Reconstruction
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Principled MAP estimation for inverse problems: bridging the gap between convergence and performance
2026-09-29 13:16:37Alexandre Lagier, Valentine Tosel, Anne Gagneux, Mathurin Massias, S\'egol\`ene MartinAbstract
Pretrained denoisers provide a powerful way to incorporate image priors into restoration algorithms. Plug-and-Play and RED approaches exploit fixed-noise-level denoisers within first-order optimization schemes, with convergence guarantees, but often struggle to achieve high-quality reconstruction on severely ill-posed inverse problems. In contrast, recent state-of-the-art approaches leverage denoisers derived from flow- or diffusion-based generative models and evaluate them along a sequence of decreasing noise levels. While these methods achieve strong empirical performance, their convergence theory remains limited. In this paper, we bridge this gap by specifically designing an algorithm that combines denoisers at decreasing noise levels with a schedule tailored to ensure convergence. From a Bayesian perspective, we prove that our method converges to a $\textit{Maximum a Posteriori}$ (MAP) estimate, under suitable assumptions. Subsequently, we apply our method to various ill-posed inverse problems and show that it surpasses convergent methods while competing with state-of-the-art empirical ones.
Abstract (translated)
URL
https://arxiv.org/abs/2609.37529
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A Sharp Transition in Data Reconstruction under Differential Privacy
2026-09-29 12:12:47Max Cairney-Leeming, Simone Bombari, Marco MondelliAbstract
Data reconstruction attacks have empirically been successful in recovering training samples from learned models, raising privacy concerns and motivating defenses with guarantees that remain valid against future threats. While differential privacy (DP) provides formal protection, choosing the privacy budget remains a challenge: small budgets severely reduce utility, but it is hard to quantify how large the budget can be without allowing accurate reconstruction. In this work, we study informed attackers who aim to reconstruct a single $d$-dimensional training sample from a $\rho$-zero-concentrated DP model, knowing all other training data. Our main contribution is to establish a sharp transition at $\rho \asymp d$ for data reconstruction: on the one hand, we derive entropy-based lower bounds for any private mechanism and any attack, characterizing a set of target priors for which reconstruction is information-theoretically impossible for $\rho \ll d$; on the other hand, we analyze a simple attack on private linear regression with output perturbation, showing that reconstruction is practically feasible for $\rho \gg d$. Remarkably, the transition moves to $\rho \asymp s$ for data lying in an $s$-dimensional subspace, demonstrating that the privacy budget guaranteeing adequate protection must be assessed in terms of the effective dimension of the data. We validate our findings via experiments on synthetic data and natural images (CIFAR-10, ImageNet).
Abstract (translated)
URL
https://arxiv.org/abs/2609.37344
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Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud
2026-09-29 11:10:43Yuxuan Xie, Xuan Yu, Rong Xiong, Yue WangAbstract
Object-centric scene reconstruction requires completing partial object observations while preserving metric alignment and avoiding collisions with the surrounding. Existing generation-based methods are often image-conditioned and suffer from scale ambiguity and insufficient geometric constraints. We propose COOL, a framework for COllision-aware and Observation-aLigned reconstruction. Based on an object generation model, COOL conditions the generation on instance and background point clouds. Instance geometry anchors generation in scene coordinates, while background geometry provides local context for scene-consistent completion. We further introduce an explicit collision loss and use joint optimization and resampling to reduce collisions during inference. Experiments on 3D-Front and Scan2CAD demonstrate strong scene-level fidelity, observation alignment, and collision reduction. Moreover, additional studies validate its robustness to mask errors and its applicability to real-world scene replicas.
