausible image completions that are geometrically consistent across views. Most recent work addresses this challenge by combining generative models with a 3D radiance field to fuse information across a relatively dense set of viewpoints. However, a major drawback of these methods is that they often produce blurry images due to the fusion of inconsistent cross-view images. To avoid blurry inpaintings, we eschew the use of an explicit or implicit radiance field altogether and instead fuse cross-view information in a learned space. In particular, we introduce a geometry-aware conditional generative model, capable of multi-view consistent inpainting using reference-based geometric and appearance cues. A key advantage of our approach over existing methods is its unique ability to inpaint masked scenes with a limited number of views (i.e., few-view inpainting), whereas previous methods require relatively large image sets for their 3D model fitting step. Empirically, we evaluate and compare our scene-centric inpainting method on two datasets, SPIn-NeRF and NeRFiller, which contain images captured at narrow and wide baselines, respectively, and achieve state-of-the-art 3D inpainting performance on both. Additionally, we demonstrate the efficacy of our approach in the few-view setting compared to prior methods.

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because they rely on the ability to robustly identify and match visual features between image pairs. While these methods can work robustly with dense camera views, capturing a large set of images can be time-consuming or impractical. We propose SparsePose for recovering accurate camera poses given a sparse set of wide-baseline images (fewer than 10). The method learns to regress initial camera poses and then iteratively refine them after training on a large-scale dataset of objects (Co3D: Common Objects in 3D). SparsePose significantly outperforms conventional and learning-based baselines in recovering accurate camera rotations and translations. We also demonstrate our pipeline for high-fidelity 3D reconstruction using only 5-9 images of an object.

Neural Radiance Field (NeRF) has been a mainstream in novel view synthesis with its remarkable quality of rendered images and simple architecture. Although NeRF has been developed in various directions improving continuously its performance, the necessity of a dense set of multi-view images still exists as a stumbling block to progress for practical application. In this work, we propose FlipNeRF, a novel regularization method for few-shot novel view synthesis by utilizing our proposed flipped reflection rays. The flipped reflection rays are explicitly derived from the input ray directions and estimated normal vectors, and play a role of effective additional training rays while enabling to estimate more accurate surface normals and learn the 3D geometry effectively. Since the surface normal and the scene depth are both derived from the estimated densities along a ray, the accurate surface normal leads to more exact depth estimation, which is a key factor for few-shot novel view synthesis. Furthermore, with our proposed Uncertainty-aware Emptiness Loss and Bottleneck Feature Consistency Loss, FlipNeRF is able to estimate more reliable outputs with reducing floating artifacts effectively across the different scene structures, and enhance the feature-level consistency between the pair of the rays cast toward the photo-consistent pixels without any additional feature extractor, respectively. Our FlipNeRF achieves the SOTA performance on the multiple benchmarks across all the scenarios.

Faithful human performance capture and free-view rendering from sparse RGB observations is a long-standing problem in Vision and Graphics. The main challenges are the lack of observations and the inherent ambiguities of the setting, e.g. occlusions and depth ambiguity. As a result, radiance fields, which have shown great promise in capturing high-frequency appearance and geometry details in dense setups, perform poorly when naively supervising them on sparse camera views, as the field simply overfits to the sparse-view inputs. To address this, we propose MetaCap, a method for efficient and high-quality geometry recovery and novel view synthesis given very sparse or even a single view of the human. Our key idea is to meta-learn the radiance field weights solely from potentially sparse multi-view videos, which can serve as a prior when fine-tuning them on sparse imagery depicting the human. This prior provides a good network weight initialization, thereby effectively addressing ambiguities in sparse-view capture. Due to the articulated structure of the human body and motion-induced surface deformations, learning such a prior is non-trivial. Therefore, we propose to meta-learn the field weights in a pose-canonicalized space, which reduces the spatial feature range and makes feature learning more effective. Consequently, one can fine-tune our field parameters to quickly generalize to unseen poses, novel illumination conditions as well as novel and sparse (even monocular) camera views. For evaluating our method under different scenarios, we collect a new dataset, WildDynaCap, which contains subjects captured in, both, a dense camera dome and in-the-wild sparse camera rigs, and demonstrate superior results compared to recent state-of-the-art methods on, both, public and WildDynaCap dataset.

We introduce a new dataset named WikiVitals which contains a large graph of 48k mutually referred Wikipedia articles classified into 32 categories and connected by 2.3M edges. Our aim is to rigorously evaluate the contributions of three distinct sources of information to the label prediction in a semi-supervised node classification setting, namely the content of the articles, their connections with each other and the correlations among their labels. We perform this evaluation using a Graph Markov Neural Network which provides a theoretically principled model for this task and we conduct a detailed evaluation of the contributions of each sources of information using a clear separation of model selection and model assessment. One interesting observation is that including the effect of label dependencies is more relevant for sparse train sets than it is for dense train sets.

In this paper, we study the localization problem in dense urban settings. In such environments, Global Navigation Satellite Systems fail to provide good accuracy due to low likelihood of line-of-sight (LOS) links between the receiver (Rx) to be located and the satellites, due to the presence of obstacles like the buildings. Thus, one has to resort to other technologies, which can reliably operate under non-line-of-sight (NLOS) conditions. Recently, we proposed a Received Signal Strength (RSS) fingerprint and convolutional neural network-based algorithm, LocUNet, and demonstrated its state-of-the-art localization performance with respect to the widely adopted k-nearest neighbors (kNN) algorithm, and to state-of-the-art time of arrival (ToA) ranging-based methods. In the current work, we first recognize LocUNet's ability to learn the underlying prior distribution of the Rx position or Rx and transmitter (Tx) association preferences from the training data, and attribute its high performance to these. Conversely, we demonstrate that classical methods based on probabilistic approach, can greatly benefit from an appropriate incorporation of such prior information. Our studies also numerically prove LocUNet's close to optimal performance in many settings, by comparing it with the theoretically optimal formulations.

Mobile users (or UEs, to use 3GPP terminology) served by small cells in dense urban settings may abruptly experience a significant deterioration in their channel to their serving base stations (BSs) in several scenarios, such as after turning a corner around a tall building, or a sudden knot of traffic blocking the direct path between the UE and its serving BS. In this work, we propose a scheme to temporarily increase the data rate to/from this UE with additional bandwidth from the nearest Coordinated Multi-Point (CoMP) cluster of BSs, while the slower process of handover of the UE to a new serving BS is ongoing. We emphasize that this additional bandwidth is additional to the data rates the UE is getting over its primary connection to the current serving BS and, after the handover, to the new serving BS. The key novelty of the present work is the proposal of a decentralized market-based resource allocation method to perform resource allocation to support Coordinated Beamforming (CB) CoMP. It is scalable to large numbers of UEs and BSs, and it is fast because resource allocations are made bilaterally, between BSs and UEs. Once the resource allocation to the UE has been made, the coordinated of transmissions occurs as per the usual CB methods. Thus the proposed method has the benefit of giving the UE access to its desired amount of resources fast, without waiting for handover to complete, or reporting channel state information before it knows the resources it will be allocated for receiving transmissions from the serving BS.

Multi-task visual learning is a critical aspect of computer vision. Current research, however, predominantly concentrates on the multi-task dense prediction setting, which overlooks the intrinsic 3D world and its multi-view consistent structures, and lacks the capability for versatile imagination. In response to these limitations, we present a novel problem setting -- multi-task view synthesis (MTVS), which reinterprets multi-task prediction as a set of novel-view synthesis tasks for multiple scene properties, including RGB. To tackle the MTVS problem, we propose MuvieNeRF, a framework that incorporates both multi-task and cross-view knowledge to simultaneously synthesize multiple scene properties. MuvieNeRF integrates two key modules, the Cross-Task Attention (CTA) and Cross-View Attention (CVA) modules, enabling the efficient use of information across multiple views and tasks. Extensive evaluation on both synthetic and realistic benchmarks demonstrates that MuvieNeRF is capable of simultaneously synthesizing different scene properties with promising visual quality, even outperforming conventional discriminative models in various settings. Notably, we show that MuvieNeRF exhibits universal applicability across a range of NeRF backbones. Our code is available at https://github.com/zsh2000/MuvieNeRF.

Exploring robust and efficient association methods has always been an important issue in multiple-object tracking (MOT). Although existing tracking methods have achieved impressive performance, congestion and frequent occlusions still pose challenging problems in multi-object tracking. We reveal that performing sparse decomposition on dense scenes is a crucial step to enhance the performance of associating occluded targets. To this end, we propose a pseudo-depth estimation method for obtaining the relative depth of targets from 2D images. Secondly, we design a depth cascading matching (DCM) algorithm, which can use the obtained depth information to convert a dense target set into multiple sparse target subsets and perform data association on these sparse target subsets in order from near to far. By integrating the pseudo-depth method and the DCM strategy into the data association process, we propose a new tracker, called SparseTrack. SparseTrack provides a new perspective for solving the challenging crowded scene MOT problem. Only using IoU matching, SparseTrack achieves comparable performance with the state-of-the-art (SOTA) methods on the MOT17 and MOT20 benchmarks. Code and models are publicly available at https://github.com/hustvl/SparseTrack.

Feed-forward 3D Gaussian Splatting (3DGS) models have recently emerged as a promising solution for novel view synthesis, enabling one-pass inference without the need for per-scene 3DGS optimization. However, their scalability is fundamentally constrained by the limited capacity of their encoders, leading to degraded performance or excessive memory consumption as the number of input views increases. In this work, we analyze feed-forward 3DGS frameworks through the lens of the Information Bottleneck principle and introduce ZPressor, a lightweight architecture-agnostic module that enables efficient compression of multi-view inputs into a compact latent state Z that retains essential scene information while discarding redundancy. Concretely, ZPressor enables existing feed-forward 3DGS models to scale to over 100 input views at 480P resolution on an 80GB GPU, by partitioning the views into anchor and support sets and using cross attention to compress the information from the support views into anchor views, forming the compressed latent state Z. We show that integrating ZPressor into several state-of-the-art feed-forward 3DGS models consistently improves performance under moderate input views and enhances robustness under dense view settings on two large-scale benchmarks DL3DV-10K and RealEstate10K. The video results, code and trained models are available on our project page: https://lhmd.top/zpressor.

Achieving high-fidelity 3D surface reconstruction while preserving fine details remains challenging, especially in the presence of materials with complex reflectance properties and without a dense-view setup. In this paper, we introduce a versatile framework that incorporates multi-view normal and optionally reflectance maps into radiance-based surface reconstruction. Our approach employs a pixel-wise joint re-parametrization of reflectance and surface normals, representing them as a vector of radiances under simulated, varying illumination. This formulation enables seamless incorporation into standard surface reconstruction pipelines, such as traditional multi-view stereo (MVS) frameworks or modern neural volume rendering (NVR) ones. Combined with the latter, our approach achieves state-of-the-art performance on multi-view photometric stereo (MVPS) benchmark datasets, including DiLiGenT-MV, LUCES-MV and Skoltech3D. In particular, our method excels in reconstructing fine-grained details and handling challenging visibility conditions. The present paper is an extended version of the earlier conference paper by Brument et al. (in Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024), featuring an accelerated and more robust algorithm as well as a broader empirical evaluation. The code and data relative to this article is available at https://github.com/RobinBruneau/RNb-NeuS2.

End-to-end multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates. A key component is a robust trajectory scorer capable of selecting the optimal trajectory from these candidates. While recent trajectory scorers focus on scoring either large sets of static trajectories or small sets of dynamically generated ones, both approaches face significant limitations in generalization. Static vocabularies provide effective coarse discretization but struggle to make fine-grained adaptation, while dynamic proposals offer detailed precision but fail to capture broader trajectory distributions. To overcome these challenges, we propose GTRS (Generalized Trajectory Scoring), a unified framework for end-to-end multi-modal planning that combines coarse and fine-grained trajectory evaluation. GTRS consists of three complementary innovations: (1) a diffusion-based trajectory generator that produces diverse fine-grained proposals; (2) a vocabulary generalization technique that trains a scorer on super-dense trajectory sets with dropout regularization, enabling its robust inference on smaller subsets; and (3) a sensor augmentation strategy that enhances out-of-domain generalization while incorporating refinement training for critical trajectory discrimination. As the winning solution of the Navsim v2 Challenge, GTRS demonstrates superior performance even with sub-optimal sensor inputs, approaching privileged methods that rely on ground-truth perception. Code will be available at https://github.com/NVlabs/GTRS.

Lebesgue curve is a space-filling curve that fills the unit square through linear interpolation. In this study, we generalise Lebesgue's construction to generate space-filling curves from any given planar substitution satisfying a mild condition. The generated space-filling curves for some known substitutions are elucidated. Some of those substitutions further induce relatively dense fractal-like sets in the plane, whenever some additional assumptions are met.

We introduce dense vision transformers, an architecture that leverages vision transformers in place of convolutional networks as a backbone for dense prediction tasks. We assemble tokens from various stages of the vision transformer into image-like representations at various resolutions and progressively combine them into full-resolution predictions using a convolutional decoder. The transformer backbone processes representations at a constant and relatively high resolution and has a global receptive field at every stage. These properties allow the dense vision transformer to provide finer-grained and more globally coherent predictions when compared to fully-convolutional networks. Our experiments show that this architecture yields substantial improvements on dense prediction tasks, especially when a large amount of training data is available. For monocular depth estimation, we observe an improvement of up to 28% in relative performance when compared to a state-of-the-art fully-convolutional network. When applied to semantic segmentation, dense vision transformers set a new state of the art on ADE20K with 49.02% mIoU. We further show that the architecture can be fine-tuned on smaller datasets such as NYUv2, KITTI, and Pascal Context where it also sets the new state of the art. Our models are available at https://github.com/intel-isl/DPT.

In this paper, we present the first multilingual FAQ dataset publicly available. We collected around 6M FAQ pairs from the web, in 21 different languages. Although this is significantly larger than existing FAQ retrieval datasets, it comes with its own challenges: duplication of content and uneven distribution of topics. We adopt a similar setup as Dense Passage Retrieval (DPR) and test various bi-encoders on this dataset. Our experiments reveal that a multilingual model based on XLM-RoBERTa achieves the best results, except for English. Lower resources languages seem to learn from one another as a multilingual model achieves a higher MRR than language-specific ones. Our qualitative analysis reveals the brittleness of the model on simple word changes. We publicly release our dataset, model and training script.

Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a significant gap to robust spatial generalization. We identify a key limitation: individual trajectories, regardless of their length, are typically collected from a single, static spatial configuration of the environment. This includes fixed object and target spatial positions as well as unchanging camera viewpoints, which significantly restricts the diversity of spatial information available for learning. To address this critical bottleneck in data efficiency, we propose MOtion-Based Variability Enhancement (MOVE), a simple yet effective data collection paradigm that enables the acquisition of richer spatial information from dynamic demonstrations. Our core contribution is an augmentation strategy that injects motion into any movable objects within the environment for each demonstration. This process implicitly generates a dense and diverse set of spatial configurations within a single trajectory. We conduct extensive experiments in both simulation and real-world environments to validate our approach. For example, in simulation tasks requiring strong spatial generalization, MOVE achieves an average success rate of 39.1\%, a 76.1\% relative improvement over the static data collection paradigm (22.2\%), and yields up to 2--5times gains in data efficiency on certain tasks. Our code is available at https://github.com/lucywang720/MOVE.

Perception systems in modern autonomous driving vehicles typically take inputs from complementary multi-modal sensors, e.g., LiDAR and cameras. However, in real-world applications, sensor corruptions and failures lead to inferior performances, thus compromising autonomous safety. In this paper, we propose a robust framework, called MetaBEV, to address extreme real-world environments involving overall six sensor corruptions and two extreme sensor-missing situations. In MetaBEV, signals from multiple sensors are first processed by modal-specific encoders. Subsequently, a set of dense BEV queries are initialized, termed meta-BEV. These queries are then processed iteratively by a BEV-Evolving decoder, which selectively aggregates deep features from either LiDAR, cameras, or both modalities. The updated BEV representations are further leveraged for multiple 3D prediction tasks. Additionally, we introduce a new M2oE structure to alleviate the performance drop on distinct tasks in multi-task joint learning. Finally, MetaBEV is evaluated on the nuScenes dataset with 3D object detection and BEV map segmentation tasks. Experiments show MetaBEV outperforms prior arts by a large margin on both full and corrupted modalities. For instance, when the LiDAR signal is missing, MetaBEV improves 35.5% detection NDS and 17.7% segmentation mIoU upon the vanilla BEVFusion model; and when the camera signal is absent, MetaBEV still achieves 69.2% NDS and 53.7% mIoU, which is even higher than previous works that perform on full-modalities. Moreover, MetaBEV performs fairly against previous methods in both canonical perception and multi-task learning settings, refreshing state-of-the-art nuScenes BEV map segmentation with 70.4% mIoU.

The task of assigning semantic classes and track identities to every pixel in a video is called video panoptic segmentation. Our work is the first that targets this task in a real-world setting requiring dense interpretation in both spatial and temporal domains. As the ground-truth for this task is difficult and expensive to obtain, existing datasets are either constructed synthetically or only sparsely annotated within short video clips. To overcome this, we introduce a new benchmark encompassing two datasets, KITTI-STEP, and MOTChallenge-STEP. The datasets contain long video sequences, providing challenging examples and a test-bed for studying long-term pixel-precise segmentation and tracking under real-world conditions. We further propose a novel evaluation metric Segmentation and Tracking Quality (STQ) that fairly balances semantic and tracking aspects of this task and is more appropriate for evaluating sequences of arbitrary length. Finally, we provide several baselines to evaluate the status of existing methods on this new challenging dataset. We have made our datasets, metric, benchmark servers, and baselines publicly available, and hope this will inspire future research.

The training paradigm for large language models (LLMs) is moving from static datasets to experience-based learning, where agents acquire skills via interacting with complex environments. To facilitate this transition we introduce GEM (General Experience Maker), an open-source environment simulator designed for the age of LLMs. Analogous to OpenAI-Gym for traditional reinforcement learning (RL), GEM provides a standardized framework for the environment-agent interface, including asynchronous vectorized execution for high throughput, and flexible wrappers for easy extensibility. GEM also features a diverse suite of environments, robust integrated tools, and single-file example scripts demonstrating using GEM with five popular RL training frameworks. Along with this, we also provide a set of baselines across 24 environments using REINFORCE with Return Batch Normalization (ReBN), which -- unlike GRPO -- is compatible with the full RL setting of dense per-turn rewards and offers better credit assignment. We further conduct apple-to-apple benchmarking of PPO, GRPO and REINFORCE in both single- and multi-turn settings using GEM to shed light on the algorithmic designs. Lastly, GEM also functions as a convenient evaluation toolkit besides a training environment. We hope this framework can help accelerate future agentic LLM research.

In this work, we establish dense correspondences between RGB image and a surface-based representation of the human body, a task we refer to as dense human pose estimation. We first gather dense correspondences for 50K persons appearing in the COCO dataset by introducing an efficient annotation pipeline. We then use our dataset to train CNN-based systems that deliver dense correspondence 'in the wild', namely in the presence of background, occlusions and scale variations. We improve our training set's effectiveness by training an 'inpainting' network that can fill in missing groundtruth values and report clear improvements with respect to the best results that would be achievable in the past. We experiment with fully-convolutional networks and region-based models and observe a superiority of the latter; we further improve accuracy through cascading, obtaining a system that delivers highly0accurate results in real time. Supplementary materials and videos are provided on the project page http://densepose.org

While the current state-of-the-art dense retrieval models exhibit strong out-of-domain generalization, they might fail to capture nuanced domain-specific knowledge. In principle, fine-tuning these models for specialized retrieval tasks should yield higher effectiveness than relying on a one-size-fits-all model, but in practice, results can disappoint. We show that standard fine-tuning methods using an InfoNCE loss can unexpectedly degrade effectiveness rather than improve it, even for domain-specific scenarios. This holds true even when applying widely adopted techniques such as hard-negative mining and negative de-noising. To address this, we explore a training strategy that uses listwise distillation from a teacher cross-encoder, leveraging rich relevance signals to fine-tune the retriever. We further explore synthetic query generation using large language models. Through listwise distillation and training with a diverse set of queries ranging from natural user searches and factual claims to keyword-based queries, we achieve consistent effectiveness gains across multiple datasets. Our results also reveal that synthetic queries can rival human-written queries in training utility. However, we also identify limitations, particularly in the effectiveness of cross-encoder teachers as a bottleneck. We release our code and scripts to encourage further research.

3D dense captioning stands as a cornerstone in achieving a comprehensive understanding of 3D scenes through natural language. It has recently witnessed remarkable achievements, particularly in indoor settings. However, the exploration of 3D dense captioning in outdoor scenes is hindered by two major challenges: 1) the domain gap between indoor and outdoor scenes, such as dynamics and sparse visual inputs, makes it difficult to directly adapt existing indoor methods; 2) the lack of data with comprehensive box-caption pair annotations specifically tailored for outdoor scenes. To this end, we introduce the new task of outdoor 3D dense captioning. As input, we assume a LiDAR point cloud and a set of RGB images captured by the panoramic camera rig. The expected output is a set of object boxes with captions. To tackle this task, we propose the TOD3Cap network, which leverages the BEV representation to generate object box proposals and integrates Relation Q-Former with LLaMA-Adapter to generate rich captions for these objects. We also introduce the TOD3Cap dataset, the largest one to our knowledge for 3D dense captioning in outdoor scenes, which contains 2.3M descriptions of 64.3K outdoor objects from 850 scenes. Notably, our TOD3Cap network can effectively localize and caption 3D objects in outdoor scenes, which outperforms baseline methods by a significant margin (+9.6 [email protected]). Code, data, and models are publicly available at https://github.com/jxbbb/TOD3Cap.

This paper introduces a network for volumetric segmentation that learns from sparsely annotated volumetric images. We outline two attractive use cases of this method: (1) In a semi-automated setup, the user annotates some slices in the volume to be segmented. The network learns from these sparse annotations and provides a dense 3D segmentation. (2) In a fully-automated setup, we assume that a representative, sparsely annotated training set exists. Trained on this data set, the network densely segments new volumetric images. The proposed network extends the previous u-net architecture from Ronneberger et al. by replacing all 2D operations with their 3D counterparts. The implementation performs on-the-fly elastic deformations for efficient data augmentation during training. It is trained end-to-end from scratch, i.e., no pre-trained network is required. We test the performance of the proposed method on a complex, highly variable 3D structure, the Xenopus kidney, and achieve good results for both use cases.

Multimodal Large Language Models (MLLMs) demonstrate a complex understanding of scenes, benefiting from large-scale and high-quality datasets. Most existing caption datasets lack the ground locations and relations for visual entities. Several grounded caption datasets face the problems of missing detailed descriptions, relations, and massive object descriptions on high-resolution images. To fill this gap for the community, we present DenseWorld-1M, the first massive, detailed, dense grounded caption dataset in the real world. We design a three-stage labeling pipeline, containing open-world perception, detailed object caption generation, and dense caption merging. The first stage obtains entity-level masks and labels. The second stage generates the object-level, detailed captions with the guidance of masks and labels from the first stage. The final stage merges object captions and masks into spatial and relational dense captions. To accelerate the labeling process and improve caption quality, we present two VLM models: the Detailed Region Caption model and the Spatial Caption Merging model. Extensive experiments on various settings, including vision-language understanding, visual grounding, and region caption generation, demonstrate the effectiveness of our DenseWorld-1M dataset and labeling models.

Due to the large success in object detection and instance segmentation, Mask R-CNN attracts great attention and is widely adopted as a strong baseline for arbitrary-shaped scene text detection and spotting. However, two issues remain to be settled. The first is dense text case, which is easy to be neglected but quite practical. There may exist multiple instances in one proposal, which makes it difficult for the mask head to distinguish different instances and degrades the performance. In this work, we argue that the performance degradation results from the learning confusion issue in the mask head. We propose to use an MLP decoder instead of the "deconv-conv" decoder in the mask head, which alleviates the issue and promotes robustness significantly. And we propose instance-aware mask learning in which the mask head learns to predict the shape of the whole instance rather than classify each pixel to text or non-text. With instance-aware mask learning, the mask branch can learn separated and compact masks. The second is that due to large variations in scale and aspect ratio, RPN needs complicated anchor settings, making it hard to maintain and transfer across different datasets. To settle this issue, we propose an adaptive label assignment in which all instances especially those with extreme aspect ratios are guaranteed to be associated with enough anchors. Equipped with these components, the proposed method named MAYOR achieves state-of-the-art performance on five benchmarks including DAST1500, MSRA-TD500, ICDAR2015, CTW1500, and Total-Text.

A k-clique is a dense graph, consisting of k fully-connected nodes, that finds numerous applications, such as community detection and network analysis. In this paper, we study a new problem, that finds a maximum set of disjoint k-cliques in a given large real-world graph with a user-defined fixed number k, which can contribute to a good performance of teaming collaborative events in online games. However, this problem is NP-hard when k geq 3, making it difficult to solve. To address that, we propose an efficient lightweight method that avoids significant overheads and achieves a k-approximation to the optimal, which is equipped with several optimization techniques, including the ordering method, degree estimation in the clique graph, and a lightweight implementation. Besides, to handle dynamic graphs that are widely seen in real-world social networks, we devise an efficient indexing method with careful swapping operations, leading to the efficient maintenance of a near-optimal result with frequent updates in the graph. In various experiments on several large graphs, our proposed approaches significantly outperform the competitors by up to 2 orders of magnitude in running time and 13.3\% in the number of computed disjoint k-cliques, which demonstrates the superiority of the proposed approaches in terms of efficiency and effectiveness.

Though tremendous strides have been made in uncontrolled face detection, accurate and efficient face localisation in the wild remains an open challenge. This paper presents a robust single-stage face detector, named RetinaFace, which performs pixel-wise face localisation on various scales of faces by taking advantages of joint extra-supervised and self-supervised multi-task learning. Specifically, We make contributions in the following five aspects: (1) We manually annotate five facial landmarks on the WIDER FACE dataset and observe significant improvement in hard face detection with the assistance of this extra supervision signal. (2) We further add a self-supervised mesh decoder branch for predicting a pixel-wise 3D shape face information in parallel with the existing supervised branches. (3) On the WIDER FACE hard test set, RetinaFace outperforms the state of the art average precision (AP) by 1.1% (achieving AP equal to 91.4%). (4) On the IJB-C test set, RetinaFace enables state of the art methods (ArcFace) to improve their results in face verification (TAR=89.59% for FAR=1e-6). (5) By employing light-weight backbone networks, RetinaFace can run real-time on a single CPU core for a VGA-resolution image. Extra annotations and code have been made available at: https://github.com/deepinsight/insightface/tree/master/RetinaFace.

Mixture-of-Experts (MoE) shines brightly in large language models (LLMs) and demonstrates outstanding performance in plentiful natural language processing tasks. However, existing methods transforming LLMs from dense to MoE face significant data requirements and typically rely on large-scale post-training. In this paper, we propose Upcycling Instruction Tuning (UpIT), a data-efficient approach for tuning a dense pre-trained model into a MoE instruction model. Specifically, we first point out that intermediate checkpoints during instruction tuning of the dense model are naturally suitable for specialized experts, and then propose an expert expansion stage to flexibly achieve models with flexible numbers of experts, where genetic algorithm and parameter merging are introduced to ensure sufficient diversity of new extended experts. To ensure that each specialized expert in the MoE model works as expected, we select a small amount of seed data that each expert excels to pre-optimize the router. Extensive experiments with various data scales and upcycling settings demonstrate the outstanding performance and data efficiency of UpIT, as well as stable improvement in expert or data scaling. Further analysis reveals the importance of ensuring expert diversity in upcycling.

Although existing neural retrieval models reveal promising results when training data is abundant and the performance keeps improving as training data increases, collecting high-quality annotated data is prohibitively costly. To this end, we introduce a novel noisy self-training framework combined with synthetic queries, showing that neural retrievers can be improved in a self-evolution manner with no reliance on any external models. Experimental results show that our method improves consistently over existing methods on both general-domain (e.g., MS-MARCO) and out-of-domain (i.e., BEIR) retrieval benchmarks. Extra analysis on low-resource settings reveals that our method is data efficient and outperforms competitive baselines, with as little as 30% of labelled training data. Further extending the framework for reranker training demonstrates that the proposed method is general and yields additional gains on tasks of diverse domains.Source code is available at \url{https://github.com/Fantabulous-J/Self-Training-DPR}

Current state-of-the-art object detection and segmentation methods work well under the closed-world assumption. This closed-world setting assumes that the list of object categories is available during training and deployment. However, many real-world applications require detecting or segmenting novel objects, i.e., object categories never seen during training. In this paper, we present, UVO (Unidentified Video Objects), a new benchmark for open-world class-agnostic object segmentation in videos. Besides shifting the problem focus to the open-world setup, UVO is significantly larger, providing approximately 8 times more videos compared with DAVIS, and 7 times more mask (instance) annotations per video compared with YouTube-VOS and YouTube-VIS. UVO is also more challenging as it includes many videos with crowded scenes and complex background motions. We demonstrated that UVO can be used for other applications, such as object tracking and super-voxel segmentation, besides open-world object segmentation. We believe that UVo is a versatile testbed for researchers to develop novel approaches for open-world class-agnostic object segmentation, and inspires new research directions towards a more comprehensive video understanding beyond classification and detection.

