Daily Papers

We introduce the Aria Digital Twin (ADT) - an egocentric dataset captured using Aria glasses with extensive object, environment, and human level ground truth. This ADT release contains 200 sequences of real-world activities conducted by Aria wearers in two real indoor scenes with 398 object instances (324 stationary and 74 dynamic). Each sequence consists of: a) raw data of two monochrome camera streams, one RGB camera stream, two IMU streams; b) complete sensor calibration; c) ground truth data including continuous 6-degree-of-freedom (6DoF) poses of the Aria devices, object 6DoF poses, 3D eye gaze vectors, 3D human poses, 2D image segmentations, image depth maps; and d) photo-realistic synthetic renderings. To the best of our knowledge, there is no existing egocentric dataset with a level of accuracy, photo-realism and comprehensiveness comparable to ADT. By contributing ADT to the research community, our mission is to set a new standard for evaluation in the egocentric machine perception domain, which includes very challenging research problems such as 3D object detection and tracking, scene reconstruction and understanding, sim-to-real learning, human pose prediction - while also inspiring new machine perception tasks for augmented reality (AR) applications. To kick start exploration of the ADT research use cases, we evaluated several existing state-of-the-art methods for object detection, segmentation and image translation tasks that demonstrate the usefulness of ADT as a benchmarking dataset.

We present Aria Everyday Activities (AEA) Dataset, an egocentric multimodal open dataset recorded using Project Aria glasses. AEA contains 143 daily activity sequences recorded by multiple wearers in five geographically diverse indoor locations. Each of the recording contains multimodal sensor data recorded through the Project Aria glasses. In addition, AEA provides machine perception data including high frequency globally aligned 3D trajectories, scene point cloud, per-frame 3D eye gaze vector and time aligned speech transcription. In this paper, we demonstrate a few exemplar research applications enabled by this dataset, including neural scene reconstruction and prompted segmentation. AEA is an open source dataset that can be downloaded from projectaria.com. We are also providing open-source implementations and examples of how to use the dataset in Project Aria Tools.

Following the gaze of other people and analyzing the target they are looking at can help us understand what they are thinking, and doing, and predict the actions that may follow. Existing methods for gaze following struggle to perform well in natural scenes with diverse objects, and focus on gaze points rather than objects, making it difficult to deliver clear semantics and accurate scope of the targets. To address this shortcoming, we propose a novel gaze target prediction solution named GazeSeg, that can fully utilize the spatial visual field of the person as guiding information and lead to a progressively coarse-to-fine gaze target segmentation and recognition process. Specifically, a prompt-based visual foundation model serves as the encoder, working in conjunction with three distinct decoding modules (e.g. FoV perception, heatmap generation, and segmentation) to form the framework for gaze target prediction. Then, with the head bounding box performed as an initial prompt, GazeSeg obtains the FoV map, heatmap, and segmentation map progressively, leading to a unified framework for multiple tasks (e.g. direction estimation, gaze target segmentation, and recognition). In particular, to facilitate this research, we construct and release a new dataset, comprising 72k images with pixel-level annotations and 270 categories of gaze targets, built upon the GazeFollow dataset. The quantitative evaluation shows that our approach achieves the Dice of 0.325 in gaze target segmentation and 71.7% top-5 recognition. Meanwhile, our approach also outperforms previous state-of-the-art methods, achieving 0.953 in AUC on the gaze-following task. The dataset and code will be released.

In a typical video conferencing setup, it is hard to maintain eye contact during a call since it requires looking into the camera rather than the display. We propose an eye contact correction model that restores the eye contact regardless of the relative position of the camera and display. Unlike previous solutions, our model redirects the gaze from an arbitrary direction to the center without requiring a redirection angle or camera/display/user geometry as inputs. We use a deep convolutional neural network that inputs a monocular image and produces a vector field and a brightness map to correct the gaze. We train this model in a bi-directional way on a large set of synthetically generated photorealistic images with perfect labels. The learned model is a robust eye contact corrector which also predicts the input gaze implicitly at no additional cost. Our system is primarily designed to improve the quality of video conferencing experience. Therefore, we use a set of control mechanisms to prevent creepy results and to ensure a smooth and natural video conferencing experience. The entire eye contact correction system runs end-to-end in real-time on a commodity CPU and does not require any dedicated hardware, making our solution feasible for a variety of devices.

Gaze redirection is the task of changing the gaze to a desired direction for a given monocular eye patch image. Many applications such as videoconferencing, films, games, and generation of training data for gaze estimation require redirecting the gaze, without distorting the appearance of the area surrounding the eye and while producing photo-realistic images. Existing methods lack the ability to generate perceptually plausible images. In this work, we present a novel method to alleviate this problem by leveraging generative adversarial training to synthesize an eye image conditioned on a target gaze direction. Our method ensures perceptual similarity and consistency of synthesized images to the real images. Furthermore, a gaze estimation loss is used to control the gaze direction accurately. To attain high-quality images, we incorporate perceptual and cycle consistency losses into our architecture. In extensive evaluations we show that the proposed method outperforms state-of-the-art approaches in terms of both image quality and redirection precision. Finally, we show that generated images can bring significant improvement for the gaze estimation task if used to augment real training data.

We present GazeOnce360, a novel end-to-end model for multi-person gaze estimation from a single tabletop-mounted upward-facing fisheye camera. Unlike conventional approaches that rely on forward-facing cameras in constrained viewpoints, we address the underexplored setting of estimating the 3D gaze direction of multiple people distributed across a 360° scene from an upward fisheye perspective. To support research in this setting, we introduce MPSGaze360, a large-scale synthetic dataset rendered using Unreal Engine, featuring diverse multi-person configurations with accurate 3D gaze and eye landmark annotations. Our model tackles the severe distortion and perspective variation inherent in fisheye imagery by incorporating rotational convolutions and eye landmark supervision. To better capture fine-grained eye features crucial for gaze estimation, we propose a dual-resolution architecture that fuses global low-resolution context with high-resolution local eye regions. Experimental results demonstrate the effectiveness of each component in our model. This work highlights the feasibility and potential of fisheye-based 360° gaze estimation in practical multi-person scenarios. Project page: https://caizhuojiang.github.io/GazeOnce360/.

Developing gaze estimation models that generalize well to unseen domains and in-the-wild conditions remains a challenge with no known best solution. This is mostly due to the difficulty of acquiring ground truth data that cover the distribution of faces, head poses, and environments that exist in the real world. Most recent methods attempt to close the gap between specific source and target domains using domain adaptation. In this work, we propose to train general gaze estimation models which can be directly employed in novel environments without adaptation. To do so, we leverage the observation that head, body, and hand pose estimation benefit from revising them as dense 3D coordinate prediction, and similarly express gaze estimation as regression of dense 3D eye meshes. To close the gap between image domains, we create a large-scale dataset of diverse faces with gaze pseudo-annotations, which we extract based on the 3D geometry of the scene, and design a multi-view supervision framework to balance their effect during training. We test our method in the task of gaze generalization, in which we demonstrate improvement of up to 30% compared to state-of-the-art when no ground truth data are available, and up to 10% when they are. The project material are available for research purposes at https://github.com/Vagver/3DGazeNet.

Enabling robots to understand human gaze target is a crucial step to allow capabilities in downstream tasks, for example, attention estimation and movement anticipation in real-world human-robot interactions. Prior works have addressed the in-frame target localization problem with data-driven approaches by carefully removing out-of-frame samples. Vision-based gaze estimation methods, such as OpenFace, do not effectively absorb background information in images and cannot predict gaze target in situations where subjects look away from the camera. In this work, we propose a system to address the problem of 360-degree gaze target estimation from an image in generalized visual scenes. The system, named GazeTarget360, integrates conditional inference engines of an eye-contact detector, a pre-trained vision encoder, and a multi-scale-fusion decoder. Cross validation results show that GazeTarget360 can produce accurate and reliable gaze target predictions in unseen scenarios. This makes a first-of-its-kind system to predict gaze targets from realistic camera footage which is highly efficient and deployable. Our source code is made publicly available at: https://github.com/zdai257/DisengageNet.

Gaze behaviors such as eye-contact or shared attention are important markers for diagnosing developmental disorders in children. While previous studies have looked at some of these elements, the analysis is usually performed on private datasets and is restricted to lab settings. Furthermore, all publicly available gaze target prediction benchmarks mostly contain instances of adults, which makes models trained on them less applicable to scenarios with young children. In this paper, we propose the first study for predicting the gaze target of children and interacting adults. To this end, we introduce the ChildPlay dataset: a curated collection of short video clips featuring children playing and interacting with adults in uncontrolled environments (e.g. kindergarten, therapy centers, preschools etc.), which we annotate with rich gaze information. We further propose a new model for gaze target prediction that is geometrically grounded by explicitly identifying the scene parts in the 3D field of view (3DFoV) of the person, leveraging recent geometry preserving depth inference methods. Our model achieves state of the art results on benchmark datasets and ChildPlay. Furthermore, results show that looking at faces prediction performance on children is much worse than on adults, and can be significantly improved by fine-tuning models using child gaze annotations. Our dataset and models will be made publicly available.