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URL
https://arxiv.org/abs/2609.37260
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Real2Gym: Building Gyms from Videos, Bringing Skills to Robots
2026-09-29 09:16:49Kerui Ren, Yingxiang Xu, Kaiwen Song, Linning Xu, Bo Dai, Mulin Yu, Tao LuAbstract
Real-world videos provide rich demonstrations of manipulation, but turning them into reusable robot skills requires visually aligned environments, executable physical interactions, and mechanisms for learning from experience. We introduce Real2Gym, an agentic Real2Sim2Real framework that turns human and robot demonstrations into interactive simulation gyms and brings skills acquired in simulation to physical robots. The Real2Sim module reconstructs editable scenes, aligns objects and cameras with the input, validates demonstrated or retargeted actions through native physics execution, and generates task-conditioned variations with action-feasibility checks. Within these environments, the agent generates executable code for manipulation stages, observes their outcomes, and distills successful attempts and failures into reusable task procedures, object-relative motions, and recovery strategies. Through a shared perception-and-control interface, these skills guide subsequent execution in simulation and on real robots, with motions adapted to current observations and no updates to the underlying model weights. Extensive evaluations demonstrate that Real2Gym enables high-fidelity simulation environment reconstruction, outperforming GPT-6 Astra Direct Mode by 16.7% in success rate with approximately 74.9% fewer policy-execution tokens across these environments, while exceeding it by 33.3% in physical robot execution success rate across four tasks on a real Franka robot.
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URL
https://arxiv.org/abs/2609.37089
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LDM-is-AE: Latent Diffusion Model is an Auto-Encoder for End-to-End Image Generation
2026-09-29 09:13:20Zhengqiang Zhang, Lingchen Sun, Rongyuan Wu, Qiaosi Yi, Xiangtao Kong, Chaodong Xiao, Lei ZhangAbstract
Latent Diffusion Models (LDMs) typically adopt a two-stage pipeline: an auto-encoder (AE) is first pre-trained to define a latent space, then a diffusion model is trained to perform denoising within it. Such a two-stage design introduces a representation mismatch, as the latent space is optimized for reconstruction rather than adapting the denoising dynamics. We reveal that the LDM itself is an AE, and consequently present LDM-is-AE, an end-to-end one-stage LDM training framework that eliminates the need for a separately trained tokenizer. Our key observation is that the LDM backbone actually performs a latent-to-feature-to-latent transformation at each denoising step, which can be interpreted as an internal decoding--encoding process. Leveraging this structure, we split the DiT backbone into two reciprocal components, DiT-E (i.e., DiT Encoding) and DiT-D (i.e., DiT Decoding), and impose image-space supervision on the intermediate features across all timesteps. Our model encourages the internal representation to align with the image domain throughout denoising, thereby establishing an explicit latent-to-image-to-latent path. At the zero-noise timestep, our model further performs an image-to-latent-to-image mapping, corresponding to an auto-encoding process. As a result, LDM-is-AE jointly learns latent representations and denoising dynamics in an end-to-end manner, yielding a diffusion-native latent space tailored to the generation process. Experiments demonstrate that LDM-is-AE exhibits highly competitive generation performance, achieving an FID of 1.80 and 1.90 on 256x256 and 512x512 class-conditional image generation, respectively.
Abstract (translated)
URL
https://arxiv.org/abs/2609.37080
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FACT: Fidelity-Aware Construction of Articulated Twins
2026-09-29 09:04:34Kuixiang Shao, Chuansen Nie, Yinuo Bai, Jiayuan Gu, Jingyi YuAbstract
Visually plausible articulated assets may still fail during contact interactions or exhibit inaccurate motion. We present FACT (Fidelity-Aware Construction of Articulated Twins), an agentic framework that progressively constructs articulated twins to improve geometry, contact, and dynamic fidelity. The agent drives an evidence--diagnosis--revision loop on a shared editable representation, selecting measurements and model edits using quantitative feedback, while numerical tools execute and validate the updates. It reconstructs editable articulated geometry from images through feature planning, targeted measurements, and diagnostic refinement. On this reference, it repairs collision proxies through task-aware local repartitioning before fidelity-constrained compression. Finally, it constructs response models from passive-response videos, using simulation residuals to guide model revision and constrained physical parameter fitting. Experiments show that FACT improves geometric reconstruction over baselines, enables more reliable interaction with simpler collision proxies, and better reproduces held-out physical responses than direct parameter inference.