Supervised deep learning has gained significant attention for speech enhancement recently. The state-of-the-art deep learning methods perform the task by learning a ratio/binary mask that is applied to the mixture in the time-frequency domain to produce the clean speech. Despite the great performance in the single-channel setting, these frameworks lag in performance in the multichannel setting as the majority of these methods a) fail to exploit the available spatial information fully, and b) still treat the deep architecture as a black box which may not be well-suited for multichannel audio processing. This paper addresses these drawbacks, a) by utilizing complex ratio masking instead of masking on the magnitude of the spectrogram, and more importantly, b) by introducing a channel-attention mechanism inside the deep architecture to mimic beamforming. We propose Channel-Attention Dense U-Net, in which we apply the channel-attention unit recursively on feature maps at every layer of the network, enabling the network to perform non-linear beamforming. We demonstrate the superior performance of the network against the state-of-the-art approaches on the CHiME-3 dataset.

Text-conditioned image generation has gained significant attention in recent years and are processing increasingly longer and comprehensive text prompt. In everyday life, dense and intricate text appears in contexts like advertisements, infographics, and signage, where the integration of both text and visuals is essential for conveying complex information. However, despite these advances, the generation of images containing long-form text remains a persistent challenge, largely due to the limitations of existing datasets, which often focus on shorter and simpler text. To address this gap, we introduce TextAtlas5M, a novel dataset specifically designed to evaluate long-text rendering in text-conditioned image generation. Our dataset consists of 5 million long-text generated and collected images across diverse data types, enabling comprehensive evaluation of large-scale generative models on long-text image generation. We further curate 3000 human-improved test set TextAtlasEval across 3 data domains, establishing one of the most extensive benchmarks for text-conditioned generation. Evaluations suggest that the TextAtlasEval benchmarks present significant challenges even for the most advanced proprietary models (e.g. GPT4o with DallE-3), while their open-source counterparts show an even larger performance gap. These evidences position TextAtlas5M as a valuable dataset for training and evaluating future-generation text-conditioned image generation models.

Dense video captioning, a task of localizing meaningful moments and generating relevant captions for videos, often requires a large, expensive corpus of annotated video segments paired with text. In an effort to minimize the annotation cost, we propose ZeroTA, a novel method for dense video captioning in a zero-shot manner. Our method does not require any videos or annotations for training; instead, it localizes and describes events within each input video at test time by optimizing solely on the input. This is accomplished by introducing a soft moment mask that represents a temporal segment in the video and jointly optimizing it with the prefix parameters of a language model. This joint optimization aligns a frozen language generation model (i.e., GPT-2) with a frozen vision-language contrastive model (i.e., CLIP) by maximizing the matching score between the generated text and a moment within the video. We also introduce a pairwise temporal IoU loss to let a set of soft moment masks capture multiple distinct events within the video. Our method effectively discovers diverse significant events within the video, with the resulting captions appropriately describing these events. The empirical results demonstrate that ZeroTA surpasses zero-shot baselines and even outperforms the state-of-the-art few-shot method on the widely-used benchmark ActivityNet Captions. Moreover, our method shows greater robustness compared to supervised methods when evaluated in out-of-domain scenarios. This research provides insight into the potential of aligning widely-used models, such as language generation models and vision-language models, to unlock a new capability: understanding temporal aspects of videos.

We propose RaDeR, a set of reasoning-based dense retrieval models trained with data derived from mathematical problem solving using large language models (LLMs). Our method leverages retrieval-augmented reasoning trajectories of an LLM and self-reflective relevance evaluation, enabling the creation of both diverse and hard-negative samples for reasoning-intensive relevance. RaDeR retrievers, trained for mathematical reasoning, effectively generalize to diverse reasoning tasks in the BRIGHT and RAR-b benchmarks, consistently outperforming strong baselines in overall performance. Notably, RaDeR achieves significantly higher performance than baselines on the Math and Coding splits. In addition, RaDeR presents the first dense retriever that outperforms BM25 when queries are Chain-of-Thought reasoning steps, underscoring the critical role of reasoning-based retrieval to augment reasoning language models. Furthermore, RaDeR achieves comparable or superior performance while using only 2.5% of the training data used by the concurrent work REASONIR, highlighting the quality of our synthesized training data.

Enabling Visual Semantic Models to effectively handle multi-view description matching has been a longstanding challenge. Existing methods typically learn a set of embeddings to find the optimal match for each view's text and compute similarity. However, the visual and text embeddings learned through these approaches have limited information capacity and are prone to interference from locally similar negative samples. To address this issue, we argue that the information capacity of embeddings is crucial and propose Dense-to-Sparse Feature Distilled Visual Semantic Embedding (D2S-VSE), which enhances the information capacity of sparse text by leveraging dense text distillation. Specifically, D2S-VSE is a two-stage framework. In the pre-training stage, we align images with dense text to enhance the information capacity of visual semantic embeddings. In the fine-tuning stage, we optimize two tasks simultaneously, distilling dense text embeddings to sparse text embeddings while aligning images and sparse texts, enhancing the information capacity of sparse text embeddings. Our proposed D2S-VSE model is extensively evaluated on the large-scale MS-COCO and Flickr30K datasets, demonstrating its superiority over recent state-of-the-art methods.

The proliferation of digital microscopy images, driven by advances in automated whole slide scanning, presents significant opportunities for biomedical research and clinical diagnostics. However, accurately annotating densely packed information in these images remains a major challenge. To address this, we introduce DiffKillR, a novel framework that reframes cell annotation as the combination of archetype matching and image registration tasks. DiffKillR employs two complementary neural networks: one that learns a diffeomorphism-invariant feature space for robust cell matching and another that computes the precise warping field between cells for annotation mapping. Using a small set of annotated archetypes, DiffKillR efficiently propagates annotations across large microscopy images, reducing the need for extensive manual labeling. More importantly, it is suitable for any type of pixel-level annotation. We will discuss the theoretical properties of DiffKillR and validate it on three microscopy tasks, demonstrating its advantages over existing supervised, semi-supervised, and unsupervised methods. The code is available at https://github.com/KrishnaswamyLab/DiffKillR.

The highest accuracy object detectors to date are based on a two-stage approach popularized by R-CNN, where a classifier is applied to a sparse set of candidate object locations. In contrast, one-stage detectors that are applied over a regular, dense sampling of possible object locations have the potential to be faster and simpler, but have trailed the accuracy of two-stage detectors thus far. In this paper, we investigate why this is the case. We discover that the extreme foreground-background class imbalance encountered during training of dense detectors is the central cause. We propose to address this class imbalance by reshaping the standard cross entropy loss such that it down-weights the loss assigned to well-classified examples. Our novel Focal Loss focuses training on a sparse set of hard examples and prevents the vast number of easy negatives from overwhelming the detector during training. To evaluate the effectiveness of our loss, we design and train a simple dense detector we call RetinaNet. Our results show that when trained with the focal loss, RetinaNet is able to match the speed of previous one-stage detectors while surpassing the accuracy of all existing state-of-the-art two-stage detectors. Code is at: https://github.com/facebookresearch/Detectron.

Reinforcement learning (RL) can align language models with non-differentiable reward signals, such as human preferences. However, a major challenge arises from the sparsity of these reward signals - typically, there is only one reward for the entire generation. This sparsity of rewards can lead to inefficient and unstable learning. In this paper, we introduce a novel framework leveraging the critique ability of LLMs to produce dense rewards throughout the learning process. Our approach incorporates a critic language model alongside the policy model. This critic is prompted with the task description, question, policy model's output, and environment's reward signal as input, and provides token or span-level dense rewards that reflect the quality of each segment of the output. We assess our approach on three text generation tasks: sentiment control, language model detoxification, and summarization. Experimental results show that incorporating artificial dense rewards in training yields consistent performance gains over the PPO baseline with holistic rewards. Furthermore, in a setting where the same model serves as both policy and critic, we demonstrate that "self-critique" rewards also boost learning efficiency.

Calibrating large-scale camera arrays, such as those in dome-based setups, is time-intensive and typically requires dedicated captures of known patterns. While extrinsics in such arrays are fixed due to the physical setup, intrinsics often vary across sessions due to factors like lens adjustments or temperature changes. In this paper, we propose a dense-feature-driven multi-frame calibration method that refines intrinsics directly from scene data, eliminating the necessity for additional calibration captures. Our approach enhances traditional Structure-from-Motion (SfM) pipelines by introducing an extrinsics regularization term to progressively align estimated extrinsics with ground-truth values, a dense feature reprojection term to reduce keypoint errors by minimizing reprojection loss in the feature space, and an intrinsics variance term for joint optimization across multiple frames. Experiments on the Multiface dataset show that our method achieves nearly the same precision as dedicated calibration processes, and significantly enhances intrinsics and 3D reconstruction accuracy. Fully compatible with existing SfM pipelines, our method provides an efficient and practical plug-and-play solution for large-scale camera setups. Our code is publicly available at: https://github.com/YJJfish/Multi-Cali-Anything

Chain-of-thought (CoT) decoding enables language models to improve reasoning performance at the cost of high generation latency in decoding. Recent proposals have explored variants of contemplation tokens, a term we introduce that refers to special tokens used during inference to allow for extra computation. Prior work has considered fixed-length sequences drawn from a discrete set of embeddings as contemplation tokens. Here we propose Compressed Chain-of-Thought (CCoT), a framework to generate contentful and continuous contemplation tokens of variable sequence length. The generated contemplation tokens are compressed representations of explicit reasoning chains, and our method can be applied to off-the-shelf decoder language models. Through experiments, we illustrate how CCoT enables additional reasoning over dense contentful representations to achieve corresponding improvements in accuracy. Moreover, the reasoning improvements can be adaptively modified on demand by controlling the number of contemplation tokens generated.

We introduce AllTracker: a model that estimates long-range point tracks by way of estimating the flow field between a query frame and every other frame of a video. Unlike existing point tracking methods, our approach delivers high-resolution and dense (all-pixel) correspondence fields, which can be visualized as flow maps. Unlike existing optical flow methods, our approach corresponds one frame to hundreds of subsequent frames, rather than just the next frame. We develop a new architecture for this task, blending techniques from existing work in optical flow and point tracking: the model performs iterative inference on low-resolution grids of correspondence estimates, propagating information spatially via 2D convolution layers, and propagating information temporally via pixel-aligned attention layers. The model is fast and parameter-efficient (16 million parameters), and delivers state-of-the-art point tracking accuracy at high resolution (i.e., tracking 768x1024 pixels, on a 40G GPU). A benefit of our design is that we can train on a wider set of datasets, and we find that doing so is crucial for top performance. We provide an extensive ablation study on our architecture details and training recipe, making it clear which details matter most. Our code and model weights are available at https://alltracker.github.io .

Video object segmentation (VOS) -- predicting pixel-level regions for objects within each frame of a video -- is particularly challenging in agricultural scenarios, where videos of crops include hundreds of small, dense, and occluded objects (stems, leaves, flowers, pods) that sway and move unpredictably in the wind. Supervised training is the state-of-the-art for VOS, but it requires large, pixel-accurate, human-annotated videos, which are costly to produce for videos with many densely packed objects in each frame. To address these challenges, we proposed a semi-self-supervised spatiotemporal approach for dense-VOS (DVOS) using a diffusion-based method through multi-task (reconstruction and segmentation) learning. We train the model first with synthetic data that mimics the camera and object motion of real videos and then with pseudo-labeled videos. We evaluate our DVOS method for wheat head segmentation from a diverse set of videos (handheld, drone-captured, different field locations, and different growth stages -- spanning from Boot-stage to Wheat-mature and Harvest-ready). Despite using only a few manually annotated video frames, the proposed approach yielded a high-performing model, achieving a Dice score of 0.79 when tested on a drone-captured external test set. While our method was evaluated on wheat head segmentation, it can be extended to other crops and domains, such as crowd analysis or microscopic image analysis.

Accurate and efficient dense depth reconstruction from light field imagery remains a central challenge in computer vision, underpinning applications such as augmented reality, biomedical imaging, and 3D scene reconstruction. Existing deep convolutional approaches, while effective, often incur high computational overhead and are sensitive to noise and disparity inconsistencies in real-world scenarios. This paper introduces a novel Deep Spectral Epipolar Representation (DSER) framework for dense light field reconstruction, which unifies deep spectral feature learning with epipolar-domain regularization. The proposed approach exploits frequency-domain correlations across epipolar plane images to enforce global structural coherence, thereby mitigating artifacts and enhancing depth accuracy. Unlike conventional supervised models, DSER operates efficiently with limited training data while maintaining high reconstruction fidelity. Comprehensive experiments on the 4D Light Field Benchmark and a diverse set of real-world datasets demonstrate that DSER achieves superior performance in terms of precision, structural consistency, and computational efficiency compared to state-of-the-art methods. These results highlight the potential of integrating spectral priors with epipolar geometry for scalable and noise-resilient dense light field depth estimation, establishing DSER as a promising direction for next-generation high-dimensional vision systems.

Open-set semantic mapping is crucial for open-world robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settings, where overall they fail to combine within-range and beyond-range observations. Furthermore, these methods make a trade-off between fine-grained semantics and efficiency. We introduce RayFronts, a unified representation that enables both dense and beyond-range efficient semantic mapping. RayFronts encodes task-agnostic open-set semantics to both in-range voxels and beyond-range rays encoded at map boundaries, empowering the robot to reduce search volumes significantly and make informed decisions both within & beyond sensory range, while running at 8.84 Hz on an Orin AGX. Benchmarking the within-range semantics shows that RayFronts's fine-grained image encoding provides 1.34x zero-shot 3D semantic segmentation performance while improving throughput by 16.5x. Traditionally, online mapping performance is entangled with other system components, complicating evaluation. We propose a planner-agnostic evaluation framework that captures the utility for online beyond-range search and exploration, and show RayFronts reduces search volume 2.2x more efficiently than the closest online baselines.

In this paper, we propose a new dense retrieval model which learns diverse document representations with deep query interactions. Our model encodes each document with a set of generated pseudo-queries to get query-informed, multi-view document representations. It not only enjoys high inference efficiency like the vanilla dual-encoder models, but also enables deep query-document interactions in document encoding and provides multi-faceted representations to better match different queries. Experiments on several benchmarks demonstrate the effectiveness of the proposed method, out-performing strong dual encoder baselines.The code is available at \url{https://github.com/jordane95/dual-cross-encoder

Open-domain question answering has exploded in popularity recently due to the success of dense retrieval models, which have surpassed sparse models using only a few supervised training examples. However, in this paper, we demonstrate current dense models are not yet the holy grail of retrieval. We first construct EntityQuestions, a set of simple, entity-rich questions based on facts from Wikidata (e.g., "Where was Arve Furset born?"), and observe that dense retrievers drastically underperform sparse methods. We investigate this issue and uncover that dense retrievers can only generalize to common entities unless the question pattern is explicitly observed during training. We discuss two simple solutions towards addressing this critical problem. First, we demonstrate that data augmentation is unable to fix the generalization problem. Second, we argue a more robust passage encoder helps facilitate better question adaptation using specialized question encoders. We hope our work can shed light on the challenges in creating a robust, universal dense retriever that works well across different input distributions.