Gaze estimation methods estimate gaze from facial appearance with a single camera. However, due to the limited view of a single camera, the captured facial appearance cannot provide complete facial information and thus complicate the gaze estimation problem. Recently, camera devices are rapidly updated. Dual cameras are affordable for users and have been integrated in many devices. This development suggests that we can further improve gaze estimation performance with dual-view gaze estimation. In this paper, we propose a dual-view gaze estimation network (DV-Gaze). DV-Gaze estimates dual-view gaze directions from a pair of images. We first propose a dual-view interactive convolution (DIC) block in DV-Gaze. DIC blocks exchange dual-view information during convolution in multiple feature scales. It fuses dual-view features along epipolar lines and compensates for the original feature with the fused feature. We further propose a dual-view transformer to estimate gaze from dual-view features. Camera poses are encoded to indicate the position information in the transformer. We also consider the geometric relation between dual-view gaze directions and propose a dual-view gaze consistency loss for DV-Gaze. DV-Gaze achieves state-of-the-art performance on ETH-XGaze and EVE datasets. Our experiments also prove the potential of dual-view gaze estimation. We release codes in https://github.com/yihuacheng/DVGaze.

Recent joint embedding-based self-supervised methods have surpassed standard supervised approaches on various image recognition tasks such as image classification. These self-supervised methods aim at maximizing agreement between features extracted from two differently transformed views of the same image, which results in learning an invariant representation with respect to appearance and geometric image transformations. However, the effectiveness of these approaches remains unclear in the context of gaze estimation, a structured regression task that requires equivariance under geometric transformations (e.g., rotations, horizontal flip). In this work, we propose SwAT, an equivariant version of the online clustering-based self-supervised approach SwAV, to learn more informative representations for gaze estimation. We demonstrate that SwAT, with ResNet-50 and supported with uncurated unlabeled face images, outperforms state-of-the-art gaze estimation methods and supervised baselines in various experiments. In particular, we achieve up to 57% and 25% improvements in cross-dataset and within-dataset evaluation tasks on existing benchmarks (ETH-XGaze, Gaze360, and MPIIFaceGaze).

In this paper, we propose a new operator, called 3D DeFormable Attention (DFA3D), for 2D-to-3D feature lifting, which transforms multi-view 2D image features into a unified 3D space for 3D object detection. Existing feature lifting approaches, such as Lift-Splat-based and 2D attention-based, either use estimated depth to get pseudo LiDAR features and then splat them to a 3D space, which is a one-pass operation without feature refinement, or ignore depth and lift features by 2D attention mechanisms, which achieve finer semantics while suffering from a depth ambiguity problem. In contrast, our DFA3D-based method first leverages the estimated depth to expand each view's 2D feature map to 3D and then utilizes DFA3D to aggregate features from the expanded 3D feature maps. With the help of DFA3D, the depth ambiguity problem can be effectively alleviated from the root, and the lifted features can be progressively refined layer by layer, thanks to the Transformer-like architecture. In addition, we propose a mathematically equivalent implementation of DFA3D which can significantly improve its memory efficiency and computational speed. We integrate DFA3D into several methods that use 2D attention-based feature lifting with only a few modifications in code and evaluate on the nuScenes dataset. The experiment results show a consistent improvement of +1.41\% mAP on average, and up to +15.1\% mAP improvement when high-quality depth information is available, demonstrating the superiority, applicability, and huge potential of DFA3D. The code is available at https://github.com/IDEA-Research/3D-deformable-attention.git.

Human gaze is a crucial cue used in various applications such as human-robot interaction and virtual reality. Recently, convolution neural network (CNN) approaches have made notable progress in predicting gaze direction. However, estimating gaze in-the-wild is still a challenging problem due to the uniqueness of eye appearance, lightning conditions, and the diversity of head pose and gaze directions. In this paper, we propose a robust CNN-based model for predicting gaze in unconstrained settings. We propose to regress each gaze angle separately to improve the per-angel prediction accuracy, which will enhance the overall gaze performance. In addition, we use two identical losses, one for each angle, to improve network learning and increase its generalization. We evaluate our model with two popular datasets collected with unconstrained settings. Our proposed model achieves state-of-the-art accuracy of 3.92{\deg} and 10.41{\deg} on MPIIGaze and Gaze360 datasets, respectively. We make our code open source at https://github.com/Ahmednull/L2CS-Net.

Gaze estimation is a fundamental task in many applications of computer vision, human computer interaction and robotics. Many state-of-the-art methods are trained and tested on custom datasets, making comparison across methods challenging. Furthermore, existing gaze estimation datasets have limited head pose and gaze variations, and the evaluations are conducted using different protocols and metrics. In this paper, we propose a new gaze estimation dataset called ETH-XGaze, consisting of over one million high-resolution images of varying gaze under extreme head poses. We collect this dataset from 110 participants with a custom hardware setup including 18 digital SLR cameras and adjustable illumination conditions, and a calibrated system to record ground truth gaze targets. We show that our dataset can significantly improve the robustness of gaze estimation methods across different head poses and gaze angles. Additionally, we define a standardized experimental protocol and evaluation metric on ETH-XGaze, to better unify gaze estimation research going forward. The dataset and benchmark website are available at https://ait.ethz.ch/projects/2020/ETH-XGaze

Gaze estimation has grown rapidly in accuracy in recent years. However, these models often fail to take advantage of different computer vision (CV) algorithms and techniques (such as small ResNet and Inception networks and ensemble models) that have been shown to improve results for other CV problems. Additionally, most current gaze estimation models require the use of either both eyes or an entire face, whereas real-world data may not always have both eyes in high resolution. Thus, we propose a gaze estimation model that implements the ResNet and Inception model architectures and makes predictions using only one eye image. Furthermore, we propose an ensemble calibration network that uses the predictions from several individual architectures for subject-specific predictions. With the use of lightweight architectures, we achieve high performance on the GazeCapture dataset with very low model parameter counts. When using two eyes as input, we achieve a prediction error of 1.591 cm on the test set without calibration and 1.439 cm with an ensemble calibration model. With just one eye as input, we still achieve an average prediction error of 2.312 cm on the test set without calibration and 1.951 cm with an ensemble calibration model. We also notice significantly lower errors on the right eye images in the test set, which could be important in the design of future gaze estimation-based tools.

In this paper we propose FastViDAR, a novel framework that takes four fisheye camera inputs and produces a full 360^circ depth map along with per-camera depth, fusion depth, and confidence estimates. Our main contributions are: (1) We introduce Alternative Hierarchical Attention (AHA) mechanism that efficiently fuses features across views through separate intra-frame and inter-frame windowed self-attention, achieving cross-view feature mixing with reduced overhead. (2) We propose a novel ERP fusion approach that projects multi-view depth estimates to a shared equirectangular coordinate system to obtain the final fusion depth. (3) We generate ERP image-depth pairs using HM3D and 2D3D-S datasets for comprehensive evaluation, demonstrating competitive zero-shot performance on real datasets while achieving up to 20 FPS on NVIDIA Orin NX embedded hardware. Project page: https://3f7dfc.github.io/FastVidar/{https://3f7dfc.github.io/FastVidar/}

We present GazeGen, a user interaction system that generates visual content (images and videos) for locations indicated by the user's eye gaze. GazeGen allows intuitive manipulation of visual content by targeting regions of interest with gaze. Using advanced techniques in object detection and generative AI, GazeGen performs gaze-controlled image adding/deleting, repositioning, and surface material changes of image objects, and converts static images into videos. Central to GazeGen is the DFT Gaze (Distilled and Fine-Tuned Gaze) agent, an ultra-lightweight model with only 281K parameters, performing accurate real-time gaze predictions tailored to individual users' eyes on small edge devices. GazeGen is the first system to combine visual content generation with real-time gaze estimation, made possible exclusively by DFT Gaze. This real-time gaze estimation enables various visual content generation tasks, all controlled by the user's gaze. The input for DFT Gaze is the user's eye images, while the inputs for visual content generation are the user's view and the predicted gaze point from DFT Gaze. To achieve efficient gaze predictions, we derive the small model from a large model (10x larger) via novel knowledge distillation and personal adaptation techniques. We integrate knowledge distillation with a masked autoencoder, developing a compact yet powerful gaze estimation model. This model is further fine-tuned with Adapters, enabling highly accurate and personalized gaze predictions with minimal user input. DFT Gaze ensures low-latency and precise gaze tracking, supporting a wide range of gaze-driven tasks. We validate the performance of DFT Gaze on AEA and OpenEDS2020 benchmarks, demonstrating low angular gaze error and low latency on the edge device (Raspberry Pi 4). Furthermore, we describe applications of GazeGen, illustrating its versatility and effectiveness in various usage scenarios.

We address the problem of gaze target estimation, which aims to predict where a person is looking in a scene. Predicting a person's gaze target requires reasoning both about the person's appearance and the contents of the scene. Prior works have developed increasingly complex, hand-crafted pipelines for gaze target estimation that carefully fuse features from separate scene encoders, head encoders, and auxiliary models for signals like depth and pose. Motivated by the success of general-purpose feature extractors on a variety of visual tasks, we propose Gaze-LLE, a novel transformer framework that streamlines gaze target estimation by leveraging features from a frozen DINOv2 encoder. We extract a single feature representation for the scene, and apply a person-specific positional prompt to decode gaze with a lightweight module. We demonstrate state-of-the-art performance across several gaze benchmarks and provide extensive analysis to validate our design choices. Our code is available at: http://github.com/fkryan/gazelle .