Abstract (translated)
URL
https://arxiv.org/abs/2609.37067
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Spatial-OPSD: Self-Improving Spatial Reasoning via Label-Free Self-Distillation
2026-09-29 08:58:58Zhenyu Liu, Zhangquan Chen, Keyi Chen, Mingze Sun, Xiang An, Haodong Jing, Ruqi HuangAbstract
Vision-language models (VLMs) increasingly operate in embodied and spatially grounded settings, where accurate understanding of depth, viewpoint, and three-dimensional relations is essential. However, improving spatial reasoning typically relies on ground-truth answers, answer-derived rewards, or other forms of task-specific supervision. We introduce Spatial-OPSD, a label-free self-improvement framework that instead exploits spatial structure naturally available from perception and reconstruction tools. During training, a privileged teacher receives automatically obtainable spatial priors, such as depth, reconstructed 3D relations, and camera geometry, while the student observes only the original visual-language input. On trajectories sampled by the student itself, the teacher provides dense token-level supervision, allowing the student to internalize spatial knowledge without ground-truth answer labels or privileged information at inference time. To extend this supervision beyond a single round, we adopt a round-wise recursive training scheme: the teacher remains frozen within each round to provide a stable learning target, and the improved student initializes both teacher and student in the next round, where privileged spatial priors re-establish an informative teacher--student asymmetry. This enables repeated self-improvement while avoiding a rapidly moving teacher during optimization. Across four VLM families, a single round of Spatial-OPSD consistently improves the five-benchmark average, while three rounds further push a strong spatially specialized model to the open-source frontier, achieving the highest average among the open models and the best results on three of five spatial reasoning benchmarks. Our code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.37055
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RAWD-TTS: Ratio-Free Reward Alignment for Discrete-Diffusion Voice Cloning
2026-09-29 08:42:33Maxim Maslov, Kirill Borodin, Vasilii Kudryavtsev, Nikita Vasiliev, Grach MkrtchianAbstract
Zero-shot text-to-speech synthesizes new utterances in a speaker's voice from a short reference recording. Voice cloning requires accurate content and preserved speaker identity, but supervised acoustic-token prediction does not directly optimize these waveform-level properties. Reward-based post-training addresses this mismatch, but in discrete diffusion, token choices and reveal positions jointly define the sampling trajectory, complicating alignment. We introduce RAWD-TTS (Ratio-free Advantage-Weighted Denoising), which scores decoded samples with recognition and speaker rewards and uses group-relative advantages to weight masked-token reconstruction of those samples, without reverse-trajectory likelihoods or target audio. On 500 Russian CV3-Eval voice-cloning prompts, joint alignment reduces word error rate from 3.18% to 2.42% at the reward-selected checkpoint (24.0% relative) and to 2.58% at the final checkpoint (19.0%), while WavLM speaker cosine rises from 0.733 to 0.748 and 0.755. Controlled experiments characterize recognition-identity trade-offs and the effects of corruption count, group composition, and weighting.
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URL
https://arxiv.org/abs/2609.37028
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CADOC: Cache-Aware Dynamic Object Context for Long-Horizon Agents
2026-09-29 08:33:24Junjie Yao, Zhangchen Zhou, Zhi-Qin John XuAbstract
For a long-horizon agent, context is the bottleneck: the history is resent with every request, the window caps task length, and reasoning degrades as the history grows. Replacing structured objects with compact retrieval Cards shortens the prompt and keeps the exact originals retrievable, but editing the history can break prefix-cache reuse, and prior recoverable methods time their edits by forecasts of future reuse or by preset intervals. We propose CADOC (Cache-Aware Dynamic Object Context), an online algorithm that replaces structured objects with compact Cards while preserving exact, on-demand retrieval of their original contents. CADOC schedules replacements in batches by balancing accumulated waiting cost against shared cache-reconstruction cost. Its scheduling rule follows from an economic order quantity trade-off, recovers the optimal integer batch under stationary assumptions. Across evaluation, CADOC consistently achieves the lowest aggregate input cost among the compared configurations, which reduces input cost by approximately 40\% on average while maintaining task performance close to full context. CADOC thus provides a cost-derived approach to compressible context management, demonstrating that efficient compression depends not only on shortening prompts but also on scheduling edits to preserve cache reuse.