We study the problem of applying 3D Foundation Models (3DFMs) to dense Novel View Synthesis (NVS). Despite significant progress in Novel View Synthesis powered by NeRF and 3DGS, current approaches remain reliant on accurate 3D attributes (e.g., camera poses and point clouds) acquired from Structure-from-Motion (SfM), which is often slow and fragile in low-texture or low-overlap captures. Recent 3DFMs showcase orders of magnitude speedup over the traditional pipeline and great potential for online NVS. But most of the validation and conclusions are confined to sparse-view settings. Our study reveals that naively scaling 3DFMs to dense views encounters two fundamental barriers: dramatically increasing VRAM burden and imperfect outputs that degrade initialization-sensitive 3D training. To address these barriers, we introduce VGGT-X, incorporating a memory-efficient VGGT implementation that scales to 1,000+ images, an adaptive global alignment for VGGT output enhancement, and robust 3DGS training practices. Extensive experiments show that these measures substantially close the fidelity gap with COLMAP-initialized pipelines, achieving state-of-the-art results in dense COLMAP-free NVS and pose estimation. Additionally, we analyze the causes of remaining gaps with COLMAP-initialized rendering, providing insights for the future development of 3D foundation models and dense NVS. Our project page is available at https://dekuliutesla.github.io/vggt-x.github.io/

Adapting large-scale pretrained models to various downstream tasks via fine-tuning is a standard method in machine learning. Recently, parameter-efficient fine-tuning methods show promise in adapting a pretrained model to different tasks while training only a few parameters. Despite their success, most existing methods are proposed in Natural Language Processing tasks with language Transformers, and adaptation to Computer Vision tasks with Vision Transformers remains under-explored, especially for dense vision tasks. Further, in multi-task settings, individually fine-tuning and storing separate models for different tasks is inefficient. In this work, we provide an extensive multi-task parameter-efficient benchmark and examine existing parameter-efficient fine-tuning NLP methods for vision tasks. Our results on four different dense vision tasks showed that existing methods cannot be efficiently integrated due to the hierarchical nature of the Hierarchical Vision Transformers. To overcome this issue, we propose Polyhistor and Polyhistor-Lite, consisting of Decomposed HyperNetworks and Layer-wise Scaling Kernels, to share information across different tasks with a few trainable parameters. This leads to favorable performance improvements against existing parameter-efficient methods while using fewer trainable parameters. Specifically, Polyhistor achieves competitive accuracy compared to the state-of-the-art while only using ~10% of their trainable parameters. Furthermore, our methods show larger performance gains when large networks and more pretraining data are used.

Recently, information retrieval has seen the emergence of dense retrievers, using neural networks, as an alternative to classical sparse methods based on term-frequency. These models have obtained state-of-the-art results on datasets and tasks where large training sets are available. However, they do not transfer well to new applications with no training data, and are outperformed by unsupervised term-frequency methods such as BM25. In this work, we explore the limits of contrastive learning as a way to train unsupervised dense retrievers and show that it leads to strong performance in various retrieval settings. On the BEIR benchmark our unsupervised model outperforms BM25 on 11 out of 15 datasets for the Recall@100. When used as pre-training before fine-tuning, either on a few thousands in-domain examples or on the large MS~MARCO dataset, our contrastive model leads to improvements on the BEIR benchmark. Finally, we evaluate our approach for multi-lingual retrieval, where training data is even scarcer than for English, and show that our approach leads to strong unsupervised performance. Our model also exhibits strong cross-lingual transfer when fine-tuned on supervised English data only and evaluated on low resources language such as Swahili. We show that our unsupervised models can perform cross-lingual retrieval between different scripts, such as retrieving English documents from Arabic queries, which would not be possible with term matching methods.

Reinforcement Learning from Human Feedback (RLHF) has been credited as the key advance that has allowed Large Language Models (LLMs) to effectively follow instructions and produce useful assistance. Classically, this involves generating completions from the LLM in response to a query before using a separate reward model to assign a score to the full completion. As an auto-regressive process, the LLM has to take many "actions" (selecting individual tokens) and only receives a single, sparse reward at the end of an episode, a setup that is known to be difficult to optimise in traditional reinforcement learning. In this work we leverage the fact that the reward model contains more information than just its scalar output, in particular, it calculates an attention map over tokens as part of the transformer architecture. We use these attention weights to redistribute the reward along the whole completion, effectively densifying the signal and highlighting the most important tokens, all without incurring extra computational cost or requiring any additional modelling. We demonstrate that, theoretically, this approach is equivalent to potential-based reward shaping, ensuring that the optimal policy remains unchanged. Empirically, we show that it stabilises training, accelerates the rate of learning, and, in practical cases, may lead to better local optima.

Generative Retrieval (GR), autoregressively decoding relevant document identifiers given a query, has been shown to perform well under the setting of small-scale corpora. By memorizing the document corpus with model parameters, GR implicitly achieves deep interaction between query and document. However, such a memorizing mechanism faces three drawbacks: (1) Poor memory accuracy for fine-grained features of documents; (2) Memory confusion gets worse as the corpus size increases; (3) Huge memory update costs for new documents. To alleviate these problems, we propose the Generative Dense Retrieval (GDR) paradigm. Specifically, GDR first uses the limited memory volume to achieve inter-cluster matching from query to relevant document clusters. Memorizing-free matching mechanism from Dense Retrieval (DR) is then introduced to conduct fine-grained intra-cluster matching from clusters to relevant documents. The coarse-to-fine process maximizes the advantages of GR's deep interaction and DR's scalability. Besides, we design a cluster identifier constructing strategy to facilitate corpus memory and a cluster-adaptive negative sampling strategy to enhance the intra-cluster mapping ability. Empirical results show that GDR obtains an average of 3.0 R@100 improvement on NQ dataset under multiple settings and has better scalability.

The advent of large-scale vision foundation models, pre-trained on diverse natural images, has marked a paradigm shift in computer vision. However, how the frontier vision foundation models' efficacies transfer to specialized domains remains such as medical imaging remains an open question. This report investigates whether DINOv3, a state-of-the-art self-supervised vision transformer (ViT) that features strong capability in dense prediction tasks, can directly serve as a powerful, unified encoder for medical vision tasks without domain-specific pre-training. To answer this, we benchmark DINOv3 across common medical vision tasks, including 2D/3D classification and segmentation on a wide range of medical imaging modalities. We systematically analyze its scalability by varying model sizes and input image resolutions. Our findings reveal that DINOv3 shows impressive performance and establishes a formidable new baseline. Remarkably, it can even outperform medical-specific foundation models like BiomedCLIP and CT-Net on several tasks, despite being trained solely on natural images. However, we identify clear limitations: The model's features degrade in scenarios requiring deep domain specialization, such as in Whole-Slide Pathological Images (WSIs), Electron Microscopy (EM), and Positron Emission Tomography (PET). Furthermore, we observe that DINOv3 does not consistently obey scaling law in the medical domain; performance does not reliably increase with larger models or finer feature resolutions, showing diverse scaling behaviors across tasks. Ultimately, our work establishes DINOv3 as a strong baseline, whose powerful visual features can serve as a robust prior for multiple complex medical tasks. This opens promising future directions, such as leveraging its features to enforce multiview consistency in 3D reconstruction.

The efficacy of video generation models heavily depends on the quality of their training datasets. Most previous video generation models are trained on short video clips, while recently there has been increasing interest in training long video generation models directly on longer videos. However, the lack of such high-quality long videos impedes the advancement of long video generation. To promote research in long video generation, we desire a new dataset with four key features essential for training long video generation models: (1) long videos covering at least 10 seconds, (2) long-take videos without cuts, (3) large motion and diverse contents, and (4) temporally dense captions. To achieve this, we introduce a new pipeline for selecting high-quality long-take videos and generating temporally dense captions. Specifically, we define a set of metrics to quantitatively assess video quality including scene cuts, dynamic degrees, and semantic-level quality, enabling us to filter high-quality long-take videos from a large amount of source videos. Subsequently, we develop a hierarchical video captioning pipeline to annotate long videos with temporally-dense captions. With this pipeline, we curate the first long-take video dataset, LVD-2M, comprising 2 million long-take videos, each covering more than 10 seconds and annotated with temporally dense captions. We further validate the effectiveness of LVD-2M by fine-tuning video generation models to generate long videos with dynamic motions. We believe our work will significantly contribute to future research in long video generation.

Jina Embeddings constitutes a set of high-performance sentence embedding models adept at translating various textual inputs into numerical representations, thereby capturing the semantic essence of the text. While these models are not exclusively designed for text generation, they excel in applications such as dense retrieval and semantic textual similarity. This paper details the development of Jina Embeddings, starting with the creation of a high-quality pairwise and triplet dataset. It underlines the crucial role of data cleaning in dataset preparation, gives in-depth insights into the model training process, and concludes with a comprehensive performance evaluation using the Massive Textual Embedding Benchmark (MTEB).

The comic domain is rapidly advancing with the development of single- and multi-page analysis and synthesis models. Recent benchmarks and datasets have been introduced to support and assess models' capabilities in tasks such as detection (panels, characters, text), linking (character re-identification and speaker identification), and analysis of comic elements (e.g., dialog transcription). However, to provide a comprehensive understanding of the storyline, a model must not only extract elements but also understand their relationships and generate highly informative captions. In this work, we propose a pipeline that leverages Vision-Language Models (VLMs) to obtain dense, grounded captions. To construct our pipeline, we introduce an attribute-retaining metric that assesses whether all important attributes are identified in the caption. Additionally, we created a densely annotated test set to fairly evaluate open-source VLMs and select the best captioning model according to our metric. Our pipeline generates dense captions with bounding boxes that are quantitatively and qualitatively superior to those produced by specifically trained models, without requiring any additional training. Using this pipeline, we annotated over 2 million panels across 13,000 books, which will be available on the project page https://github.com/emanuelevivoli/ComiCap.

We investigate the exploitation of both lexical and neural relevance signals for ad-hoc passage retrieval. Our exploration involves a large-scale training dataset in which dense neural representations of MS-MARCO queries and passages are complemented and integrated with 253 hand-crafted lexical features extracted from the same corpus. Blending of the relevance signals from the two different groups of features is learned by a classical Learning-to-Rank (LTR) model based on a forest of decision trees. To evaluate our solution, we employ a pipelined architecture where a dense neural retriever serves as the first stage and performs a nearest-neighbor search over the neural representations of the documents. Our LTR model acts instead as the second stage that re-ranks the set of candidates retrieved by the first stage to enhance effectiveness. The results of reproducible experiments conducted with state-of-the-art dense retrievers on publicly available resources show that the proposed solution significantly enhances the end-to-end ranking performance while relatively minimally impacting efficiency. Specifically, we achieve a boost in nDCG@10 of up to 11% with an increase in average query latency of only 4.3%. This confirms the advantage of seamlessly combining two distinct families of signals that mutually contribute to retrieval effectiveness.

This brief technical report describes our submission to the Action Spotting SoccerNet Challenge 2022. The challenge was part of the CVPR 2022 ActivityNet Workshop. Our submission was based on a recently proposed method which focuses on increasing temporal precision via a densely sampled set of detection anchors. Due to its emphasis on temporal precision, this approach had shown significant improvements in the tight average-mAP metric. Tight average-mAP was used as the evaluation criterion for the challenge, and is defined using small temporal evaluation tolerances, thus being more sensitive to small temporal errors. In order to further improve results, here we introduce small changes in the pre- and post-processing steps, and also combine different input feature types via late fusion. These changes brought improvements that helped us achieve the first place in the challenge and also led to a new state-of-the-art on SoccerNet's test set when using the dataset's standard experimental protocol. This report briefly reviews the action spotting method based on dense detection anchors, then focuses on the modifications introduced for the challenge. We also describe the experimental protocols and training procedures we used, and finally present our results.

Pseudo-relevance feedback mechanisms, from Rocchio to the relevance models, have shown the usefulness of expanding and reweighting the users' initial queries using information occurring in an initial set of retrieved documents, known as the pseudo-relevant set. Recently, dense retrieval -- through the use of neural contextual language models such as BERT for analysing the documents' and queries' contents and computing their relevance scores -- has shown a promising performance on several information retrieval tasks still relying on the traditional inverted index for identifying documents relevant to a query. Two different dense retrieval families have emerged: the use of single embedded representations for each passage and query (e.g. using BERT's [CLS] token), or via multiple representations (e.g. using an embedding for each token of the query and document). In this work, we conduct the first study into the potential for multiple representation dense retrieval to be enhanced using pseudo-relevance feedback. In particular, based on the pseudo-relevant set of documents identified using a first-pass dense retrieval, we extract representative feedback embeddings (using KMeans clustering) -- while ensuring that these embeddings discriminate among passages (based on IDF) -- which are then added to the query representation. These additional feedback embeddings are shown to both enhance the effectiveness of a reranking as well as an additional dense retrieval operation. Indeed, experiments on the MSMARCO passage ranking dataset show that MAP can be improved by upto 26% on the TREC 2019 query set and 10% on the TREC 2020 query set by the application of our proposed ColBERT-PRF method on a ColBERT dense retrieval approach.

Recent work has shown that directly fine-tuning large language models (LLMs) for dense retrieval yields strong performance, but their substantial parameter counts make them computationally inefficient. While prior studies have revealed significant layer redundancy in LLMs for generative tasks, it remains unclear whether similar redundancy exists when these models are adapted for retrieval tasks, which require encoding entire sequences into fixed representations rather than generating tokens iteratively. To this end, we conduct a comprehensive analysis of layer redundancy in LLM-based dense retrievers. We find that, in contrast to generative settings, MLP layers are substantially more prunable, while attention layers remain critical for semantic aggregation. Building on this insight, we propose EffiR, a framework for developing efficient retrievers that performs large-scale MLP compression through a coarse-to-fine strategy (coarse-grained depth reduction followed by fine-grained width reduction), combined with retrieval-specific fine-tuning. Across diverse BEIR datasets and LLM backbones, EffiR achieves substantial reductions in model size and inference cost while preserving the performance of full-size models.