Estimating human gaze target from visible images is a critical task for robots to understand human attention, yet the development of generalizable neural architectures and training paradigms remains challenging. While recent advances in pre-trained vision foundation models offer promising avenues for locating gaze targets, the integration of multi-modal cues -- including eyes, head poses, gestures, and contextual features -- demands adaptive and efficient decoding mechanisms. Inspired by Mixture-of-Experts (MoE) for adaptive domain expertise in large vision-language models, we propose GazeMoE, a novel end-to-end framework that selectively leverages gaze-target-related cues from a frozen foundation model through MoE modules. To address class imbalance in gaze target classification (in-frame vs. out-of-frame) and enhance robustness, GazeMoE incorporates a class-balancing auxiliary loss alongside strategic data augmentations, including region-specific cropping and photometric transformations. Extensive experiments on benchmark datasets demonstrate that our GazeMoE achieves state-of-the-art performance, outperforming existing methods on challenging gaze estimation tasks. The code and pre-trained models are released at https://huggingface.co/zdai257/GazeMoE

With the rapid advancement of 3D representation techniques and generative models, substantial progress has been made in reconstructing full-body 3D avatars from a single image. However, this task remains fundamentally ill-posedness due to the limited information available from monocular input, making it difficult to control the geometry and texture of occluded regions during generation. To address these challenges, we redesign the reconstruction pipeline and propose Dream3DAvatar, an efficient and text-controllable two-stage framework for 3D avatar generation. In the first stage, we develop a lightweight, adapter-enhanced multi-view generation model. Specifically, we introduce the Pose-Adapter to inject SMPL-X renderings and skeletal information into SDXL, enforcing geometric and pose consistency across views. To preserve facial identity, we incorporate ID-Adapter-G, which injects high-resolution facial features into the generation process. Additionally, we leverage BLIP2 to generate high-quality textual descriptions of the multi-view images, enhancing text-driven controllability in occluded regions. In the second stage, we design a feedforward Transformer model equipped with a multi-view feature fusion module to reconstruct high-fidelity 3D Gaussian Splat representations (3DGS) from the generated images. Furthermore, we introduce ID-Adapter-R, which utilizes a gating mechanism to effectively fuse facial features into the reconstruction process, improving high-frequency detail recovery. Extensive experiments demonstrate that our method can generate realistic, animation-ready 3D avatars without any post-processing and consistently outperforms existing baselines across multiple evaluation metrics.

We present Stable Video 3D (SV3D) -- a latent video diffusion model for high-resolution, image-to-multi-view generation of orbital videos around a 3D object. Recent work on 3D generation propose techniques to adapt 2D generative models for novel view synthesis (NVS) and 3D optimization. However, these methods have several disadvantages due to either limited views or inconsistent NVS, thereby affecting the performance of 3D object generation. In this work, we propose SV3D that adapts image-to-video diffusion model for novel multi-view synthesis and 3D generation, thereby leveraging the generalization and multi-view consistency of the video models, while further adding explicit camera control for NVS. We also propose improved 3D optimization techniques to use SV3D and its NVS outputs for image-to-3D generation. Extensive experimental results on multiple datasets with 2D and 3D metrics as well as user study demonstrate SV3D's state-of-the-art performance on NVS as well as 3D reconstruction compared to prior works.

Inter-personal anatomical differences limit the accuracy of person-independent gaze estimation networks. Yet there is a need to lower gaze errors further to enable applications requiring higher quality. Further gains can be achieved by personalizing gaze networks, ideally with few calibration samples. However, over-parameterized neural networks are not amenable to learning from few examples as they can quickly over-fit. We embrace these challenges and propose a novel framework for Few-shot Adaptive GaZE Estimation (FAZE) for learning person-specific gaze networks with very few (less than or equal to 9) calibration samples. FAZE learns a rotation-aware latent representation of gaze via a disentangling encoder-decoder architecture along with a highly adaptable gaze estimator trained using meta-learning. It is capable of adapting to any new person to yield significant performance gains with as few as 3 samples, yielding state-of-the-art performance of 3.18 degrees on GazeCapture, a 19% improvement over prior art. We open-source our code at https://github.com/NVlabs/few_shot_gaze

Gaze following and social gaze prediction are fundamental tasks providing insights into human communication behaviors, intent, and social interactions. Most previous approaches addressed these tasks separately, either by designing highly specialized social gaze models that do not generalize to other social gaze tasks or by considering social gaze inference as an ad-hoc post-processing of the gaze following task. Furthermore, the vast majority of gaze following approaches have proposed static models that can handle only one person at a time, therefore failing to take advantage of social interactions and temporal dynamics. In this paper, we address these limitations and introduce a novel framework to jointly predict the gaze target and social gaze label for all people in the scene. The framework comprises of: (i) a temporal, transformer-based architecture that, in addition to image tokens, handles person-specific tokens capturing the gaze information related to each individual; (ii) a new dataset, VSGaze, that unifies annotation types across multiple gaze following and social gaze datasets. We show that our model trained on VSGaze can address all tasks jointly, and achieves state-of-the-art results for multi-person gaze following and social gaze prediction.

Single-view 3D face reconstruction is a fundamental Computer Vision problem of extraordinary difficulty. Current systems often assume the input is unobstructed faces which makes their method not suitable for in-the-wild conditions. We present a method for performing a 3D face that removes eyeglasses from a single image. Existing facial reconstruction methods fail to remove eyeglasses automatically for generating a photo-realistic 3D face "in-the-wild".The innovation of our method lies in a process for identifying the eyeglasses area robustly and remove it intelligently. In this work, we estimate the 2D face structure of the reasonable position of the eyeglasses area, which is used for the construction of 3D texture. An excellent anti-eyeglasses face reconstruction method should ensure the authenticity of the output, including the topological structure between the eyes, nose, and mouth. We achieve this via a deep learning architecture that performs direct regression of a 3DMM representation of the 3D facial geometry from a single 2D image. We also demonstrate how the related face parsing task can be incorporated into the proposed framework and help improve reconstruction quality. We conduct extensive experiments on existing 3D face reconstruction tasks as concrete examples to demonstrate the method's superior regulation ability over existing methods often break down.

In this work, we introduce Prometheus, a 3D-aware latent diffusion model for text-to-3D generation at both object and scene levels in seconds. We formulate 3D scene generation as multi-view, feed-forward, pixel-aligned 3D Gaussian generation within the latent diffusion paradigm. To ensure generalizability, we build our model upon pre-trained text-to-image generation model with only minimal adjustments, and further train it using a large number of images from both single-view and multi-view datasets. Furthermore, we introduce an RGB-D latent space into 3D Gaussian generation to disentangle appearance and geometry information, enabling efficient feed-forward generation of 3D Gaussians with better fidelity and geometry. Extensive experimental results demonstrate the effectiveness of our method in both feed-forward 3D Gaussian reconstruction and text-to-3D generation. Project page: https://freemty.github.io/project-prometheus/

The ability of gaze estimation models to generalize is often significantly hindered by various factors unrelated to gaze, especially when the training dataset is limited. Current strategies aim to address this challenge through different domain generalization techniques, yet they have had limited success due to the risk of overfitting when solely relying on value labels for regression. Recent progress in pre-trained vision-language models has motivated us to capitalize on the abundant semantic information available. We propose a novel approach in this paper, reframing the gaze estimation task as a vision-language alignment issue. Our proposed framework, named Language-Guided Gaze Estimation (LG-Gaze), learns continuous and geometry-sensitive features for gaze estimation benefit from the rich prior knowledges of vision-language models. Specifically, LG-Gaze aligns gaze features with continuous linguistic features through our proposed multimodal contrastive regression loss, which customizes adaptive weights for different negative samples. Furthermore, to better adapt to the labels for gaze estimation task, we propose a geometry-aware interpolation method to obtain more precise gaze embeddings. Through extensive experiments, we validate the efficacy of our framework in four different cross-domain evaluation tasks.

Along with the recent development of deep neural networks, appearance-based gaze estimation has succeeded considerably when training and testing within the same domain. Compared to the within-domain task, the variance of different domains makes the cross-domain performance drop severely, preventing gaze estimation deployment in real-world applications. Among all the factors, ranges of head pose and gaze are believed to play a significant role in the final performance of gaze estimation, while collecting large ranges of data is expensive. This work proposes an effective model training pipeline consisting of a training data synthesis and a gaze estimation model for unsupervised domain adaptation. The proposed data synthesis leverages the single-image 3D reconstruction to expand the range of the head poses from the source domain without requiring a 3D facial shape dataset. To bridge the inevitable gap between synthetic and real images, we further propose an unsupervised domain adaptation method suitable for synthetic full-face data. We propose a disentangling autoencoder network to separate gaze-related features and introduce background augmentation consistency loss to utilize the characteristics of the synthetic source domain. Through comprehensive experiments, we show that the model only using monocular-reconstructed synthetic training data can perform comparably to real data with a large label range. Our proposed domain adaptation approach further improves the performance on multiple target domains. The code and data will be available at https://github.com/ut-vision/AdaptiveGaze.

Understanding radiologists' eye movement during Computed Tomography (CT) reading is crucial for developing effective interpretable computer-aided diagnosis systems. However, CT research in this area has been limited by the lack of publicly available eye-tracking datasets and the three-dimensional complexity of CT volumes. To address these challenges, we present the first publicly available eye gaze dataset on CT, called CT-ScanGaze. Then, we introduce CT-Searcher, a novel 3D scanpath predictor designed specifically to process CT volumes and generate radiologist-like 3D fixation sequences, overcoming the limitations of current scanpath predictors that only handle 2D inputs. Since deep learning models benefit from a pretraining step, we develop a pipeline that converts existing 2D gaze datasets into 3D gaze data to pretrain CT-Searcher. Through both qualitative and quantitative evaluations on CT-ScanGaze, we demonstrate the effectiveness of our approach and provide a comprehensive assessment framework for 3D scanpath prediction in medical imaging.