Abstract (translated)
URL
https://arxiv.org/abs/2609.37012
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GeoVerse: World-Consistent Novel View Synthesis in Geometric Latent Space
2026-09-29 08:27:57Kerui Ren, Tao Lu, Linning Xu, Changjian Jiang, Mu Huang, Chunhua Shen, Mulin Yu, Bo DaiAbstract
Novel view synthesis from sparse images must reconcile faithful reconstruction of observed regions with plausible completion of unseen content, while maintaining world consistency across viewpoints. Existing geometry-based methods preserve observed scene structure but often struggle to complete unseen regions, whereas video generative models offer rich appearance priors but accumulate inconsistencies during sequential view generation. We propose GeoVerse, a framework that synthesizes world-consistent novel views by performing generation within the geometric latent space of a pretrained 3D foundation model and injecting appearance priors from a video generative model. Specifically, GeoVerse extracts multilevel features from Wan2.2 VACE and injects them into the geometric latent diffusion model via a ControlNet-style adapter, incorporating video-learned appearance priors to enhance structural completion. To enforce cross-view coherence, a global spatial memory continuously aggregates observed and synthesized content, reprojecting target-aligned guidance to anchor subsequent predictions to a shared scene representation. Extensive experiments across diverse datasets demonstrate improved visual quality and geometric consistency, with a 2.23 dB higher PSNR on DL3DV and 32.4% lower ATE on Mip-NeRF360 compared to GLD.
Abstract (translated)
URL
https://arxiv.org/abs/2609.35734
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Beyond Missing Rates: Rethinking Incomplete Multi-View Clustering with Protocol Divergence
2026-09-29 08:25:41Haolu Liu, Xiyue Wang, Xuanting Xie, Liangjian Wen, Zhao KangAbstract
Incomplete multi-view clustering (IMVC) is typically evaluated by retraining separate models under different missing-view configurations. Evaluations indexed only by nominal missing rate can overlook differences in observation structure across missing-view protocols. We show that missing-data protocols with identical nominal missing rates can induce substantially different learning regimes, differing by approximately 50-fold in the proportion of fully observed samples. We formalize this phenomenon as protocol divergence, which quantifies structural disparities among missing-view protocols beyond marginal missing rates. Furthermore, we analyze support-gated reconstruction mechanisms and show that their optimization contribution is inherently limited by the frequency of eligible observations under explicit normalization and optimization conditions. Based on these observations, we propose CRAFT (Co-occurrence-free Robust Attention-masked Fusion Transformer), a train-once framework that combines representation learning with an architecture designed to process missing-view inputs. CRAFT combines (i) per-sample forward computation using each sample's observed views and shared parameters, and (ii) mask-aware fusion over nonempty observed-view subsets. The deployment evaluation starts from training data with all views available and reuses one final checkpoint per dataset and seed across missing-view protocols without retraining. Experiments on CUB and MultiFashion show that CRAFT achieves the strongest performance in 12 out of 13 information-matched settings. Additional deployment experiments across seven benchmarks and sixteen missing configurations demonstrate substantial computational savings through checkpoint reuse while maintaining competitive clustering performance. Code and evaluation tools: this https URL and this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.04857
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Prior-Driven Enhancements in 3D Gaussian Splatting: Normals and Depths Regularization
2026-09-29 08:06:24Gyeonggwan Lee, Seunghwan Hong, Junghun SuhAbstract
3D Gaussian Splatting (3DGS) is a state-of-the-art technique for 3D scene rendering, offering high efficiency and excellent visual quality. However, because 3DGS relies on an initial sparse point set from Structure-from-Motion (SfM) and view-dependent properties, it can suffer from geometric inaccuracies and visual artifacts, particularly in complex scenes. To address these challenges, we propose an improved 3DGS approach that regularizes the optimization process by integrating geometric priors, including surface normals and dense depth information. Surface normal regularization improves geometric consistency by aligning Gaussian covariance with local surface structures, while dense depth priors combined with an initial points from SfM enhance per-pixel depth estimation, increasing accuracy and reducing ambiguities. These enhancements enable robust handling of diverse and complex real-world scenarios, minimizing visual distortions and improving reconstruction quality across various environments. To validate our method, we evaluate it on challenging datasets, including street-view scenes and highly reflective environments, while testing it across multiple SfM pipelines. Our results demonstrate compatibility across diverse environments and highlight the robustness of our approach. Experimental findings further show that our method enhances geometric accuracy and visual quality, establishing a reliable solution for real-time 3D scene rendering in complex environments.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36969