Dense retrievers play a vital role in accessing external and specialized knowledge to augment language models (LMs). Training dense retrievers typically requires annotated query-document pairs, which are costly to create and scarce in specialized domains (e.g., code) or in complex settings (e.g., requiring reasoning). These practical challenges have sparked growing interest in self-supervised retriever learning. Since LMs are trained to capture token-level dependencies through a self-supervised learning objective (i.e., next token prediction), we can analogously cast retrieval as learning dependencies among chunks of tokens. This analogy naturally leads to the question: How can we adapt self-supervised learning objectives in the spirit of language modeling to train retrievers? To answer this question, we introduce Revela, a unified and scalable training framework for self-supervised retriever learning via language modeling. Revela models semantic dependencies among documents by conditioning next token prediction on local and cross-document context through an in-batch attention mechanism. This attention is weighted by retriever-computed similarity scores, enabling the retriever to be optimized as part of language modeling. We evaluate Revela on domain-specific (CoIR), reasoning-intensive (BRIGHT), and general-domain (BEIR) benchmarks across various retriever backbones. Without annotated or synthetic query-document pairs, Revela surpasses larger supervised models and proprietary APIs on CoIR and matches them on BRIGHT. It achieves BEIR's unsupervised SoTA with ~ 1000x less training data and 10x less compute. Performance increases with batch size and model size, highlighting Revela's scalability and its promise for self-supervised retriever learning.

Vision-language models such as CLIP have boosted the performance of open-vocabulary object detection, where the detector is trained on base categories but required to detect novel categories. Existing methods leverage CLIP's strong zero-shot recognition ability to align object-level embeddings with textual embeddings of categories. However, we observe that using CLIP for object-level alignment results in overfitting to base categories, i.e., novel categories most similar to base categories have particularly poor performance as they are recognized as similar base categories. In this paper, we first identify that the loss of critical fine-grained local image semantics hinders existing methods from attaining strong base-to-novel generalization. Then, we propose Early Dense Alignment (EDA) to bridge the gap between generalizable local semantics and object-level prediction. In EDA, we use object-level supervision to learn the dense-level rather than object-level alignment to maintain the local fine-grained semantics. Extensive experiments demonstrate our superior performance to competing approaches under the same strict setting and without using external training resources, i.e., improving the +8.4% novel box AP50 on COCO and +3.9% rare mask AP on LVIS.

When provided with sufficient explanatory context, smaller Language Models have been shown to exhibit strong reasoning ability on challenging short-answer question-answering tasks where the questions are unseen in training. We evaluate two methods for further improvement in this setting. Both methods focus on combining rationales generated by a larger Language Model with longer contexts created from a multi-hop dense retrieval system. The first method (RR) involves training a Rationale Ranking model to score both generated rationales and retrieved contexts with respect to relevance and truthfulness. We then use the scores to derive combined contexts from both knowledge sources using a number of combinatory strategies. For the second method (RATD) we utilise retrieval-augmented training datasets developed by Hartill et al. 2023 to train a smaller Reasoning model such that it becomes proficient at utilising relevant information from longer text sequences that may be only partially evidential and frequently contain many irrelevant sentences. We find that both methods significantly improve results. Our single best Reasoning model materially improves upon strong comparable prior baselines for unseen evaluation datasets (StrategyQA 58.9 rightarrow 61.7 acc., CommonsenseQA 63.6 rightarrow 72.7 acc., ARC-DA 31.6 rightarrow 52.1 F1, IIRC 25.5 rightarrow 27.3 F1) and a version utilising our prior knowledge of each type of question in selecting a context combination strategy does even better. Our proposed models also generally outperform direct prompts against much larger models (BLOOM 175B and StableVicuna 13B) in both few-shot chain-of-thought and standard few-shot settings.

Prior work on English monolingual retrieval has shown that a cross-encoder trained using a large number of relevance judgments for query-document pairs can be used as a teacher to train more efficient, but similarly effective, dual-encoder student models. Applying a similar knowledge distillation approach to training an efficient dual-encoder model for Cross-Language Information Retrieval (CLIR), where queries and documents are in different languages, is challenging due to the lack of a sufficiently large training collection when the query and document languages differ. The state of the art for CLIR thus relies on translating queries, documents, or both from the large English MS MARCO training set, an approach called Translate-Train. This paper proposes an alternative, Translate-Distill, in which knowledge distillation from either a monolingual cross-encoder or a CLIR cross-encoder is used to train a dual-encoder CLIR student model. This richer design space enables the teacher model to perform inference in an optimized setting, while training the student model directly for CLIR. Trained models and artifacts are publicly available on Huggingface.

Feature matching is a challenging computer vision task that involves finding correspondences between two images of a 3D scene. In this paper we consider the dense approach instead of the more common sparse paradigm, thus striving to find all correspondences. Perhaps counter-intuitively, dense methods have previously shown inferior performance to their sparse and semi-sparse counterparts for estimation of two-view geometry. This changes with our novel dense method, which outperforms both dense and sparse methods on geometry estimation. The novelty is threefold: First, we propose a kernel regression global matcher. Secondly, we propose warp refinement through stacked feature maps and depthwise convolution kernels. Thirdly, we propose learning dense confidence through consistent depth and a balanced sampling approach for dense confidence maps. Through extensive experiments we confirm that our proposed dense method, Dense Kernelized Feature Matching, sets a new state-of-the-art on multiple geometry estimation benchmarks. In particular, we achieve an improvement on MegaDepth-1500 of +4.9 and +8.9 AUC@5^{circ} compared to the best previous sparse method and dense method respectively. Our code is provided at https://github.com/Parskatt/dkm

We present VGGT-SLAM, a dense RGB SLAM system constructed by incrementally and globally aligning submaps created from the feed-forward scene reconstruction approach VGGT using only uncalibrated monocular cameras. While related works align submaps using similarity transforms (i.e., translation, rotation, and scale), we show that such approaches are inadequate in the case of uncalibrated cameras. In particular, we revisit the idea of reconstruction ambiguity, where given a set of uncalibrated cameras with no assumption on the camera motion or scene structure, the scene can only be reconstructed up to a 15-degrees-of-freedom projective transformation of the true geometry. This inspires us to recover a consistent scene reconstruction across submaps by optimizing over the SL(4) manifold, thus estimating 15-degrees-of-freedom homography transforms between sequential submaps while accounting for potential loop closure constraints. As verified by extensive experiments, we demonstrate that VGGT-SLAM achieves improved map quality using long video sequences that are infeasible for VGGT due to its high GPU requirements.

Mixture-of-experts (MoE) is becoming popular due to its success in improving the model quality, especially in Transformers. By routing tokens with a sparse gate to a few experts (i.e., a small pieces of the full model), MoE can easily increase the model parameters to a very large scale while keeping the computation cost in a constant level. Most existing works just initialize some random experts, set a fixed gating strategy (e.g., Top-k), and train the model from scratch in an ad-hoc way. We identify that these MoE models are suffering from the immature experts and unstable sparse gate, which are harmful to the convergence performance. In this paper, we propose an efficient end-to-end MoE training framework called EvoMoE. EvoMoE starts from training one single expert and gradually evolves into a large and sparse MoE structure. EvoMoE mainly contains two phases: the expert-diversify phase to train the base expert for a while and spawn multiple diverse experts from it, and the gate-sparsify phase to learn an adaptive sparse gate and activate a dynamic number of experts. EvoMoE naturally decouples the joint learning of both the experts and the sparse gate and focuses on learning the basic knowledge with a single expert at the early training stage. Then it diversifies the experts and continues to train the MoE with a novel Dense-to-Sparse gate (DTS-Gate). Specifically, instead of using a permanent sparse gate, DTS-Gate begins as a dense gate that routes tokens to all experts, then gradually and adaptively becomes sparser while routes to fewer experts. Evaluations are conducted on three popular models and tasks, including RoBERTa for masked language modeling task, GPT for language modeling task and Transformer for machine translation task. The results show that EvoMoE outperforms existing baselines, including Switch, BASE Layer, Hash Layer and StableMoE.

We propose a novel algorithm for accelerating dense long-term 3D point tracking in videos. Through analysis of existing state-of-the-art methods, we identify two major computational bottlenecks. First, transformer-based iterative tracking becomes expensive when handling a large number of trajectories. To address this, we introduce a coarse-to-fine strategy that begins tracking with a small subset of points and progressively expands the set of tracked trajectories. The newly added trajectories are initialized using a learnable interpolation module, which is trained end-to-end alongside the tracking network. Second, we propose an optimization that significantly reduces the cost of correlation feature computation, another key bottleneck in prior methods. Together, these improvements lead to a 5-100x speedup over existing approaches while maintaining state-of-the-art tracking accuracy.

State-of-the-art approaches for 6D object pose estimation assume the availability of CAD models and require the user to manually set up physically-based rendering (PBR) pipelines for synthetic training data generation. Both factors limit the application of these methods in real-world scenarios. In this work, we present a pipeline that does not require CAD models and allows training a state-of-the-art pose estimator requiring only a small set of real images as input. Our method is based on a NeuS2 object representation, that we learn through a semi-automated procedure based on Structure-from-Motion (SfM) and object-agnostic segmentation. We exploit the novel-view synthesis ability of NeuS2 and simple cut-and-paste augmentation to automatically generate photorealistic object renderings, which we use to train the correspondence-based SurfEmb pose estimator. We evaluate our method on the LINEMOD-Occlusion dataset, extensively studying the impact of its individual components and showing competitive performance with respect to approaches based on CAD models and PBR data. We additionally demonstrate the ease of use and effectiveness of our pipeline on self-collected real-world objects, showing that our method outperforms state-of-the-art CAD-model-free approaches, with better accuracy and robustness to mild occlusions. To allow the robotics community to benefit from this system, we will publicly release it at https://www.github.com/ethz-asl/neusurfemb.

Image captioning is a fundamental task that bridges the visual and linguistic domains, playing a critical role in pre-training Large Vision-Language Models (LVLMs). Current state-of-the-art captioning models are typically trained with Supervised Fine-Tuning (SFT), a paradigm that relies on expensive, non-scalable data annotated by humans or proprietary models. This approach often leads to models that memorize specific ground-truth answers, limiting their generality and ability to generate diverse, creative descriptions. To overcome the limitation of SFT, we propose applying the Reinforcement Learning with Verifiable Rewards (RLVR) paradigm to the open-ended task of image captioning. A primary challenge, however, is designing an objective reward function for the inherently subjective nature of what constitutes a "good" caption. We introduce Captioning Reinforcement Learning (CapRL), a novel training framework that redefines caption quality through its utility: a high-quality caption should enable a non-visual language model to accurately answer questions about the corresponding image. CapRL employs a decoupled two-stage pipeline where an LVLM generates a caption, and the objective reward is derived from the accuracy of a separate, vision-free LLM answering Multiple-Choice Questions based solely on that caption. As the first study to apply RLVR to the subjective image captioning task, we demonstrate that CapRL significantly enhances multiple settings. Pretraining on the CapRL-5M caption dataset annotated by CapRL-3B results in substantial gains across 12 benchmarks. Moreover, within the Prism Framework for caption quality evaluation, CapRL achieves performance comparable to Qwen2.5-VL-72B, while exceeding the baseline by an average margin of 8.4%. Code is available here: https://github.com/InternLM/CapRL.

Much recent research on information retrieval has focused on how to transfer from one task (typically with abundant supervised data) to various other tasks where supervision is limited, with the implicit assumption that it is possible to generalize from one task to all the rest. However, this overlooks the fact that there are many diverse and unique retrieval tasks, each targeting different search intents, queries, and search domains. In this paper, we suggest to work on Few-shot Dense Retrieval, a setting where each task comes with a short description and a few examples. To amplify the power of a few examples, we propose Prompt-base Query Generation for Retriever (Promptagator), which leverages large language models (LLM) as a few-shot query generator, and creates task-specific retrievers based on the generated data. Powered by LLM's generalization ability, Promptagator makes it possible to create task-specific end-to-end retrievers solely based on a few examples {without} using Natural Questions or MS MARCO to train %question generators or dual encoders. Surprisingly, LLM prompting with no more than 8 examples allows dual encoders to outperform heavily engineered models trained on MS MARCO like ColBERT v2 by more than 1.2 nDCG on average on 11 retrieval sets. Further training standard-size re-rankers using the same generated data yields another 5.0 point nDCG improvement. Our studies determine that query generation can be far more effective than previously observed, especially when a small amount of task-specific knowledge is given.

Dense retrieval models usually adopt vectors from the last hidden layer of the document encoder to represent a document, which is in contrast to the fact that representations in different layers of a pre-trained language model usually contain different kinds of linguistic knowledge, and behave differently during fine-tuning. Therefore, we propose to investigate utilizing representations from multiple encoder layers to make up the representation of a document, which we denote Multi-layer Representations (MLR). We first investigate how representations in different layers affect MLR's performance under the multi-vector retrieval setting, and then propose to leverage pooling strategies to reduce multi-vector models to single-vector ones to improve retrieval efficiency. Experiments demonstrate the effectiveness of MLR over dual encoder, ME-BERT and ColBERT in the single-vector retrieval setting, as well as demonstrate that it works well with other advanced training techniques such as retrieval-oriented pre-training and hard negative mining.

Several video understanding tasks, such as natural language temporal video grounding, temporal activity localization, and audio description generation, require "temporally dense" reasoning over frames sampled at high temporal resolution. However, computing frame-level features for these tasks is computationally expensive given the temporal resolution requirements. In this paper, we make three contributions to reduce the cost of computing features for temporally dense tasks. First, we introduce a vision transformer (ViT) architecture, dubbed ResidualViT, that leverages the large temporal redundancy in videos to efficiently compute temporally dense frame-level features. Our architecture incorporates (i) learnable residual connections that ensure temporal consistency across consecutive frames and (ii) a token reduction module that enhances processing speed by selectively discarding temporally redundant information while reusing weights of a pretrained foundation model. Second, we propose a lightweight distillation strategy to approximate the frame-level features of the original foundation model. Finally, we evaluate our approach across four tasks and five datasets, in both zero-shot and fully supervised settings, demonstrating significant reductions in computational cost (up to 60%) and improvements in inference speed (up to 2.5x faster), all while closely approximating the accuracy of the original foundation model.

Composed video retrieval is a challenging task that strives to retrieve a target video based on a query video and a textual description detailing specific modifications. Standard retrieval frameworks typically struggle to handle the complexity of fine-grained compositional queries and variations in temporal understanding limiting their retrieval ability in the fine-grained setting. To address this issue, we introduce a novel dataset that captures both fine-grained and composed actions across diverse video segments, enabling more detailed compositional changes in retrieved video content. The proposed dataset, named Dense-WebVid-CoVR, consists of 1.6 million samples with dense modification text that is around seven times more than its existing counterpart. We further develop a new model that integrates visual and textual information through Cross-Attention (CA) fusion using grounded text encoder, enabling precise alignment between dense query modifications and target videos. The proposed model achieves state-of-the-art results surpassing existing methods on all metrics. Notably, it achieves 71.3\% Recall@1 in visual+text setting and outperforms the state-of-the-art by 3.4\%, highlighting its efficacy in terms of leveraging detailed video descriptions and dense modification texts. Our proposed dataset, code, and model are available at :https://github.com/OmkarThawakar/BSE-CoVR

We present VPNeXt, a new and simple model for the Plain Vision Transformer (ViT). Unlike the many related studies that share the same homogeneous paradigms, VPNeXt offers a fresh perspective on dense representation based on ViT. In more detail, the proposed VPNeXt addressed two concerns about the existing paradigm: (1) Is it necessary to use a complex Transformer Mask Decoder architecture to obtain good representations? (2) Does the Plain ViT really need to depend on the mock pyramid feature for upsampling? For (1), we investigated the potential underlying reasons that contributed to the effectiveness of the Transformer Decoder and introduced the Visual Context Replay (VCR) to achieve similar effects efficiently. For (2), we introduced the ViTUp module. This module fully utilizes the previously overlooked ViT real pyramid feature to achieve better upsampling results compared to the earlier mock pyramid feature. This represents the first instance of such functionality in the field of semantic segmentation for Plain ViT. We performed ablation studies on related modules to verify their effectiveness gradually. We conducted relevant comparative experiments and visualizations to show that VPNeXt achieved state-of-the-art performance with a simple and effective design. Moreover, the proposed VPNeXt significantly exceeded the long-established mIoU wall/barrier of the VOC2012 dataset, setting a new state-of-the-art by a large margin, which also stands as the largest improvement since 2015.