In this paper, we present a low-budget and high-authenticity bidirectional telepresence system, Tele-Aloha, targeting peer-to-peer communication scenarios. Compared to previous systems, Tele-Aloha utilizes only four sparse RGB cameras, one consumer-grade GPU, and one autostereoscopic screen to achieve high-resolution (2048x2048), real-time (30 fps), low-latency (less than 150ms) and robust distant communication. As the core of Tele-Aloha, we propose an efficient novel view synthesis algorithm for upper-body. Firstly, we design a cascaded disparity estimator for obtaining a robust geometry cue. Additionally a neural rasterizer via Gaussian Splatting is introduced to project latent features onto target view and to decode them into a reduced resolution. Further, given the high-quality captured data, we leverage weighted blending mechanism to refine the decoded image into the final resolution of 2K. Exploiting world-leading autostereoscopic display and low-latency iris tracking, users are able to experience a strong three-dimensional sense even without any wearable head-mounted display device. Altogether, our telepresence system demonstrates the sense of co-presence in real-life experiments, inspiring the next generation of communication.

Existing multi-view image generation methods often make invasive modifications to pre-trained text-to-image (T2I) models and require full fine-tuning, leading to (1) high computational costs, especially with large base models and high-resolution images, and (2) degradation in image quality due to optimization difficulties and scarce high-quality 3D data. In this paper, we propose the first adapter-based solution for multi-view image generation, and introduce MV-Adapter, a versatile plug-and-play adapter that enhances T2I models and their derivatives without altering the original network structure or feature space. By updating fewer parameters, MV-Adapter enables efficient training and preserves the prior knowledge embedded in pre-trained models, mitigating overfitting risks. To efficiently model the 3D geometric knowledge within the adapter, we introduce innovative designs that include duplicated self-attention layers and parallel attention architecture, enabling the adapter to inherit the powerful priors of the pre-trained models to model the novel 3D knowledge. Moreover, we present a unified condition encoder that seamlessly integrates camera parameters and geometric information, facilitating applications such as text- and image-based 3D generation and texturing. MV-Adapter achieves multi-view generation at 768 resolution on Stable Diffusion XL (SDXL), and demonstrates adaptability and versatility. It can also be extended to arbitrary view generation, enabling broader applications. We demonstrate that MV-Adapter sets a new quality standard for multi-view image generation, and opens up new possibilities due to its efficiency, adaptability and versatility.

Recent advances in diffusion models such as ControlNet have enabled geometrically controllable, high-fidelity text-to-image generation. However, none of them addresses the question of adding such controllability to text-to-3D generation. In response, we propose Text2Control3D, a controllable text-to-3D avatar generation method whose facial expression is controllable given a monocular video casually captured with hand-held camera. Our main strategy is to construct the 3D avatar in Neural Radiance Fields (NeRF) optimized with a set of controlled viewpoint-aware images that we generate from ControlNet, whose condition input is the depth map extracted from the input video. When generating the viewpoint-aware images, we utilize cross-reference attention to inject well-controlled, referential facial expression and appearance via cross attention. We also conduct low-pass filtering of Gaussian latent of the diffusion model in order to ameliorate the viewpoint-agnostic texture problem we observed from our empirical analysis, where the viewpoint-aware images contain identical textures on identical pixel positions that are incomprehensible in 3D. Finally, to train NeRF with the images that are viewpoint-aware yet are not strictly consistent in geometry, our approach considers per-image geometric variation as a view of deformation from a shared 3D canonical space. Consequently, we construct the 3D avatar in a canonical space of deformable NeRF by learning a set of per-image deformation via deformation field table. We demonstrate the empirical results and discuss the effectiveness of our method.

We present SPAD, a novel approach for creating consistent multi-view images from text prompts or single images. To enable multi-view generation, we repurpose a pretrained 2D diffusion model by extending its self-attention layers with cross-view interactions, and fine-tune it on a high quality subset of Objaverse. We find that a naive extension of the self-attention proposed in prior work (e.g. MVDream) leads to content copying between views. Therefore, we explicitly constrain the cross-view attention based on epipolar geometry. To further enhance 3D consistency, we utilize Plucker coordinates derived from camera rays and inject them as positional encoding. This enables SPAD to reason over spatial proximity in 3D well. In contrast to recent works that can only generate views at fixed azimuth and elevation, SPAD offers full camera control and achieves state-of-the-art results in novel view synthesis on unseen objects from the Objaverse and Google Scanned Objects datasets. Finally, we demonstrate that text-to-3D generation using SPAD prevents the multi-face Janus issue. See more details at our webpage: https://yashkant.github.io/spad

Gaze following aims to interpret human-scene interactions by predicting the person's focal point of gaze. Prevailing approaches often adopt a two-stage framework, whereby multi-modality information is extracted in the initial stage for gaze target prediction. Consequently, the efficacy of these methods highly depends on the precision of the preceding modality extraction. Others use a single-modality approach with complex decoders, increasing network computational load. Inspired by the remarkable success of pre-trained plain vision transformers (ViTs), we introduce a novel single-modality gaze following framework called ViTGaze. In contrast to previous methods, it creates a novel gaze following framework based mainly on powerful encoders (relative decoder parameters less than 1%). Our principal insight is that the inter-token interactions within self-attention can be transferred to interactions between humans and scenes. Leveraging this presumption, we formulate a framework consisting of a 4D interaction encoder and a 2D spatial guidance module to extract human-scene interaction information from self-attention maps. Furthermore, our investigation reveals that ViT with self-supervised pre-training has an enhanced ability to extract correlation information. Many experiments have been conducted to demonstrate the performance of the proposed method. Our method achieves state-of-the-art (SOTA) performance among all single-modality methods (3.4% improvement in the area under curve (AUC) score, 5.1% improvement in the average precision (AP)) and very comparable performance against multi-modality methods with 59% number of parameters less.

Accurate eye segmentation can improve eye-gaze estimation and support interactive computing based on visual attention; however, existing eye segmentation methods suffer from issues such as person-dependent accuracy, lack of robustness, and an inability to be run in real-time. Here, we present the RITnet model, which is a deep neural network that combines U-Net and DenseNet. RITnet is under 1 MB and achieves 95.3\% accuracy on the 2019 OpenEDS Semantic Segmentation challenge. Using a GeForce GTX 1080 Ti, RITnet tracks at > 300Hz, enabling real-time gaze tracking applications. Pre-trained models and source code are available https://bitbucket.org/eye-ush/ritnet/.

The rapid progress of large, pretrained models for both visual content generation and 3D reconstruction opens up new possibilities for text-to-3D generation. Intuitively, one could obtain a formidable 3D scene generator if one were able to combine the power of a modern latent text-to-video model as "generator" with the geometric abilities of a recent (feedforward) 3D reconstruction system as "decoder". We introduce VIST3A, a general framework that does just that, addressing two main challenges. First, the two components must be joined in a way that preserves the rich knowledge encoded in their weights. We revisit model stitching, i.e., we identify the layer in the 3D decoder that best matches the latent representation produced by the text-to-video generator and stitch the two parts together. That operation requires only a small dataset and no labels. Second, the text-to-video generator must be aligned with the stitched 3D decoder, to ensure that the generated latents are decodable into consistent, perceptually convincing 3D scene geometry. To that end, we adapt direct reward finetuning, a popular technique for human preference alignment. We evaluate the proposed VIST3A approach with different video generators and 3D reconstruction models. All tested pairings markedly improve over prior text-to-3D models that output Gaussian splats. Moreover, by choosing a suitable 3D base model, VIST3A also enables high-quality text-to-pointmap generation.

Automatic 3D generation has recently attracted widespread attention. Recent methods have greatly accelerated the generation speed, but usually produce less-detailed objects due to limited model capacity or 3D data. Motivated by recent advancements in video diffusion models, we introduce V3D, which leverages the world simulation capacity of pre-trained video diffusion models to facilitate 3D generation. To fully unleash the potential of video diffusion to perceive the 3D world, we further introduce geometrical consistency prior and extend the video diffusion model to a multi-view consistent 3D generator. Benefiting from this, the state-of-the-art video diffusion model could be fine-tuned to generate 360degree orbit frames surrounding an object given a single image. With our tailored reconstruction pipelines, we can generate high-quality meshes or 3D Gaussians within 3 minutes. Furthermore, our method can be extended to scene-level novel view synthesis, achieving precise control over the camera path with sparse input views. Extensive experiments demonstrate the superior performance of the proposed approach, especially in terms of generation quality and multi-view consistency. Our code is available at https://github.com/heheyas/V3D

Multi-view image diffusion models have significantly advanced open-domain 3D object generation. However, most existing models rely on 2D network architectures that lack inherent 3D biases, resulting in compromised geometric consistency. To address this challenge, we introduce 3D-Adapter, a plug-in module designed to infuse 3D geometry awareness into pretrained image diffusion models. Central to our approach is the idea of 3D feedback augmentation: for each denoising step in the sampling loop, 3D-Adapter decodes intermediate multi-view features into a coherent 3D representation, then re-encodes the rendered RGBD views to augment the pretrained base model through feature addition. We study two variants of 3D-Adapter: a fast feed-forward version based on Gaussian splatting and a versatile training-free version utilizing neural fields and meshes. Our extensive experiments demonstrate that 3D-Adapter not only greatly enhances the geometry quality of text-to-multi-view models such as Instant3D and Zero123++, but also enables high-quality 3D generation using the plain text-to-image Stable Diffusion. Furthermore, we showcase the broad application potential of 3D-Adapter by presenting high quality results in text-to-3D, image-to-3D, text-to-texture, and text-to-avatar tasks.

The reflective nature of the human eye is an underappreciated source of information about what the world around us looks like. By imaging the eyes of a moving person, we can collect multiple views of a scene outside the camera's direct line of sight through the reflections in the eyes. In this paper, we reconstruct a 3D scene beyond the camera's line of sight using portrait images containing eye reflections. This task is challenging due to 1) the difficulty of accurately estimating eye poses and 2) the entangled appearance of the eye iris and the scene reflections. Our method jointly refines the cornea poses, the radiance field depicting the scene, and the observer's eye iris texture. We further propose a simple regularization prior on the iris texture pattern to improve reconstruction quality. Through various experiments on synthetic and real-world captures featuring people with varied eye colors, we demonstrate the feasibility of our approach to recover 3D scenes using eye reflections.