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Controlled Decoding Attacks on Black-Box LLMs
2026-09-29 07:58:49Jesson Wang, Shawn Li, Wei Yang, Franck Dernoncourt, Ryan A. Rossi, Charith Peris, Yue ZhaoAbstract
Manipulating next-token probabilities during generation can bypass the safety alignment of large language models. Existing approaches, however, rely on access to model weights or numerical token probabilities and therefore do not apply to interfaces that return only sampled text. Reconstructing probabilities from sampled outputs offers a possible alternative, but finite sampling produces sparse and noisy estimates, while repeating this process at every generation step incurs substantial query costs. Our empirical observations suggest that large distributional changes along successful jailbreak trajectories are concentrated at a small subset of positions, motivating selective control. We introduce \method{}, a framework for jailbreaking through text-only continuation interfaces that permit repeated sampling and assistant-prefix continuation. Sample-Based Distribution Reconstruction combines sampled outputs with a prior over unobserved actions to obtain a usable control signal. Risk-Gated Residual Control uses the evolving response prefix to decide when to reconstruct and modify the distribution, concentrating sampling costs at selected positions. Speculative Multi-Token Execution further amortizes target calls by verifying and accepting draft prefixes that require no intervention. Across four target endpoints and three benchmarks, \method{} achieves the highest mean score most comparisons against baselines.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36956
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Hardware-Native Joint Sparse-Quantization for Trillion-Scale Mixture-of-Experts
2026-09-29 07:58:06Kwanhee Lee, Namhoon Lee, Dan AlistarhAbstract
Mixture-of-Experts (MoE) architectures allow frontier language models to scale to trillions of parameters, but their deployment is constrained by massive memory footprints and memory-bandwidth limitations. Although modern accelerators provide Sparse Tensor Cores (SpTCs) that reduce weight storage and increase throughput through low-precision semi-structured sparsity, exploiting them for MoEs remains challenging because of substantial model-quality degradation and the lack of grouped sparse GEMM primitives. We present an end-to-end hardware-software co-design framework that compresses expert weights into hardware-native, low-precision sparse representations and accelerates their execution on SpTCs. Algorithmically, our framework relaxes discrete semi-structured support selection through continuous reparameterization, enabling differentiable joint optimization with quantized weights under a router-weighted reconstruction objective and scalable expert-parallel compression. Systemically, we develop a custom grouped sparse GEMM kernel tailored to low-precision sparse MoE inference on SpTCs. Across MoE models ranging from 30 billion to one trillion parameters, our framework improves state-of-the-art joint sparse-quantization accuracy by up to 4.35 percentage points while preserving 96.09% of the original model's performance. On NVIDIA B200 GPUs, our kernel outperforms the vendor baseline by up to $1.65\times$, increasing serving throughput by $1.18\times$ and reducing end-to-end latency by up to $4.03\times$. These results establish hardware-software co-design as a practical path toward scalable and efficient MoE deployment.
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URL
https://arxiv.org/abs/2610.02241
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Interpreting and Evaluating Dynamic-Rate Speech Codec Boundaries
2026-09-29 07:55:57Han Wang, Jiaqi Li, Yingda Shen, Yuxiang Wang, Zhizheng WuAbstract
Dynamic-frame-rate neural speech codecs replace a uniform frame grid with variable-duration tokens, making boundary placement part of the representation itself. Yet it is unclear what these boundaries encode and whether interpretable boundaries are also useful for neural speech reconstruction. This work combines boundary interpretation and controlled reconstruction analysis by comparing predicted boundaries with linguistic and acoustic references. We find that boundary meaning depends on the underlying speech representation. For the ASR-oriented SenseVoice and Whisper encoders, shallow layers emphasize phonetic, voicing, and acoustic transitions, whereas deeper layers shift toward syllable and subword structure. In a comparison of six dynamic-frame-rate algorithms and a uniform (fixed-frame-rate) baseline, higher-level linguistic alignment is associated with lower pooling distortion and better reconstruction from semantic tokens. Frame-rate-matched boundary tests make the distinction concrete: a syllable-derived partition improves over both Uniform and Similarity, while a phoneme-derived partition does not improve over Uniform. We infer that for semantically rich speech representations, useful codec boundaries are best understood as allocation decisions organized around the syllable scale.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36951