Dense embedding-based text retrievalx2013retrieval of relevant passages from corpora via deep learning encodingsx2013has emerged as a powerful method attaining state-of-the-art search results and popularizing the use of Retrieval Augmented Generation (RAG). Still, like other search methods, embedding-based retrieval may be susceptible to search-engine optimization (SEO) attacks, where adversaries promote malicious content by introducing adversarial passages to corpora. To faithfully assess and gain insights into the susceptibility of such systems to SEO, this work proposes the GASLITE attack, a mathematically principled gradient-based search method for generating adversarial passages without relying on the corpus content or modifying the model. Notably, GASLITE's passages (1) carry adversary-chosen information while (2) achieving high retrieval ranking for a selected query distribution when inserted to corpora. We use GASLITE to extensively evaluate retrievers' robustness, testing nine advanced models under varied threat models, while focusing on realistic adversaries targeting queries on a specific concept (e.g., a public figure). We found GASLITE consistently outperformed baselines by geq140% success rate, in all settings. Particularly, adversaries using GASLITE require minimal effort to manipulate search resultsx2013by injecting a negligible amount of adversarial passages (leq0.0001% of the corpus), they could make them visible in the top-10 results for 61-100% of unseen concept-specific queries against most evaluated models. Inspecting variance in retrievers' robustness, we identify key factors that may contribute to models' susceptibility to SEO, including specific properties in the embedding space's geometry.

In this work, we introduce a deep-learning framework designed for estimating dense image correspondences. Our fully convolutional model generates dense feature maps for images, where each pixel is associated with a descriptor that can be matched across multiple images. Unlike previous methods, our model is trained on synthetic data that includes significant distortions, such as perspective changes, illumination variations, shadows, and specular highlights. Utilizing contrastive learning, our feature maps achieve greater invariance to these distortions, enabling robust matching. Notably, our method eliminates the need for a keypoint detector, setting it apart from many existing image-matching techniques.

Benefiting from large-scale vision-language pre-training on image-text pairs, open-world detection methods have shown superior generalization ability under the zero-shot or few-shot detection settings. However, a pre-defined category space is still required during the inference stage of existing methods and only the objects belonging to that space will be predicted. To introduce a "real" open-world detector, in this paper, we propose a novel method named CapDet to either predict under a given category list or directly generate the category of predicted bounding boxes. Specifically, we unify the open-world detection and dense caption tasks into a single yet effective framework by introducing an additional dense captioning head to generate the region-grounded captions. Besides, adding the captioning task will in turn benefit the generalization of detection performance since the captioning dataset covers more concepts. Experiment results show that by unifying the dense caption task, our CapDet has obtained significant performance improvements (e.g., +2.1% mAP on LVIS rare classes) over the baseline method on LVIS (1203 classes). Besides, our CapDet also achieves state-of-the-art performance on dense captioning tasks, e.g., 15.44% mAP on VG V1.2 and 13.98% on the VG-COCO dataset.

Pseudo-Relevance Feedback (PRF) utilises the relevance signals from the top-k passages from the first round of retrieval to perform a second round of retrieval aiming to improve search effectiveness. A recent research direction has been the study and development of PRF methods for deep language models based rankers, and in particular in the context of dense retrievers. Dense retrievers, compared to more complex neural rankers, provide a trade-off between effectiveness, which is often reduced compared to more complex neural rankers, and query latency, which also is reduced making the retrieval pipeline more efficient. The introduction of PRF methods for dense retrievers has been motivated as an attempt to further improve their effectiveness. In this paper, we reproduce and study a recent method for PRF with dense retrievers, called ANCE-PRF. This method concatenates the query text and that of the top-k feedback passages to form a new query input, which is then encoded into a dense representation using a newly trained query encoder based on the original dense retriever used for the first round of retrieval. While the method can potentially be applied to any of the existing dense retrievers, prior work has studied it only in the context of the ANCE dense retriever. We study the reproducibility of ANCE-PRF in terms of both its training (encoding of the PRF signal) and inference (ranking) steps. We further extend the empirical analysis provided in the original work to investigate the effect of the hyper-parameters that govern the training process and the robustness of the method across these different settings. Finally, we contribute a study of the generalisability of the ANCE-PRF method when dense retrievers other than ANCE are used for the first round of retrieval and for encoding the PRF signal.

Pseudo Relevance Feedback (PRF) is known to improve the effectiveness of bag-of-words retrievers. At the same time, deep language models have been shown to outperform traditional bag-of-words rerankers. However, it is unclear how to integrate PRF directly with emergent deep language models. In this article, we address this gap by investigating methods for integrating PRF signals into rerankers and dense retrievers based on deep language models. We consider text-based and vector-based PRF approaches, and investigate different ways of combining and scoring relevance signals. An extensive empirical evaluation was conducted across four different datasets and two task settings (retrieval and ranking). Text-based PRF results show that the use of PRF had a mixed effect on deep rerankers across different datasets. We found that the best effectiveness was achieved when (i) directly concatenating each PRF passage with the query, searching with the new set of queries, and then aggregating the scores; (ii) using Borda to aggregate scores from PRF runs. Vector-based PRF results show that the use of PRF enhanced the effectiveness of deep rerankers and dense retrievers over several evaluation metrics. We found that higher effectiveness was achieved when (i) the query retains either the majority or the same weight within the PRF mechanism, and (ii) a shallower PRF signal (i.e., a smaller number of top-ranked passages) was employed, rather than a deeper signal. Our vector-based PRF method is computationally efficient; thus this represents a general PRF method others can use with deep rerankers and dense retrievers.

A vital step towards the widespread adoption of neural retrieval models is their resource efficiency throughout the training, indexing and query workflows. The neural IR community made great advancements in training effective dual-encoder dense retrieval (DR) models recently. A dense text retrieval model uses a single vector representation per query and passage to score a match, which enables low-latency first stage retrieval with a nearest neighbor search. Increasingly common, training approaches require enormous compute power, as they either conduct negative passage sampling out of a continuously updating refreshing index or require very large batch sizes for in-batch negative sampling. Instead of relying on more compute capability, we introduce an efficient topic-aware query and balanced margin sampling technique, called TAS-Balanced. We cluster queries once before training and sample queries out of a cluster per batch. We train our lightweight 6-layer DR model with a novel dual-teacher supervision that combines pairwise and in-batch negative teachers. Our method is trainable on a single consumer-grade GPU in under 48 hours (as opposed to a common configuration of 8x V100s). We show that our TAS-Balanced training method achieves state-of-the-art low-latency (64ms per query) results on two TREC Deep Learning Track query sets. Evaluated on NDCG@10, we outperform BM25 by 44%, a plainly trained DR by 19%, docT5query by 11%, and the previous best DR model by 5%. Additionally, TAS-Balanced produces the first dense retriever that outperforms every other method on recall at any cutoff on TREC-DL and allows more resource intensive re-ranking models to operate on fewer passages to improve results further.

We present WebFAQ, a large-scale collection of open-domain question answering datasets derived from FAQ-style schema.org annotations. In total, the data collection consists of 96 million natural question-answer (QA) pairs across 75 languages, including 47 million (49%) non-English samples. WebFAQ further serves as the foundation for 20 monolingual retrieval benchmarks with a total size of 11.2 million QA pairs (5.9 million non-English). These datasets are carefully curated through refined filtering and near-duplicate detection, yielding high-quality resources for training and evaluating multilingual dense retrieval models. To empirically confirm WebFAQ's efficacy, we use the collected QAs to fine-tune an in-domain pretrained XLM-RoBERTa model. Through this process of dataset-specific fine-tuning, the model achieves significant retrieval performance gains, which generalize - beyond WebFAQ - to other multilingual retrieval benchmarks evaluated in zero-shot setting. Last but not least, we utilize WebFAQ to construct a set of QA-aligned bilingual corpora spanning over 1000 language pairs using state-of-the-art bitext mining and automated LLM-assessed translation evaluation. Due to our advanced, automated method of bitext dataset generation, the resulting bilingual corpora demonstrate higher translation quality compared to similar datasets. WebFAQ and all associated resources are publicly available on GitHub and HuggingFace.

Initial states of dense matter with nonzero electron chiral imbalance could potentially give rise to strong magnetic fields through chiral plasma instability. Previous work indicated that unless chiral chemical potential is as large as the electron vector chemical potential, the growth of magnetic fields due to the instability is washed out by chirality flipping rate enabled by electron mass. We re-examine this claim in a broader range of parameters and find that at higher temperatures the hierarchy is reversed supporting a growing magnetic field for an initial electron chiral chemical potential much smaller than the electron vector chemical potential. Further, we identify a qualitatively new effect relevant for magnetized hot and dense medium where chiral magnetic effect (CME) sourced by density fluctuation acts as a powerful source of Joule heating. Remarkably, even modest chiral chemical potentials (keV) in such environment can deposit energy densities set by the QCD scale in a relatively short time of the order of a few milliseconds or seconds. We speculate how this mechanism makes CME-driven Joule heating a potentially critical ingredient in the dynamics of turbulent density fluctuation of supernovae and neutron star mergers.

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly post-processing steps, limiting their performances in highly cluttered scenes and real-time applications. In this work, we present DenseFusion, a generic framework for estimating 6D pose of a set of known objects from RGB-D images. DenseFusion is a heterogeneous architecture that processes the two data sources individually and uses a novel dense fusion network to extract pixel-wise dense feature embedding, from which the pose is estimated. Furthermore, we integrate an end-to-end iterative pose refinement procedure that further improves the pose estimation while achieving near real-time inference. Our experiments show that our method outperforms state-of-the-art approaches in two datasets, YCB-Video and LineMOD. We also deploy our proposed method to a real robot to grasp and manipulate objects based on the estimated pose.

Beyond high-fidelity image synthesis, diffusion models have recently exhibited promising results in dense visual perception tasks. However, most existing work treats diffusion models as a standalone component for perception tasks, employing them either solely for off-the-shelf data augmentation or as mere feature extractors. In contrast to these isolated and thus sub-optimal efforts, we introduce a unified, versatile, diffusion-based framework, Diff-2-in-1, that can simultaneously handle both multi-modal data generation and dense visual perception, through a unique exploitation of the diffusion-denoising process. Within this framework, we further enhance discriminative visual perception via multi-modal generation, by utilizing the denoising network to create multi-modal data that mirror the distribution of the original training set. Importantly, Diff-2-in-1 optimizes the utilization of the created diverse and faithful data by leveraging a novel self-improving learning mechanism. Comprehensive experimental evaluations validate the effectiveness of our framework, showcasing consistent performance improvements across various discriminative backbones and high-quality multi-modal data generation characterized by both realism and usefulness.

Surface reconstruction from multiple, calibrated images is a challenging task - often requiring a large number of collected images with significant overlap. We look at the specific case of human foot reconstruction. As with previous successful foot reconstruction work, we seek to extract rich per-pixel geometry cues from multi-view RGB images, and fuse these into a final 3D object. Our method, FOCUS, tackles this problem with 3 main contributions: (i) SynFoot2, an extension of an existing synthetic foot dataset to include a new data type: dense correspondence with the parameterized foot model FIND; (ii) an uncertainty-aware dense correspondence predictor trained on our synthetic dataset; (iii) two methods for reconstructing a 3D surface from dense correspondence predictions: one inspired by Structure-from-Motion, and one optimization-based using the FIND model. We show that our reconstruction achieves state-of-the-art reconstruction quality in a few-view setting, performing comparably to state-of-the-art when many views are available, and runs substantially faster. We release our synthetic dataset to the research community. Code is available at: https://github.com/OllieBoyne/FOCUS

In this paper, we propose SimLM (Similarity matching with Language Model pre-training), a simple yet effective pre-training method for dense passage retrieval. It employs a simple bottleneck architecture that learns to compress the passage information into a dense vector through self-supervised pre-training. We use a replaced language modeling objective, which is inspired by ELECTRA, to improve the sample efficiency and reduce the mismatch of the input distribution between pre-training and fine-tuning. SimLM only requires access to unlabeled corpus, and is more broadly applicable when there are no labeled data or queries. We conduct experiments on several large-scale passage retrieval datasets, and show substantial improvements over strong baselines under various settings. Remarkably, SimLM even outperforms multi-vector approaches such as ColBERTv2 which incurs significantly more storage cost.