Most existing 3D referring expression segmentation (3DRES) methods rely on dense, high-quality point clouds, while real-world agents such as robots and mobile phones operate with only a few sparse RGB views and strict latency constraints. We introduce Multi-view 3D Referring Expression Segmentation (MV-3DRES), where the model must recover scene structure and segment the referred object directly from sparse multi-view images. Traditional two-stage pipelines, which first reconstruct a point cloud and then perform segmentation, often yield low-quality geometry, produce coarse or degraded target regions, and run slowly. We propose the Multimodal Visual Geometry Grounded Transformer (MVGGT), an efficient end-to-end framework that integrates language information into sparse-view geometric reasoning through a dual-branch design. Training in this setting exposes a critical optimization barrier, termed Foreground Gradient Dilution (FGD), where sparse 3D signals lead to weak supervision. To resolve this, we introduce Per-view No-target Suppression Optimization (PVSO), which provides stronger and more balanced gradients across views, enabling stable and efficient learning. To support consistent evaluation, we build MVRefer, a benchmark that defines standardized settings and metrics for MV-3DRES. Experiments show that MVGGT establishes the first strong baseline and achieves both high accuracy and fast inference, outperforming existing alternatives. Code and models are publicly available at https://mvggt.github.io.

Developing a unified multi-task foundation model has become a critical challenge in computer vision research. In the current field of 3D computer vision, most datasets solely focus on a relatively limited set of tasks, which complicates the concurrent training requirements of various downstream tasks. This makes the training of multi-objective networks difficult to proceed with, which further hinders the development of foundation models in the 3D vision field. In this paper, we introduce VEnvision3D, a large 3D synthetic perception dataset for multi-task learning, including depth completion, segmentation, upsampling, place recognition, and 3D reconstruction. Since the data for each task was collected in the same scenarios, tasks are inherently aligned in terms of the utilized data. Therefore, such a unique attribute can assist in exploring the potential for the multi-task model and even the foundation model without separate training methods. Several new benchmarks based on the characteristics of the proposed dataset were presented. Extensive studies were performed on end-to-end models, revealing new observations, challenges, and opportunities for future research. In addition, we designed a straightfoward multi-task network to uncover the ability that VEnvision3D can offer for the foundation model. Our dataset and code will be open-sourced upon acceptance.

We introduce Free3D, a simple approach designed for open-set novel view synthesis (NVS) from a single image. Similar to Zero-1-to-3, we start from a pre-trained 2D image generator for generalization, and fine-tune it for NVS. Compared to recent and concurrent works, we obtain significant improvements without resorting to an explicit 3D representation, which is slow and memory-consuming or training an additional 3D network. We do so by encoding better the target camera pose via a new per-pixel ray conditioning normalization (RCN) layer. The latter injects pose information in the underlying 2D image generator by telling each pixel its specific viewing direction. We also improve multi-view consistency via a light-weight multi-view attention layer and multi-view noise sharing. We train Free3D on the Objaverse dataset and demonstrate excellent generalization to various new categories in several new datasets, including OminiObject3D and GSO. We hope our simple and effective approach will serve as a solid baseline and help future research in NVS with more accuracy pose. The project page is available at https://chuanxiaz.com/free3d/.

Recently, 3D content creation from text prompts has demonstrated remarkable progress by utilizing 2D and 3D diffusion models. While 3D diffusion models ensure great multi-view consistency, their ability to generate high-quality and diverse 3D assets is hindered by the limited 3D data. In contrast, 2D diffusion models find a distillation approach that achieves excellent generalization and rich details without any 3D data. However, 2D lifting methods suffer from inherent view-agnostic ambiguity thereby leading to serious multi-face Janus issues, where text prompts fail to provide sufficient guidance to learn coherent 3D results. Instead of retraining a costly viewpoint-aware model, we study how to fully exploit easily accessible coarse 3D knowledge to enhance the prompts and guide 2D lifting optimization for refinement. In this paper, we propose Sherpa3D, a new text-to-3D framework that achieves high-fidelity, generalizability, and geometric consistency simultaneously. Specifically, we design a pair of guiding strategies derived from the coarse 3D prior generated by the 3D diffusion model: a structural guidance for geometric fidelity and a semantic guidance for 3D coherence. Employing the two types of guidance, the 2D diffusion model enriches the 3D content with diversified and high-quality results. Extensive experiments show the superiority of our Sherpa3D over the state-of-the-art text-to-3D methods in terms of quality and 3D consistency.

Vision foundation models, particularly the ViT family, have revolutionized image understanding by providing rich semantic features. However, despite their success in 2D comprehension, their abilities on grasping 3D spatial relationships are still unclear. In this work, we evaluate and enhance the 3D awareness of ViT-based models. We begin by systematically assessing their ability to learn 3D equivariant features, specifically examining the consistency of semantic embeddings across different viewpoints. Our findings indicate that improved 3D equivariance leads to better performance on various downstream tasks, including pose estimation, tracking, and semantic transfer. Building on this insight, we propose a simple yet effective finetuning strategy based on 3D correspondences, which significantly enhances the 3D correspondence understanding of existing vision models. Remarkably, even finetuning on a single object for just one iteration results in substantial performance gains. All code and resources will be made publicly available to support further advancements in 3D-aware vision models. Our code is available at https://github.com/qq456cvb/3DCorrEnhance.

3D scene reconstruction is essential for applications in virtual reality, robotics, and autonomous driving, enabling machines to understand and interact with complex environments. Traditional 3D Gaussian Splatting techniques rely on images captured from multiple viewpoints to achieve optimal performance, but this dependence limits their use in scenarios where only a single image is available. In this work, we introduce FlashDreamer, a novel approach for reconstructing a complete 3D scene from a single image, significantly reducing the need for multi-view inputs. Our approach leverages a pre-trained vision-language model to generate descriptive prompts for the scene, guiding a diffusion model to produce images from various perspectives, which are then fused to form a cohesive 3D reconstruction. Extensive experiments show that our method effectively and robustly expands single-image inputs into a comprehensive 3D scene, extending monocular 3D reconstruction capabilities without further training. Our code is available https://github.com/CharlieSong1999/FlashDreamer/tree/main.

Despite decades of research on data collection and model architectures, current gaze estimation models encounter significant challenges in generalizing across diverse data domains. Recent advances in self-supervised pre-training have shown remarkable performances in generalization across various vision tasks. However, their effectiveness in gaze estimation remains unexplored. We propose UniGaze, for the first time, leveraging large-scale in-the-wild facial datasets for gaze estimation through self-supervised pre-training. Through systematic investigation, we clarify critical factors that are essential for effective pretraining in gaze estimation. Our experiments reveal that self-supervised approaches designed for semantic tasks fail when applied to gaze estimation, while our carefully designed pre-training pipeline consistently improves cross-domain performance. Through comprehensive experiments of challenging cross-dataset evaluation and novel protocols including leave-one-dataset-out and joint-dataset settings, we demonstrate that UniGaze significantly improves generalization across multiple data domains while minimizing reliance on costly labeled data. source code and model are available at https://github.com/ut-vision/UniGaze.

We introduce DragView, a novel and interactive framework for generating novel views of unseen scenes. DragView initializes the new view from a single source image, and the rendering is supported by a sparse set of unposed multi-view images, all seamlessly executed within a single feed-forward pass. Our approach begins with users dragging a source view through a local relative coordinate system. Pixel-aligned features are obtained by projecting the sampled 3D points along the target ray onto the source view. We then incorporate a view-dependent modulation layer to effectively handle occlusion during the projection. Additionally, we broaden the epipolar attention mechanism to encompass all source pixels, facilitating the aggregation of initialized coordinate-aligned point features from other unposed views. Finally, we employ another transformer to decode ray features into final pixel intensities. Crucially, our framework does not rely on either 2D prior models or the explicit estimation of camera poses. During testing, DragView showcases the capability to generalize to new scenes unseen during training, also utilizing only unposed support images, enabling the generation of photo-realistic new views characterized by flexible camera trajectories. In our experiments, we conduct a comprehensive comparison of the performance of DragView with recent scene representation networks operating under pose-free conditions, as well as with generalizable NeRFs subject to noisy test camera poses. DragView consistently demonstrates its superior performance in view synthesis quality, while also being more user-friendly. Project page: https://zhiwenfan.github.io/DragView/.

Current 3D reconstruction techniques struggle to infer unbounded scenes from a few images faithfully. Specifically, existing methods have high computational demands, require detailed pose information, and cannot reconstruct occluded regions reliably. We introduce 6Img-to-3D, an efficient, scalable transformer-based encoder-renderer method for single-shot image to 3D reconstruction. Our method outputs a 3D-consistent parameterized triplane from only six outward-facing input images for large-scale, unbounded outdoor driving scenarios. We take a step towards resolving existing shortcomings by combining contracted custom cross- and self-attention mechanisms for triplane parameterization, differentiable volume rendering, scene contraction, and image feature projection. We showcase that six surround-view vehicle images from a single timestamp without global pose information are enough to reconstruct 360^{circ} scenes during inference time, taking 395 ms. Our method allows, for example, rendering third-person images and birds-eye views. Our code is available at https://github.com/continental/6Img-to-3D, and more examples can be found at our website here https://6Img-to-3D.GitHub.io/.