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DispFlow-GS: Displacement Flow Supervision with Motion Disentangling for Monocular Deformable 3D Gaussian Splatting
2026-09-29 07:51:57Thai Duy Nguyen, Haitian Zhang, Addison Lin WangAbstract
Accurate dynamic scene reconstruction is important for robotic perception, where temporally consistent representations of dynamic environments are essential. Deformable 3D Gaussian Splatting (3DGS) models dynamic scenes through deformation fields, and recent methods incorporate motion supervision by aligning rendered Gaussian flow with optical flow. However, we find that such Gaussian-flow-based supervision provides only limited improvements in motion modeling. We identify a fundamental limitation of this supervision paradigm, namely a domain gap between rendered Gaussian flow and optical flow. To address this limitation, we propose a motion supervision framework built on Displacement Flow, which splats per-Gaussian 3D displacements onto the image plane to provide direct and stable optimization signals. We further disentangle scene motion from camera motion via intermediate-view rendering, enabling more reliable motion priors and targeted constraints on deformation and geometry. We also observe a discrepancy between motion fidelity and image-based evaluation, where improved motion awareness does not necessarily translate into better rendered image quality or higher image-based metric scores. Motivated by this mismatch, we introduce Deformation-Rendering Consistency (DRC), a motion-aware metric that measures the alignment between predicted deformation and rendering improvement. Experiments on dynamic scene benchmarks show substantial improvements in motion localization and motion--rendering consistency, reaching up to 39% and 6%, respectively, while image-based metrics change by only about 0.1%. These results confirm the observed mismatch between motion fidelity and image-based evaluation, demonstrating the significance of DRC for motion-aware evaluation.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36940
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All Roads Lead to Rome: Flow-driven Multi-Anchor Exploration for Open-Environment Active 3D Mapping
2026-09-29 07:20:32Yang Li, Aming Wu, Zihao Zhang, Ziju Han, Sijia Zhang, Yahong HanAbstract
To advance the development of embodied intelligence, Open-Environment Active 3D Mapping has attracted increasing attention, aiming to perform a long-horizon and shortest trajectory exploration for reconstructing unseen scenarios. Since only limited information about unseen environments is available, methods built on the closed-set assumption, i.e., assuming that the test environments are similar to those seen during training, cannot generalize satisfactorily. In existing active mapping methods, long-horizon exploration is often guided by predicting a coarse long-range goal and then converting it into an executable path. However, this stage is usually formulated as single-point prediction. Under partial observability, the same local observation may correspond to multiple plausible exploration directions, making such deterministic prediction prone to brittle decisions and degraded performance in unseen scenarios. Our experiments further verify that this is a key factor underlying their weak generalization. To address this issue, we reformulate long-horizon target prediction as conditional multimodal anchor generation using Conditional Flow this http URL of predicting a single goal, our method learns a conditional distribution over coarse exploration anchors from the current mapping state. These anchors are first converted into executable candidate paths through obstacle-aware planning. We then apply exploration-mode clustering to compress geometrically similar trajectories and reduce candidate redundancy. Finally, a hierarchical selection module selects the most promising mode and reranks paths within it to produce the final executable trajectory. Experiments show that our method improves generalization and reconstruction efficiency in open environments.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36889
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Less Supervision, Better Generalization: Weakly Supervised Fake Region Localization in Diffusion-Edited Images
2026-09-29 07:12:03Junhee Lee, Donghyeon Jeon, Taeoh Kim, Beomyoung Kim, MyeongAh ChoAbstract