Dense prediction tasks hold significant importance of computer vision, aiming to learn pixel-wise annotated label for an input image. Despite advances in this field, existing methods primarily focus on idealized conditions, with limited generalization to real-world scenarios and facing the challenging scarcity of real-world data. To systematically study this problem, we first introduce DenseWorld, a benchmark spanning a broad set of 25 dense prediction tasks that correspond to urgent real-world applications, featuring unified evaluation across tasks. Then, we propose DenseDiT, which maximally exploits generative models' visual priors to perform diverse real-world dense prediction tasks through a unified strategy. DenseDiT combines a parameter-reuse mechanism and two lightweight branches that adaptively integrate multi-scale context, working with less than 0.1% additional parameters. Evaluations on DenseWorld reveal significant performance drops in existing general and specialized baselines, highlighting their limited real-world generalization. In contrast, DenseDiT achieves superior results using less than 0.01% training data of baselines, underscoring its practical value for real-world deployment. Our data, and checkpoints and codes are available at https://xcltql666.github.io/DenseDiTProj

Is basic visual understanding really solved in state-of-the-art VLMs? We present VisualOverload, a slightly different visual question answering (VQA) benchmark comprising 2,720 question-answer pairs, with privately held ground-truth responses. Unlike prior VQA datasets that typically focus on near global image understanding, VisualOverload challenges models to perform simple, knowledge-free vision tasks in densely populated (or, overloaded) scenes. Our dataset consists of high-resolution scans of public-domain paintings that are populated with multiple figures, actions, and unfolding subplots set against elaborately detailed backdrops. We manually annotated these images with questions across six task categories to probe for a thorough understanding of the scene. We hypothesize that current benchmarks overestimate the performance of VLMs, and encoding and reasoning over details is still a challenging task for them, especially if they are confronted with densely populated scenes. Indeed, we observe that even the best model (o3) out of 37 tested models only achieves 19.6% accuracy on our hardest test split and overall 69.5% accuracy on all questions. Beyond a thorough evaluation, we complement our benchmark with an error analysis that reveals multiple failure modes, including a lack of counting skills, failure in OCR, and striking logical inconsistencies under complex tasks. Altogether, VisualOverload exposes a critical gap in current vision models and offers a crucial resource for the community to develop better models. Benchmark: http://paulgavrikov.github.io/visualoverload

Video generation has recently made striking visual progress, but maintaining coherent object motion and interactions remains difficult. We trace two practical bottlenecks: (i) human-provided motion hints (e.g., small 2D maps) often collapse to too few effective tokens after encoding, weakening guidance; and (ii) optimizing for appearance and motion in a single head can favor texture over temporal consistency. We present STANCE, an image-to-video framework that addresses both issues with two simple components. First, we introduce Instance Cues -- a pixel-aligned control signal that turns sparse, user-editable hints into a dense 2.5D (camera-relative) motion field by averaging per-instance flow and augmenting with monocular depth over the instance mask. This reduces depth ambiguity compared to 2D arrow inputs while remaining easy to use. Second, we preserve the salience of these cues in token space with Dense RoPE, which tags a small set of motion tokens (anchored on the first frame) with spatial-addressable rotary embeddings. Paired with joint RGB \(+\) auxiliary-map prediction (segmentation or depth), our model anchors structure while RGB handles appearance, stabilizing optimization and improving temporal coherence without requiring per-frame trajectory scripts.

African agriculture is undergoing rapid transformation. Annual maps of crop fields are key to understanding the nature of this transformation, but such maps are currently lacking and must be developed using advanced machine learning models trained on high resolution remote sensing imagery. To enable the development of such models, we delineated field boundaries in 33,746 Planet images captured between 2017 and 2023 across the continent using a custom labeling platform with built-in procedures for assessing and mitigating label error. We collected 42,403 labels, including 7,204 labels arising from tasks dedicated to assessing label quality (Class 1 labels), 32,167 from sites mapped once by a single labeller (Class 2) and 3,032 labels from sites where 3 or more labellers were tasked to map the same location (Class 4). Class 1 labels were used to calculate labeller-specific quality scores, while Class 1 and 4 sites mapped by at least 3 labellers were used to further evaluate label uncertainty using a Bayesian risk metric. Quality metrics showed that label quality was moderately high (0.75) for measures of total field extent, but low regarding the number of individual fields delineated (0.33), and the position of field edges (0.05). These values are expected when delineating small-scale fields in 3-5 m resolution imagery, which can be too coarse to reliably distinguish smaller fields, particularly in dense croplands, and therefore requires substantial labeller judgement. Nevertheless, previous work shows that such labels can train effective field mapping models. Furthermore, this large, probabilistic sample on its own provides valuable insight into regional agricultural characteristics, highlighting variations in the median field size and density. The imagery and vectorized labels along with quality information is available for download from two public repositories.

Training a 3D scene understanding model requires complicated human annotations, which are laborious to collect and result in a model only encoding close-set object semantics. In contrast, vision-language pre-training models (e.g., CLIP) have shown remarkable open-world reasoning properties. To this end, we propose directly transferring CLIP's feature space to 3D scene understanding model without any form of supervision. We first modify CLIP's input and forwarding process so that it can be adapted to extract dense pixel features for 3D scene contents. We then project multi-view image features to the point cloud and train a 3D scene understanding model with feature distillation. Without any annotations or additional training, our model achieves promising annotation-free semantic segmentation results on open-vocabulary semantics and long-tailed concepts. Besides, serving as a cross-modal pre-training framework, our method can be used to improve data efficiency during fine-tuning. Our model outperforms previous SOTA methods in various zero-shot and data-efficient learning benchmarks. Most importantly, our model successfully inherits CLIP's rich-structured knowledge, allowing 3D scene understanding models to recognize not only object concepts but also open-world semantics.

We introduce ART, a new corpus-level autoencoding approach for training dense retrieval models that does not require any labeled training data. Dense retrieval is a central challenge for open-domain tasks, such as Open QA, where state-of-the-art methods typically require large supervised datasets with custom hard-negative mining and denoising of positive examples. ART, in contrast, only requires access to unpaired inputs and outputs (e.g. questions and potential answer documents). It uses a new document-retrieval autoencoding scheme, where (1) an input question is used to retrieve a set of evidence documents, and (2) the documents are then used to compute the probability of reconstructing the original question. Training for retrieval based on question reconstruction enables effective unsupervised learning of both document and question encoders, which can be later incorporated into complete Open QA systems without any further finetuning. Extensive experiments demonstrate that ART obtains state-of-the-art results on multiple QA retrieval benchmarks with only generic initialization from a pre-trained language model, removing the need for labeled data and task-specific losses.

We propose MUltiway Dynamic Dense (MUDD) connections, a simple yet effective method to address the limitations of residual connections and enhance cross-layer information flow in Transformers. Unlike existing dense connection approaches with static and shared connection weights, MUDD generates connection weights dynamically depending on hidden states at each sequence position and for each decoupled input stream (the query, key, value or residual) of a Transformer block. MUDD connections can be seamlessly integrated into any Transformer architecture to create MUDDFormer. Extensive experiments show that MUDDFormer significantly outperforms Transformers across various model architectures and scales in language modeling, achieving the performance of Transformers trained with 1.8X-2.4X compute. Notably, MUDDPythia-2.8B matches Pythia-6.9B in pretraining ppl and downstream tasks and even rivals Pythia-12B in five-shot settings, while adding only 0.23% parameters and 0.4% computation. Code in JAX and PyTorch and pre-trained models are available at https://github.com/Caiyun-AI/MUDDFormer .

Large language models (LLMs) have demonstrated strong effectiveness and robustness while fine-tuned as dense retrievers. However, their large parameter size brings significant inference time computational challenges, including high encoding costs for large-scale corpora and increased query latency, limiting their practical deployment. While smaller retrievers offer better efficiency, they often fail to generalize effectively with limited supervised fine-tuning data. In this work, we introduce DRAMA, a training framework that leverages LLMs to train smaller generalizable dense retrievers. In particular, we adopt pruned LLMs as the backbone and train on diverse LLM-augmented data in a single-stage contrastive learning setup. Experiments show that DRAMA offers better multilingual and long-context capabilities than traditional encoder-based retrievers, and achieves strong performance across multiple tasks and languages. These highlight the potential of connecting the training of smaller retrievers with the growing advancements in LLMs, bridging the gap between efficiency and generalization.

In this work, we introduce Vid2Seq, a multi-modal single-stage dense event captioning model pretrained on narrated videos which are readily-available at scale. The Vid2Seq architecture augments a language model with special time tokens, allowing it to seamlessly predict event boundaries and textual descriptions in the same output sequence. Such a unified model requires large-scale training data, which is not available in current annotated datasets. We show that it is possible to leverage unlabeled narrated videos for dense video captioning, by reformulating sentence boundaries of transcribed speech as pseudo event boundaries, and using the transcribed speech sentences as pseudo event captions. The resulting Vid2Seq model pretrained on the YT-Temporal-1B dataset improves the state of the art on a variety of dense video captioning benchmarks including YouCook2, ViTT and ActivityNet Captions. Vid2Seq also generalizes well to the tasks of video paragraph captioning and video clip captioning, and to few-shot settings. Our code is publicly available at https://antoyang.github.io/vid2seq.html.

Recent research demonstrates the effectiveness of using pretrained language models (PLM) to improve dense retrieval and multilingual dense retrieval. In this work, we present a simple but effective monolingual pretraining task called contrastive context prediction~(CCP) to learn sentence representation by modeling sentence level contextual relation. By pushing the embedding of sentences in a local context closer and pushing random negative samples away, different languages could form isomorphic structure, then sentence pairs in two different languages will be automatically aligned. Our experiments show that model collapse and information leakage are very easy to happen during contrastive training of language model, but language-specific memory bank and asymmetric batch normalization operation play an essential role in preventing collapsing and information leakage, respectively. Besides, a post-processing for sentence embedding is also very effective to achieve better retrieval performance. On the multilingual sentence retrieval task Tatoeba, our model achieves new SOTA results among methods without using bilingual data. Our model also shows larger gain on Tatoeba when transferring between non-English pairs. On two multi-lingual query-passage retrieval tasks, XOR Retrieve and Mr.TYDI, our model even achieves two SOTA results in both zero-shot and supervised setting among all pretraining models using bilingual data.

Dense Retrieval (DR) has achieved state-of-the-art first-stage ranking effectiveness. However, the efficiency of most existing DR models is limited by the large memory cost of storing dense vectors and the time-consuming nearest neighbor search (NNS) in vector space. Therefore, we present RepCONC, a novel retrieval model that learns discrete Representations via CONstrained Clustering. RepCONC jointly trains dual-encoders and the Product Quantization (PQ) method to learn discrete document representations and enables fast approximate NNS with compact indexes. It models quantization as a constrained clustering process, which requires the document embeddings to be uniformly clustered around the quantization centroids and supports end-to-end optimization of the quantization method and dual-encoders. We theoretically demonstrate the importance of the uniform clustering constraint in RepCONC and derive an efficient approximate solution for constrained clustering by reducing it to an instance of the optimal transport problem. Besides constrained clustering, RepCONC further adopts a vector-based inverted file system (IVF) to support highly efficient vector search on CPUs. Extensive experiments on two popular ad-hoc retrieval benchmarks show that RepCONC achieves better ranking effectiveness than competitive vector quantization baselines under different compression ratio settings. It also substantially outperforms a wide range of existing retrieval models in terms of retrieval effectiveness, memory efficiency, and time efficiency.

Existing methods of 3D dense face alignment mainly concentrate on accuracy, thus limiting the scope of their practical applications. In this paper, we propose a novel regression framework named 3DDFA-V2 which makes a balance among speed, accuracy and stability. Firstly, on the basis of a lightweight backbone, we propose a meta-joint optimization strategy to dynamically regress a small set of 3DMM parameters, which greatly enhances speed and accuracy simultaneously. To further improve the stability on videos, we present a virtual synthesis method to transform one still image to a short-video which incorporates in-plane and out-of-plane face moving. On the premise of high accuracy and stability, 3DDFA-V2 runs at over 50fps on a single CPU core and outperforms other state-of-the-art heavy models simultaneously. Experiments on several challenging datasets validate the efficiency of our method. Pre-trained models and code are available at https://github.com/cleardusk/3DDFA_V2.

Curation methods for massive vision-language datasets trade off between dataset size and quality. However, even the highest quality of available curated captions are far too short to capture the rich visual detail in an image. To show the value of dense and highly-aligned image-text pairs, we collect the Densely Captioned Images (DCI) dataset, containing 8012 natural images human-annotated with mask-aligned descriptions averaging above 1000 words each. With precise and reliable captions associated with specific parts of an image, we can evaluate vision-language models' (VLMs) understanding of image content with a novel task that matches each caption with its corresponding subcrop. As current models are often limited to 77 text tokens, we also introduce a summarized version (sDCI) in which each caption length is limited. We show that modern techniques that make progress on standard benchmarks do not correspond with significant improvement on our sDCI based benchmark. Lastly, we finetune CLIP using sDCI and show significant improvements over the baseline despite a small training set. By releasing the first human annotated dense image captioning dataset, we hope to enable the development of new benchmarks or fine-tuning recipes for the next generation of VLMs to come.

Scaling dense retrievers to larger large language model (LLM) backbones has been a dominant strategy for improving their retrieval effectiveness. However, this has substantial cost implications: larger backbones require more expensive hardware (e.g. GPUs with more memory) and lead to higher indexing and querying costs (latency, energy consumption). In this paper, we challenge this paradigm by introducing PromptPRF, a feature-based pseudo-relevance feedback (PRF) framework that enables small LLM-based dense retrievers to achieve effectiveness comparable to much larger models. PromptPRF uses LLMs to extract query-independent, structured and unstructured features (e.g., entities, summaries, chain-of-thought keywords, essay) from top-ranked documents. These features are generated offline and integrated into dense query representations via prompting, enabling efficient retrieval without additional training. Unlike prior methods such as GRF, which rely on online, query-specific generation and sparse retrieval, PromptPRF decouples feedback generation from query processing and supports dense retrievers in a fully zero-shot setting. Experiments on TREC DL and BEIR benchmarks demonstrate that PromptPRF consistently improves retrieval effectiveness and offers favourable cost-effectiveness trade-offs. We further present ablation studies to understand the role of positional feedback and analyse the interplay between feature extractor size, PRF depth, and model performance. Our findings demonstrate that with effective PRF design, scaling the retriever is not always necessary, narrowing the gap between small and large models while reducing inference cost.

A promising approach for improving reasoning in large language models is to use process reward models (PRMs). PRMs provide feedback at each step of a multi-step reasoning trace, potentially improving credit assignment over outcome reward models (ORMs) that only provide feedback at the final step. However, collecting dense, per-step human labels is not scalable, and training PRMs from automatically-labeled data has thus far led to limited gains. To improve a base policy by running search against a PRM or using it as dense rewards for reinforcement learning (RL), we ask: "How should we design process rewards?". Our key insight is that, to be effective, the process reward for a step should measure progress: a change in the likelihood of producing a correct response in the future, before and after taking the step, corresponding to the notion of step-level advantages in RL. Crucially, this progress should be measured under a prover policy distinct from the base policy. We theoretically characterize the set of good provers and our results show that optimizing process rewards from such provers improves exploration during test-time search and online RL. In fact, our characterization shows that weak prover policies can substantially improve a stronger base policy, which we also observe empirically. We validate our claims by training process advantage verifiers (PAVs) to predict progress under such provers, and show that compared to ORMs, test-time search against PAVs is >8% more accurate, and 1.5-5times more compute-efficient. Online RL with dense rewards from PAVs enables one of the first results with 5-6times gain in sample efficiency, and >6% gain in accuracy, over ORMs.

Set representation has become ubiquitous in deep learning for modeling the inductive bias of neural networks that are insensitive to the input order. DeepSets is the most widely used neural network architecture for set representation. It involves embedding each set element into a latent space with dimension L, followed by a sum pooling to obtain a whole-set embedding, and finally mapping the whole-set embedding to the output. In this work, we investigate the impact of the dimension L on the expressive power of DeepSets. Previous analyses either oversimplified high-dimensional features to be one-dimensional features or were limited to analytic activations, thereby diverging from practical use or resulting in L that grows exponentially with the set size N and feature dimension D. To investigate the minimal value of L that achieves sufficient expressive power, we present two set-element embedding layers: (a) linear + power activation (LP) and (b) linear + exponential activations (LE). We demonstrate that L being poly(N, D) is sufficient for set representation using both embedding layers. We also provide a lower bound of L for the LP embedding layer. Furthermore, we extend our results to permutation-equivariant set functions and the complex field.