We propose a novel method to estimate a driver's points-of-gaze using a pair of ordinary cameras mounted on the windshield and dashboard of a car. This is a challenging problem due to the dynamics of traffic environments with 3D scenes of unknown depths. This problem is further complicated by the volatile distance between the driver and the camera system. To tackle these challenges, we develop a novel convolutional network that simultaneously analyzes the image of the scene and the image of the driver's face. This network has a camera calibration module that can compute an embedding vector that represents the spatial configuration between the driver and the camera system. This calibration module improves the overall network's performance, which can be jointly trained end to end. We also address the lack of annotated data for training and evaluation by introducing a large-scale driving dataset with point-of-gaze annotations. This is an in situ dataset of real driving sessions in an urban city, containing synchronized images of the driving scene as well as the face and gaze of the driver. Experiments on this dataset show that the proposed method outperforms various baseline methods, having the mean prediction error of 29.69 pixels, which is relatively small compared to the 1280{times}720 resolution of the scene camera.

Gaze target detection aims to predict the image location where the person is looking and the probability that a gaze is out of the scene. Several works have tackled this task by regressing a gaze heatmap centered on the gaze location, however, they overlooked decoding the relationship between the people and the gazed objects. This paper proposes a Transformer-based architecture that automatically detects objects (including heads) in the scene to build associations between every head and the gazed-head/object, resulting in a comprehensive, explainable gaze analysis composed of: gaze target area, gaze pixel point, the class and the image location of the gazed-object. Upon evaluation of the in-the-wild benchmarks, our method achieves state-of-the-art results on all metrics (up to 2.91% gain in AUC, 50% reduction in gaze distance, and 9% gain in out-of-frame average precision) for gaze target detection and 11-13% improvement in average precision for the classification and the localization of the gazed-objects. The code of the proposed method is available https://github.com/francescotonini/object-aware-gaze-target-detection

Predominant techniques on talking head generation largely depend on 2D information, including facial appearances and motions from input face images. Nevertheless, dense 3D facial geometry, such as pixel-wise depth, plays a critical role in constructing accurate 3D facial structures and suppressing complex background noises for generation. However, dense 3D annotations for facial videos is prohibitively costly to obtain. In this work, firstly, we present a novel self-supervised method for learning dense 3D facial geometry (ie, depth) from face videos, without requiring camera parameters and 3D geometry annotations in training. We further propose a strategy to learn pixel-level uncertainties to perceive more reliable rigid-motion pixels for geometry learning. Secondly, we design an effective geometry-guided facial keypoint estimation module, providing accurate keypoints for generating motion fields. Lastly, we develop a 3D-aware cross-modal (ie, appearance and depth) attention mechanism, which can be applied to each generation layer, to capture facial geometries in a coarse-to-fine manner. Extensive experiments are conducted on three challenging benchmarks (ie, VoxCeleb1, VoxCeleb2, and HDTF). The results demonstrate that our proposed framework can generate highly realistic-looking reenacted talking videos, with new state-of-the-art performances established on these benchmarks. The codes and trained models are publicly available on the GitHub project page at https://github.com/harlanhong/CVPR2022-DaGAN

In indoor scenes, the diverse distribution of object locations and scales makes the visual 3D perception task a big challenge. Previous works (e.g, NeRF-Det) have demonstrated that implicit representation has the capacity to benefit the visual 3D perception task in indoor scenes with high amount of overlap between input images. However, previous works cannot fully utilize the advancement of implicit representation because of fixed sampling and simple multi-view feature fusion. In this paper, inspired by sparse fashion method (e.g, DETR3D), we propose a simple yet effective method, NeRF-DetS, to address above issues. NeRF-DetS includes two modules: Progressive Adaptive Sampling Strategy (PASS) and Depth-Guided Simplified Multi-Head Attention Fusion (DS-MHA). Specifically, (1)PASS can automatically sample features of each layer within a dense 3D detector, using offsets predicted by the previous layer. (2)DS-MHA can not only efficiently fuse multi-view features with strong occlusion awareness but also reduce computational cost. Extensive experiments on ScanNetV2 dataset demonstrate our NeRF-DetS outperforms NeRF-Det, by achieving +5.02% and +5.92% improvement in mAP under IoU25 and IoU50, respectively. Also, NeRF-DetS shows consistent improvements on ARKITScenes.

Multi-view transformers such as DUSt3R are revolutionizing 3D vision by solving 3D tasks in a feed-forward manner. However, contrary to previous optimization-based pipelines, the inner mechanisms of multi-view transformers are unclear. Their black-box nature makes further improvements beyond data scaling challenging and complicates usage in safety- and reliability-critical applications. Here, we present an approach for probing and visualizing 3D representations from the residual connections of the multi-view transformers' layers. In this manner, we investigate a variant of the DUSt3R model, shedding light on the development of its latent state across blocks, the role of the individual layers, and suggest how it differs from methods with stronger inductive biases of explicit global pose. Finally, we show that the investigated variant of DUSt3R estimates correspondences that are refined with reconstructed geometry. The code used for the analysis is available at https://github.com/JulienGaubil/und3rstand .

Traditionally, creating photo-realistic 3D head avatars requires a studio-level multi-view capture setup and expensive optimization during test-time, limiting the use of digital human doubles to the VFX industry or offline renderings. To address this shortcoming, we present Avat3r, which regresses a high-quality and animatable 3D head avatar from just a few input images, vastly reducing compute requirements during inference. More specifically, we make Large Reconstruction Models animatable and learn a powerful prior over 3D human heads from a large multi-view video dataset. For better 3D head reconstructions, we employ position maps from DUSt3R and generalized feature maps from the human foundation model Sapiens. To animate the 3D head, our key discovery is that simple cross-attention to an expression code is already sufficient. Finally, we increase robustness by feeding input images with different expressions to our model during training, enabling the reconstruction of 3D head avatars from inconsistent inputs, e.g., an imperfect phone capture with accidental movement, or frames from a monocular video. We compare Avat3r with current state-of-the-art methods for few-input and single-input scenarios, and find that our method has a competitive advantage in both tasks. Finally, we demonstrate the wide applicability of our proposed model, creating 3D head avatars from images of different sources, smartphone captures, single images, and even out-of-domain inputs like antique busts. Project website: https://tobias-kirschstein.github.io/avat3r/

Embodied tasks require the agent to fully understand 3D scenes simultaneously with its exploration, so an online, real-time, fine-grained and highly-generalized 3D perception model is desperately needed. Since high-quality 3D data is limited, directly training such a model in 3D is almost infeasible. Meanwhile, vision foundation models (VFM) has revolutionized the field of 2D computer vision with superior performance, which makes the use of VFM to assist embodied 3D perception a promising direction. However, most existing VFM-assisted 3D perception methods are either offline or too slow that cannot be applied in practical embodied tasks. In this paper, we aim to leverage Segment Anything Model (SAM) for real-time 3D instance segmentation in an online setting. This is a challenging problem since future frames are not available in the input streaming RGB-D video, and an instance may be observed in several frames so object matching between frames is required. To address these challenges, we first propose a geometric-aware query lifting module to represent the 2D masks generated by SAM by 3D-aware queries, which is then iteratively refined by a dual-level query decoder. In this way, the 2D masks are transferred to fine-grained shapes on 3D point clouds. Benefit from the query representation for 3D masks, we can compute the similarity matrix between the 3D masks from different views by efficient matrix operation, which enables real-time inference. Experiments on ScanNet, ScanNet200, SceneNN and 3RScan show our method achieves leading performance even compared with offline methods. Our method also demonstrates great generalization ability in several zero-shot dataset transferring experiments and show great potential in open-vocabulary and data-efficient setting. Code and demo are available at https://xuxw98.github.io/ESAM/, with only one RTX 3090 GPU required for training and evaluation.

Text-to-3D generation has achieved significant success by incorporating powerful 2D diffusion models, but insufficient 3D prior knowledge also leads to the inconsistency of 3D geometry. Recently, since large-scale multi-view datasets have been released, fine-tuning the diffusion model on the multi-view datasets becomes a mainstream to solve the 3D inconsistency problem. However, it has confronted with fundamental difficulties regarding the limited quality and diversity of 3D data, compared with 2D data. To sidestep these trade-offs, we explore a retrieval-augmented approach tailored for score distillation, dubbed RetDream. We postulate that both expressiveness of 2D diffusion models and geometric consistency of 3D assets can be fully leveraged by employing the semantically relevant assets directly within the optimization process. To this end, we introduce novel framework for retrieval-based quality enhancement in text-to-3D generation. We leverage the retrieved asset to incorporate its geometric prior in the variational objective and adapt the diffusion model's 2D prior toward view consistency, achieving drastic improvements in both geometry and fidelity of generated scenes. We conduct extensive experiments to demonstrate that RetDream exhibits superior quality with increased geometric consistency. Project page is available at https://ku-cvlab.github.io/RetDream/.

The growing demand for controllable outputs in text-to-image generation has driven significant advancements in multi-instance generation (MIG), enabling users to define both instance layouts and attributes. Currently, the state-of-the-art methods in MIG are primarily adapter-based. However, these methods necessitate retraining a new adapter each time a more advanced model is released, resulting in significant resource consumption. A methodology named Depth-Driven Decoupled Instance Synthesis (3DIS) has been introduced, which decouples MIG into two distinct phases: 1) depth-based scene construction and 2) detail rendering with widely pre-trained depth control models. The 3DIS method requires adapter training solely during the scene construction phase, while enabling various models to perform training-free detail rendering. Initially, 3DIS focused on rendering techniques utilizing U-Net architectures such as SD1.5, SD2, and SDXL, without exploring the potential of recent DiT-based models like FLUX. In this paper, we present 3DIS-FLUX, an extension of the 3DIS framework that integrates the FLUX model for enhanced rendering capabilities. Specifically, we employ the FLUX.1-Depth-dev model for depth map controlled image generation and introduce a detail renderer that manipulates the Attention Mask in FLUX's Joint Attention mechanism based on layout information. This approach allows for the precise rendering of fine-grained attributes of each instance. Our experimental results indicate that 3DIS-FLUX, leveraging the FLUX model, outperforms the original 3DIS method, which utilized SD2 and SDXL, and surpasses current state-of-the-art adapter-based methods in terms of both performance and image quality. Project Page: https://limuloo.github.io/3DIS/.