Localizing AI-edited regions is essential for interpretable forensic analysis, but remains challenging due to subtle and spatially distributed artifacts that are misaligned with semantic or object boundaries. Existing approaches rely on pixel-level supervision from controlled editing pipelines, which is difficult to scale and can introduce misleading signals: artifacts frequently extend beyond annotated regions, while out-of-mask pixels are treated as authentic. This limits models' ability to capture transferable evidence and generalize across generators and datasets. To address these issues, we propose ReGFLoW, a Reconstruction-Guided Fake Localization framework under Weak supervision, which is the first weakly supervised approach for diffusion-edited fake region localization. ReGFLoW requires only real/fake labels at the image-level and uses diffusion reconstruction errors as dense spatial guidance to inject them into both feature and score spaces. Furthermore, by artifact-centric multiple instance learning, ReGFLoW utilizes localized diffusion evidence without relying on semantic-affinity or boundary-based pseudo-mask priors. Extensive experiments demonstrate that ReGFLoW achieves stronger out-of-domain generalization than fully supervised learning baselines.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36882
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NIDAR: NIR-Guided Intrinsic Decomposition for Scalable Scene-Agnostic LiDAR Intensity Reconstruction
2026-09-29 07:11:25Junjie Zhang, Jie Yin, Kefei Qian, Jie Li, Mengpei Jia, Yajuan Dun, Wenbo Chu, Guofa LiAbstract
LiDAR return intensity provides complementary surface-response cues for robotic perception and state estimation, yet many simulation pipelines omit it or reproduce it using reconstruction methods that require real intensity supervision and per-scene optimization. These requirements increase data-collection and fitting costs and limit reuse across simulated scenes. We present NIDAR, a feed-forward framework that synthesizes dense intensity-like observations from RGB appearance and simulator geometry. NIDAR combines pretrained pseudo-NIR translation, hierarchical intrinsic decomposition, geometry-aware modulation, and source-domain distribution calibration to transfer reflectance-related image cues to simulated point clouds. Its learned components are trained offline using Waymo data; their weights and calibration remain fixed during evaluation on Waymo and nuScenes. Deployment therefore requires neither target-scene intensity labels nor target-scene gradient-based fitting. The reported comparisons show competitive pixel-wise accuracy and favorable structural and perceptual fidelity against the evaluated reconstruction baselines. A controlled pseudo-NIR-versus-RGB diagnostic further shows that the pseudo-NIR prior is most beneficial when used through the paper-aligned reflectance-and-remapping route, rather than as a simple direct intensity regressor. We further integrate NIDAR with Unreal Engine 5, Isaac Sim, and a generative LiDAR pipeline. Two intensity-aware SLAM systems evaluated in two simulated indoor scenes suggest potential downstream utility, but do not constitute real-robot validation. NIDAR therefore offers a scalable intensity-synthesis interface for the evaluated settings; cross-wavelength, camera-configuration, embedded, and real-sensor validation remain future work.
Abstract (translated)
URL
https://arxiv.org/abs/2609.36878
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VidAct: Learning Manipulation from In-the-Wild Videos with Object-Centric 3D Awareness
2026-09-29 07:08:36Hang Li, Mingxin Zhang, Zihan Wu, Yang Tian, Dong Chen, Fengyi Shen, Yuan Meng, Xiangtong Yao, Heng Zhang, Ziyuan Liu, Zhenshan Bing, Alois KnollAbstract
Video demonstrations offer a scalable alternative to costly robot data for learning manipulation, yet existing reconstruction-based approaches often rely on constrained camera viewpoints or human-to-robot retargeting, while the reconstructed trajectories are difficult to adapt to new objects configurations without distorting the trajectory shape. Another key limitation is that the resulting policies often lack precise object-level 3D geometry awareness, limiting object grounding and object shape awareness critical for precise manipulation. To bridge these gaps, we propose VidAct, an efficient video-to-robot framework that learns object-centric, 3D-aware manipulation policies from a single monocular video per task and enables zero-shot real-world deployment. VidAct consists of three key components. First, VidAct reconstructs object meshes and motion from arbitrary demo videos and canonicalizes the motion in the static object frame, avoiding embodiment-specific retargeting and accommodating diverse camera viewpoints. Second, VidAct employ residual trajectory transfer for adapting the reconstructed motion to novel object configurations while preserving its motion shape. Finally, as the key policy-learning component, VidAct predicts simulation-provided privileged complete-object point clouds at each frame as an auxiliary task while retaining RGB-only deployment, providing dense object-centric supervision over both object pose and 3D geometry. Experiments on human, robot, generated, and internet videos demonstrate broad video applicability and zero-shot deployment. Per-frame complete-object 3D supervision improves policy generalization and sim-to-real success, while residual trajectory transfer enables reliable trajectory adaptation with better shape preservation.
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URL
https://arxiv.org/abs/2609.36870
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