A coreset is a tiny weighted subset of an input set, that closely resembles the loss function, with respect to a certain set of queries. Coresets became prevalent in machine learning as they have shown to be advantageous for many applications. While coreset research is an active research area, unfortunately, coresets are constructed in a problem-dependent manner, where for each problem, a new coreset construction algorithm is usually suggested, a process that may take time or may be hard for new researchers in the field. Even the generic frameworks require additional (problem-dependent) computations or proofs to be done by the user. Besides, many problems do not have (provable) small coresets, limiting their applicability. To this end, we suggest an automatic practical framework for constructing coresets, which requires (only) the input data and the desired cost function from the user, without the need for any other task-related computation to be done by the user. To do so, we reduce the problem of approximating a loss function to an instance of vector summation approximation, where the vectors we aim to sum are loss vectors of a specific subset of the queries, such that we aim to approximate the image of the function on this subset. We show that while this set is limited, the coreset is quite general. An extensive experimental study on various machine learning applications is also conducted. Finally, we provide a ``plug and play" style implementation, proposing a user-friendly system that can be easily used to apply coresets for many problems. Full open source code can be found at https://github.com/alaamaalouf/AutoCoreset{https://github.com/alaamaalouf/AutoCoreset}. We believe that these contributions enable future research and easier use and applications of coresets.

Tabular data remain the predominant format for real-world applications. Yet, developing effective neural models for tabular data remains challenging due to heterogeneous feature types and complex interactions occurring at multiple scales. Recent advances in tabular in-context learning (ICL), such as TabPFN and TabICL, have achieved state-of-the-art performance comparable to gradient-boosted trees (GBTs) without task-specific fine-tuning. However, current architectures exhibit key limitations: (1) single-scale feature processing that overlooks hierarchical dependencies, (2) dense attention with quadratic scaling in table width, and (3) strictly sequential component processing that prevents iterative representation refinement and cross-component communication. To address these challenges, we introduce Orion-MSP, a tabular ICL architecture featuring three key innovations: (1) multi-scale processing to capture hierarchical feature interactions; (2) block-sparse attention combining windowed, global, and random patterns for scalable efficiency and long-range connectivity; and (3) a Perceiver-style memory enabling safe bidirectional information flow across components. Across diverse benchmarks, Orion-MSP matches or surpasses state-of-the-art performance while scaling effectively to high-dimensional tables, establishing a new standard for efficient tabular in-context learning. The model is publicly available at https://github.com/Lexsi-Labs/Orion-MSP .

Accelerating large language model (LLM) inference is critical for real-world deployments requiring high throughput and low latency. Contextual sparsity, where each token dynamically activates only a small subset of the model parameters, shows promise but does not scale to large batch sizes due to union of active neurons quickly approaching dense computation. We introduce Polar Sparsity, highlighting a key shift in sparsity importance from MLP to Attention layers as we scale batch size and sequence length. While MLP layers become more compute-efficient under batching, their sparsity vanishes. In contrast, attention becomes increasingly more expensive at scale, while their head sparsity remains stable and batch-invariant. We develop hardware-efficient, sparsity-aware GPU kernels for selective MLP and Attention computations, delivering up to \(2.2\times\) end-to-end speedups for models like OPT, LLaMA-2 \& 3, across various batch sizes and sequence lengths without compromising accuracy. To our knowledge, this is the first work to demonstrate that contextual sparsity can scale effectively to large batch sizes, delivering substantial inference acceleration with minimal changes, making Polar Sparsity practical for large-scale, high-throughput LLM deployment systems. Our code is available at: https://github.com/susavlsh10/Polar-Sparsity.

Training models to effectively use test-time compute is crucial for improving the reasoning performance of LLMs. Current methods mostly do so via fine-tuning on search traces or running RL with 0/1 outcome reward, but do these approaches efficiently utilize test-time compute? Would these approaches continue to scale as the budget improves? In this paper, we try to answer these questions. We formalize the problem of optimizing test-time compute as a meta-reinforcement learning (RL) problem, which provides a principled perspective on spending test-time compute. This perspective enables us to view the long output stream from the LLM as consisting of several episodes run at test time and leads us to use a notion of cumulative regret over output tokens as a way to measure the efficacy of test-time compute. Akin to how RL algorithms can best tradeoff exploration and exploitation over training, minimizing cumulative regret would also provide the best balance between exploration and exploitation in the token stream. While we show that state-of-the-art models do not minimize regret, one can do so by maximizing a dense reward bonus in conjunction with the outcome 0/1 reward RL. This bonus is the ''progress'' made by each subsequent block in the output stream, quantified by the change in the likelihood of eventual success. Using these insights, we develop Meta Reinforcement Fine-Tuning, or MRT, a new class of fine-tuning methods for optimizing test-time compute. MRT leads to a 2-3x relative gain in performance and roughly a 1.5x gain in token efficiency for math reasoning compared to outcome-reward RL.

Deep research systems represent an emerging class of agentic information retrieval methods that generate comprehensive and well-supported reports to complex queries. However, most existing frameworks rely on dynamic commercial search APIs, which pose reproducibility and transparency challenges in addition to their cost. To address these limitations, we introduce DeepResearchGym, an open-source sandbox that combines a reproducible search API with a rigorous evaluation protocol for benchmarking deep research systems. The API indexes large-scale public web corpora, namely ClueWeb22 and FineWeb, using a state-of-the-art dense retriever and approximate nearest neighbor search via DiskANN. It achieves lower latency than popular commercial APIs while ensuring stable document rankings across runs, and is freely available for research use. To evaluate deep research systems' outputs, we extend the Researchy Questions benchmark with automatic metrics through LLM-as-a-judge assessments to measure alignment with users' information needs, retrieval faithfulness, and report quality. Experimental results show that systems integrated with DeepResearchGym achieve performance comparable to those using commercial APIs, with performance rankings remaining consistent across evaluation metrics. A human evaluation study further confirms that our automatic protocol aligns with human preferences, validating the framework's ability to help support controlled assessment of deep research systems. Our code and API documentation are available at https://www.deepresearchgym.ai.

We consider the problem of constructing small coresets for k-Median in Euclidean spaces. Given a large set of data points Psubset R^d, a coreset is a much smaller set Ssubset R^d, so that the k-Median costs of any k centers w.r.t. P and S are close. Existing literature mainly focuses on the high-dimension case and there has been great success in obtaining dimension-independent bounds, whereas the case for small d is largely unexplored. Considering many applications of Euclidean clustering algorithms are in small dimensions and the lack of systematic studies in the current literature, this paper investigates coresets for k-Median in small dimensions. For small d, a natural question is whether existing near-optimal dimension-independent bounds can be significantly improved. We provide affirmative answers to this question for a range of parameters. Moreover, new lower bound results are also proved, which are the highest for small d. In particular, we completely settle the coreset size bound for 1-d k-Median (up to log factors). Interestingly, our results imply a strong separation between 1-d 1-Median and 1-d 2-Median. As far as we know, this is the first such separation between k=1 and k=2 in any dimension.

Recent advances in deep learning have relied heavily on the use of large Transformers due to their ability to learn at scale. However, the core building block of Transformers, the attention operator, exhibits quadratic cost in sequence length, limiting the amount of context accessible. Existing subquadratic methods based on low-rank and sparse approximations need to be combined with dense attention layers to match Transformers, indicating a gap in capability. In this work, we propose Hyena, a subquadratic drop-in replacement for attention constructed by interleaving implicitly parametrized long convolutions and data-controlled gating. In recall and reasoning tasks on sequences of thousands to hundreds of thousands of tokens, Hyena improves accuracy by more than 50 points over operators relying on state-spaces and other implicit and explicit methods, matching attention-based models. We set a new state-of-the-art for dense-attention-free architectures on language modeling in standard datasets (WikiText103 and The Pile), reaching Transformer quality with a 20% reduction in training compute required at sequence length 2K. Hyena operators are twice as fast as highly optimized attention at sequence length 8K, and 100x faster at sequence length 64K.

Existing methods for 3D tracking from monocular RGB videos predominantly consider articulated and rigid objects. Modelling dense non-rigid object deformations in this setting remained largely unaddressed so far, although such effects can improve the realism of the downstream applications such as AR/VR and avatar communications. This is due to the severe ill-posedness of the monocular view setting and the associated challenges. While it is possible to naively track multiple non-rigid objects independently using 3D templates or parametric 3D models, such an approach would suffer from multiple artefacts in the resulting 3D estimates such as depth ambiguity, unnatural intra-object collisions and missing or implausible deformations. Hence, this paper introduces the first method that addresses the fundamental challenges depicted above and that allows tracking human hands interacting with human faces in 3D from single monocular RGB videos. We model hands as articulated objects inducing non-rigid face deformations during an active interaction. Our method relies on a new hand-face motion and interaction capture dataset with realistic face deformations acquired with a markerless multi-view camera system. As a pivotal step in its creation, we process the reconstructed raw 3D shapes with position-based dynamics and an approach for non-uniform stiffness estimation of the head tissues, which results in plausible annotations of the surface deformations, hand-face contact regions and head-hand positions. At the core of our neural approach are a variational auto-encoder supplying the hand-face depth prior and modules that guide the 3D tracking by estimating the contacts and the deformations. Our final 3D hand and face reconstructions are realistic and more plausible compared to several baselines applicable in our setting, both quantitatively and qualitatively. https://vcai.mpi-inf.mpg.de/projects/Decaf

Most existing robotic manipulation benchmarks focus on simplified tabletop scenarios, typically involving a stationary robotic arm interacting with various objects on a flat surface. To address this limitation, we introduce RoboBenchMart, a more challenging and realistic benchmark designed for dark store environments, where robots must perform complex manipulation tasks with diverse grocery items. This setting presents significant challenges, including dense object clutter and varied spatial configurations -- with items positioned at different heights, depths, and in close proximity. By targeting the retail domain, our benchmark addresses a setting with strong potential for near-term automation impact. We demonstrate that current state-of-the-art generalist models struggle to solve even common retail tasks. To support further research, we release the RoboBenchMart suite, which includes a procedural store layout generator, a trajectory generation pipeline, evaluation tools and fine-tuned baseline models.

While scaling laws for large language models (LLMs) during pre-training have been extensively studied, their behavior under reinforcement learning (RL) post-training remains largely unexplored. This paper presents a systematic empirical investigation of scaling behaviors in RL-based post-training, with a particular focus on mathematical reasoning. Based on a set of experiments across the full Qwen2.5 dense model series (0.5B to 72B), we characterize how model scale, data volume, and computational budget interact to shape performance. Our analysis leads to four key findings: 1.Larger models consistently exhibit superior learning efficiency on both compute and data metrics. 2.The relationship between test loss, compute, and data can be modeled by a predictive power-law which is robust across both base and instruction-tuned models. 3.Although larger models exhibit higher learning efficiency, the analytical learning efficiency term k(N) in the power-law reveals a latent saturation trend in learning efficiency as model size continues to increase. 4.In data-constrained regimes, repeated reuse of high-quality data proves highly effective, as final performance is primarily governed by the total number of optimization steps rather than the uniqueness of samples. Collectively, these results provide a principled foundation and practical guidelines for efficiently scaling the reasoning capabilities of LLMs through RL post-training.

Statutory article retrieval plays a crucial role in making legal information more accessible to both laypeople and legal professionals. Multilingual countries like Belgium present unique challenges for retrieval models due to the need for handling legal issues in multiple languages. Building on the Belgian Statutory Article Retrieval Dataset (BSARD) in French, we introduce the bilingual version of this dataset, bBSARD. The dataset contains parallel Belgian statutory articles in both French and Dutch, along with legal questions from BSARD and their Dutch translation. Using bBSARD, we conduct extensive benchmarking of retrieval models available for Dutch and French. Our benchmarking setup includes lexical models, zero-shot dense models, and fine-tuned small foundation models. Our experiments show that BM25 remains a competitive baseline compared to many zero-shot dense models in both languages. We also observe that while proprietary models outperform open alternatives in the zero-shot setting, they can be matched or surpassed by fine-tuning small language-specific models. Our dataset and evaluation code are publicly available.

Retrieval-augmented generation (RAG) greatly benefits language models (LMs) by providing additional context for tasks such as document-based question answering (DBQA). Despite its potential, the power of RAG is highly dependent on its configuration, raising the question: What is the optimal RAG configuration? To answer this, we introduce the RAGGED framework to analyze and optimize RAG systems. On a set of representative DBQA tasks, we study two classic sparse and dense retrievers, and four top-performing LMs in encoder-decoder and decoder-only architectures. Through RAGGED, we uncover that different models suit substantially varied RAG setups. While encoder-decoder models monotonically improve with more documents, we find decoder-only models can only effectively use < 5 documents, despite often having a longer context window. RAGGED offers further insights into LMs' context utilization habits, where we find that encoder-decoder models rely more on contexts and are thus more sensitive to retrieval quality, while decoder-only models tend to rely on knowledge memorized during training.

Relation Extraction (RE) has been extended to cross-document scenarios because many relations are not simply described in a single document. This inevitably brings the challenge of efficient open-space evidence retrieval to support the inference of cross-document relations, along with the challenge of multi-hop reasoning on top of entities and evidence scattered in an open set of documents. To combat these challenges, we propose MR.COD (Multi-hop evidence retrieval for Cross-document relation extraction), which is a multi-hop evidence retrieval method based on evidence path mining and ranking. We explore multiple variants of retrievers to show evidence retrieval is essential in cross-document RE. We also propose a contextual dense retriever for this setting. Experiments on CodRED show that evidence retrieval with MR.COD effectively acquires crossdocument evidence and boosts end-to-end RE performance in both closed and open settings.

Dense image segmentation tasks e.g., semantic, panoptic) are useful for image editing, but existing methods can hardly generalize well in an in-the-wild setting where there are unrestricted image domains, classes, and image resolution and quality variations. Motivated by these observations, we construct a new entity segmentation dataset, with a strong focus on high-quality dense segmentation in the wild. The dataset contains images spanning diverse image domains and entities, along with plentiful high-resolution images and high-quality mask annotations for training and testing. Given the high-quality and -resolution nature of the dataset, we propose CropFormer which is designed to tackle the intractability of instance-level segmentation on high-resolution images. It improves mask prediction by fusing high-res image crops that provide more fine-grained image details and the full image. CropFormer is the first query-based Transformer architecture that can effectively fuse mask predictions from multiple image views, by learning queries that effectively associate the same entities across the full image and its crop. With CropFormer, we achieve a significant AP gain of 1.9 on the challenging entity segmentation task. Furthermore, CropFormer consistently improves the accuracy of traditional segmentation tasks and datasets. The dataset and code will be released at http://luqi.info/entityv2.github.io/.