This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific operators, hindering the broad application of BEV models. In contrast, our method generates BEV features efficiently with only convolutions and matrix multiplications (MatMul). Specifically, we propose describing the BEV feature as the MatMul of image feature and a sparse Feature Transporting Matrix (FTM). A Prime Extraction module is then introduced to compress the dimension of image features and reduce FTM's sparsity. Moreover, we propose the Ring \& Ray Decomposition to replace the FTM with two matrices and reformulate our pipeline to reduce calculation further. Compared to existing methods, MatrixVT enjoys a faster speed and less memory footprint while remaining deploy-friendly. Extensive experiments on the nuScenes benchmark demonstrate that our method is highly efficient but obtains results on par with the SOTA method in object detection and map segmentation tasks

Recent advancements in diffusion models have significantly enhanced the data synthesis with 2D control. Yet, precise 3D control in street view generation, crucial for 3D perception tasks, remains elusive. Specifically, utilizing Bird's-Eye View (BEV) as the primary condition often leads to challenges in geometry control (e.g., height), affecting the representation of object shapes, occlusion patterns, and road surface elevations, all of which are essential to perception data synthesis, especially for 3D object detection tasks. In this paper, we introduce MagicDrive, a novel street view generation framework, offering diverse 3D geometry controls including camera poses, road maps, and 3D bounding boxes, together with textual descriptions, achieved through tailored encoding strategies. Besides, our design incorporates a cross-view attention module, ensuring consistency across multiple camera views. With MagicDrive, we achieve high-fidelity street-view image & video synthesis that captures nuanced 3D geometry and various scene descriptions, enhancing tasks like BEV segmentation and 3D object detection.

Predictive world models that simulate future observations under explicit camera control are fundamental to interactive AI. Despite rapid advances, current systems lack spatial persistence: they fail to maintain stable scene structures over long trajectories, frequently hallucinating details when cameras revisit previously observed locations. We identify that this geometric drift stems from reliance on screen-space positional embeddings, which conflict with the projective geometry required for 3D consistency. We introduce ViewRope, a geometry-aware encoding that injects camera-ray directions directly into video transformer self-attention layers. By parameterizing attention with relative ray geometry rather than pixel locality, ViewRope provides a model-native inductive bias for retrieving 3D-consistent content across temporal gaps. We further propose Geometry-Aware Frame-Sparse Attention, which exploits these geometric cues to selectively attend to relevant historical frames, improving efficiency without sacrificing memory consistency. We also present ViewBench, a diagnostic suite measuring loop-closure fidelity and geometric drift. Our results demonstrate that ViewRope substantially improves long-term consistency while reducing computational costs.

Medical eye-tracking data is an important information source for understanding how radiologists visually interpret medical images. This information not only improves the accuracy of deep learning models for X-ray analysis but also their interpretability, enhancing transparency in decision-making. However, the current eye-tracking data is dispersed, unprocessed, and ambiguous, making it difficult to derive meaningful insights. Therefore, there is a need to create a new dataset with more focus and purposeful eyetracking data, improving its utility for diagnostic applications. In this work, we propose a refinement method inspired by the target-present visual search challenge: there is a specific finding and fixations are guided to locate it. After refining the existing eye-tracking datasets, we transform them into a curated visual search dataset, called GazeSearch, specifically for radiology findings, where each fixation sequence is purposefully aligned to the task of locating a particular finding. Subsequently, we introduce a scan path prediction baseline, called ChestSearch, specifically tailored to GazeSearch. Finally, we employ the newly introduced GazeSearch as a benchmark to evaluate the performance of current state-of-the-art methods, offering a comprehensive assessment for visual search in the medical imaging domain. Code is available at https://github.com/UARK-AICV/GazeSearch.

We present MAV3D (Make-A-Video3D), a method for generating three-dimensional dynamic scenes from text descriptions. Our approach uses a 4D dynamic Neural Radiance Field (NeRF), which is optimized for scene appearance, density, and motion consistency by querying a Text-to-Video (T2V) diffusion-based model. The dynamic video output generated from the provided text can be viewed from any camera location and angle, and can be composited into any 3D environment. MAV3D does not require any 3D or 4D data and the T2V model is trained only on Text-Image pairs and unlabeled videos. We demonstrate the effectiveness of our approach using comprehensive quantitative and qualitative experiments and show an improvement over previously established internal baselines. To the best of our knowledge, our method is the first to generate 3D dynamic scenes given a text description.

3D shape completion has broad applications in robotics, digital twin reconstruction, and extended reality (XR). Although recent advances in 3D object and scene completion have achieved impressive results, existing methods lack 3D consistency, are computationally expensive, and struggle to capture sharp object boundaries. Our work (RaySt3R) addresses these limitations by recasting 3D shape completion as a novel view synthesis problem. Specifically, given a single RGB-D image and a novel viewpoint (encoded as a collection of query rays), we train a feedforward transformer to predict depth maps, object masks, and per-pixel confidence scores for those query rays. RaySt3R fuses these predictions across multiple query views to reconstruct complete 3D shapes. We evaluate RaySt3R on synthetic and real-world datasets, and observe it achieves state-of-the-art performance, outperforming the baselines on all datasets by up to 44% in 3D chamfer distance. Project page: https://rayst3r.github.io

While exploring visual scenes, humans' scanpaths are driven by their underlying attention processes. Understanding visual scanpaths is essential for various applications. Traditional scanpath models predict the where and when of gaze shifts without providing explanations, creating a gap in understanding the rationale behind fixations. To bridge this gap, we introduce GazeXplain, a novel study of visual scanpath prediction and explanation. This involves annotating natural-language explanations for fixations across eye-tracking datasets and proposing a general model with an attention-language decoder that jointly predicts scanpaths and generates explanations. It integrates a unique semantic alignment mechanism to enhance the consistency between fixations and explanations, alongside a cross-dataset co-training approach for generalization. These novelties present a comprehensive and adaptable solution for explainable human visual scanpath prediction. Extensive experiments on diverse eye-tracking datasets demonstrate the effectiveness of GazeXplain in both scanpath prediction and explanation, offering valuable insights into human visual attention and cognitive processes.

Numerous models have been developed for scanpath and saliency prediction, which are typically trained on scanpaths, which model eye movement as a sequence of discrete fixation points connected by saccades, while the rich information contained in the raw trajectories is often discarded. Moreover, most existing approaches fail to capture the variability observed among human subjects viewing the same image. They generally predict a single scanpath of fixed, pre-defined length, which conflicts with the inherent diversity and stochastic nature of real-world visual attention. To address these challenges, we propose DiffEye, a diffusion-based training framework designed to model continuous and diverse eye movement trajectories during free viewing of natural images. Our method builds on a diffusion model conditioned on visual stimuli and introduces a novel component, namely Corresponding Positional Embedding (CPE), which aligns spatial gaze information with the patch-based semantic features of the visual input. By leveraging raw eye-tracking trajectories rather than relying on scanpaths, DiffEye captures the inherent variability in human gaze behavior and generates high-quality, realistic eye movement patterns, despite being trained on a comparatively small dataset. The generated trajectories can also be converted into scanpaths and saliency maps, resulting in outputs that more accurately reflect the distribution of human visual attention. DiffEye is the first method to tackle this task on natural images using a diffusion model while fully leveraging the richness of raw eye-tracking data. Our extensive evaluation shows that DiffEye not only achieves state-of-the-art performance in scanpath generation but also enables, for the first time, the generation of continuous eye movement trajectories. Project webpage: https://diff-eye.github.io/

Accurately modelling human attention is essential for numerous computer vision applications, particularly in the domain of automotive safety. Existing methods typically collapse gaze into saliency maps or scanpaths, treating gaze dynamics only implicitly. We instead formulate gaze modelling as an autoregressive dynamical system and explicitly unroll raw gaze trajectories over time, conditioned on both gaze history and the evolving environment. Driving scenes are represented as gaze-centric graphs processed by the Affinity Relation Transformer (ART), a heterogeneous graph transformer that models interactions between driver gaze, traffic objects, and road structure. We further introduce the Object Density Network (ODN) to predict next-step gaze distributions, capturing the stochastic and object-centric nature of attentional shifts in complex environments. We also release Focus100, a new dataset of raw gaze data from 30 participants viewing egocentric driving footage. Trained directly on raw gaze, without fixation filtering, our unified approach produces more natural gaze trajectories, scanpath dynamics, and saliency maps than existing attention models, offering valuable insights for the temporal modelling of human attention in dynamic environments.

Foundation models for 3D vision have recently demonstrated remarkable capabilities in 3D perception. However, scaling these models to long-sequence image inputs remains a significant challenge due to inference-time inefficiency. In this work, we present a detailed analysis of VGGT, a state-of-the-art feed-forward visual geometry model and identify its primary bottleneck. Visualization further reveals a token collapse phenomenon in the attention maps. Motivated by these findings, we explore the potential of token merging in the feed-forward visual geometry model. Owing to the unique architectural and task-specific properties of 3D models, directly applying existing merging techniques proves challenging. To this end, we propose FastVGGT, which, for the first time, leverages token merging in the 3D domain through a training-free mechanism for accelerating VGGT. we devise a unique token partitioning strategy tailored to 3D architectures and tasks, effectively eliminating redundant computation while preserving VGGT's powerful reconstruction capacity. Extensive experiments on multiple 3D geometry benchmarks validate the effectiveness of our approach. Notably, with 1000 input images, FastVGGT achieves a 4x speedup over VGGT while mitigating error accumulation in long-sequence scenarios. These findings underscore the potential of token merging as a principled solution for scalable 3D vision systems. Code is available at: https://mystorm16.github.io/fastvggt/.

Text-to-3D synthesis has recently seen intriguing advances by combining the text-to-image models with 3D representation methods, e.g., Gaussian Splatting (GS), via Score Distillation Sampling (SDS). However, a hurdle of existing methods is the low efficiency, per-prompt optimization for a single 3D object. Therefore, it is imperative for a paradigm shift from per-prompt optimization to one-stage generation for any unseen text prompts, which yet remains challenging. A hurdle is how to directly generate a set of millions of 3D Gaussians to represent a 3D object. This paper presents BrightDreamer, an end-to-end single-stage approach that can achieve generalizable and fast (77 ms) text-to-3D generation. Our key idea is to formulate the generation process as estimating the 3D deformation from an anchor shape with predefined positions. For this, we first propose a Text-guided Shape Deformation (TSD) network to predict the deformed shape and its new positions, used as the centers (one attribute) of 3D Gaussians. To estimate the other four attributes (i.e., scaling, rotation, opacity, and SH coefficient), we then design a novel Text-guided Triplane Generator (TTG) to generate a triplane representation for a 3D object. The center of each Gaussian enables us to transform the triplane feature into the four attributes. The generated 3D Gaussians can be finally rendered at 705 frames per second. Extensive experiments demonstrate the superiority of our method over existing methods. Also, BrightDreamer possesses a strong semantic understanding capability even for complex text prompts. The project code is available at https://vlislab22.github.io/BrightDreamer.

We study positional encodings for multi-view transformers that process tokens from a set of posed input images, and seek a mechanism that encodes patches uniquely, allows SE(3)-invariant attention with multi-frequency similarity, and can be adaptive to the geometry of the underlying scene. We find that prior (absolute or relative) encoding schemes for multi-view attention do not meet the above desiderata, and present RayRoPE to address this gap. RayRoPE represents patch positions based on associated rays but leverages a predicted point along the ray instead of the direction for a geometry-aware encoding. To achieve SE(3) invariance, RayRoPE computes query-frame projective coordinates for computing multi-frequency similarity. Lastly, as the 'predicted' 3D point along a ray may not be precise, RayRoPE presents a mechanism to analytically compute the expected position encoding under uncertainty. We validate RayRoPE on the tasks of novel-view synthesis and stereo depth estimation and show that it consistently improves over alternate position encoding schemes (e.g. 15% relative improvement on LPIPS in CO3D). We also show that RayRoPE can seamlessly incorporate RGB-D input, resulting in even larger gains over alternatives that cannot positionally encode this information.

3D reconstruction and view synthesis are foundational problems in computer vision, graphics, and immersive technologies such as augmented reality (AR), virtual reality (VR), and digital twins. Traditional methods rely on computationally intensive iterative optimization in a complex chain, limiting their applicability in real-world scenarios. Recent advances in feed-forward approaches, driven by deep learning, have revolutionized this field by enabling fast and generalizable 3D reconstruction and view synthesis. This survey offers a comprehensive review of feed-forward techniques for 3D reconstruction and view synthesis, with a taxonomy according to the underlying representation architectures including point cloud, 3D Gaussian Splatting (3DGS), Neural Radiance Fields (NeRF), etc. We examine key tasks such as pose-free reconstruction, dynamic 3D reconstruction, and 3D-aware image and video synthesis, highlighting their applications in digital humans, SLAM, robotics, and beyond. In addition, we review commonly used datasets with detailed statistics, along with evaluation protocols for various downstream tasks. We conclude by discussing open research challenges and promising directions for future work, emphasizing the potential of feed-forward approaches to advance the state of the art in 3D vision.

Modern methods for vision-centric autonomous driving perception widely adopt the bird's-eye-view (BEV) representation to describe a 3D scene. Despite its better efficiency than voxel representation, it has difficulty describing the fine-grained 3D structure of a scene with a single plane. To address this, we propose a tri-perspective view (TPV) representation which accompanies BEV with two additional perpendicular planes. We model each point in the 3D space by summing its projected features on the three planes. To lift image features to the 3D TPV space, we further propose a transformer-based TPV encoder (TPVFormer) to obtain the TPV features effectively. We employ the attention mechanism to aggregate the image features corresponding to each query in each TPV plane. Experiments show that our model trained with sparse supervision effectively predicts the semantic occupancy for all voxels. We demonstrate for the first time that using only camera inputs can achieve comparable performance with LiDAR-based methods on the LiDAR segmentation task on nuScenes. Code: https://github.com/wzzheng/TPVFormer.

Slow inference speed is one of the most crucial concerns for deploying multi-view 3D detectors to tasks with high real-time requirements like autonomous driving. Although many sparse query-based methods have already attempted to improve the efficiency of 3D detectors, they neglect to consider the backbone, especially when using Vision Transformers (ViT) for better performance. To tackle this problem, we explore the efficient ViT backbones for multi-view 3D detection via token compression and propose a simple yet effective method called TokenCompression3D (ToC3D). By leveraging history object queries as foreground priors of high quality, modeling 3D motion information in them, and interacting them with image tokens through the attention mechanism, ToC3D can effectively determine the magnitude of information densities of image tokens and segment the salient foreground tokens. With the introduced dynamic router design, ToC3D can weigh more computing resources to important foreground tokens while compressing the information loss, leading to a more efficient ViT-based multi-view 3D detector. Extensive results on the large-scale nuScenes dataset show that our method can nearly maintain the performance of recent SOTA with up to 30% inference speedup, and the improvements are consistent after scaling up the ViT and input resolution. The code will be made at https://github.com/DYZhang09/ToC3D.

The increasing demand for virtual reality applications has highlighted the significance of crafting immersive 3D assets. We present a text-to-3D 360^{circ} scene generation pipeline that facilitates the creation of comprehensive 360^{circ} scenes for in-the-wild environments in a matter of minutes. Our approach utilizes the generative power of a 2D diffusion model and prompt self-refinement to create a high-quality and globally coherent panoramic image. This image acts as a preliminary "flat" (2D) scene representation. Subsequently, it is lifted into 3D Gaussians, employing splatting techniques to enable real-time exploration. To produce consistent 3D geometry, our pipeline constructs a spatially coherent structure by aligning the 2D monocular depth into a globally optimized point cloud. This point cloud serves as the initial state for the centroids of 3D Gaussians. In order to address invisible issues inherent in single-view inputs, we impose semantic and geometric constraints on both synthesized and input camera views as regularizations. These guide the optimization of Gaussians, aiding in the reconstruction of unseen regions. In summary, our method offers a globally consistent 3D scene within a 360^{circ} perspective, providing an enhanced immersive experience over existing techniques. Project website at: http://dreamscene360.github.io/

We present a 3D-aware one-shot head reenactment method based on a fully volumetric neural disentanglement framework for source appearance and driver expressions. Our method is real-time and produces high-fidelity and view-consistent output, suitable for 3D teleconferencing systems based on holographic displays. Existing cutting-edge 3D-aware reenactment methods often use neural radiance fields or 3D meshes to produce view-consistent appearance encoding, but, at the same time, they rely on linear face models, such as 3DMM, to achieve its disentanglement with facial expressions. As a result, their reenactment results often exhibit identity leakage from the driver or have unnatural expressions. To address these problems, we propose a neural self-supervised disentanglement approach that lifts both the source image and driver video frame into a shared 3D volumetric representation based on tri-planes. This representation can then be freely manipulated with expression tri-planes extracted from the driving images and rendered from an arbitrary view using neural radiance fields. We achieve this disentanglement via self-supervised learning on a large in-the-wild video dataset. We further introduce a highly effective fine-tuning approach to improve the generalizability of the 3D lifting using the same real-world data. We demonstrate state-of-the-art performance on a wide range of datasets, and also showcase high-quality 3D-aware head reenactment on highly challenging and diverse subjects, including non-frontal head poses and complex expressions for both source and driver.

We present DIRECT-3D, a diffusion-based 3D generative model for creating high-quality 3D assets (represented by Neural Radiance Fields) from text prompts. Unlike recent 3D generative models that rely on clean and well-aligned 3D data, limiting them to single or few-class generation, our model is directly trained on extensive noisy and unaligned `in-the-wild' 3D assets, mitigating the key challenge (i.e., data scarcity) in large-scale 3D generation. In particular, DIRECT-3D is a tri-plane diffusion model that integrates two innovations: 1) A novel learning framework where noisy data are filtered and aligned automatically during the training process. Specifically, after an initial warm-up phase using a small set of clean data, an iterative optimization is introduced in the diffusion process to explicitly estimate the 3D pose of objects and select beneficial data based on conditional density. 2) An efficient 3D representation that is achieved by disentangling object geometry and color features with two separate conditional diffusion models that are optimized hierarchically. Given a prompt input, our model generates high-quality, high-resolution, realistic, and complex 3D objects with accurate geometric details in seconds. We achieve state-of-the-art performance in both single-class generation and text-to-3D generation. We also demonstrate that DIRECT-3D can serve as a useful 3D geometric prior of objects, for example to alleviate the well-known Janus problem in 2D-lifting methods such as DreamFusion. The code and models are available for research purposes at: https://github.com/qihao067/direct3d.

We propose a method to learn a high-quality implicit 3D head avatar from a monocular RGB video captured in the wild. The learnt avatar is driven by a parametric face model to achieve user-controlled facial expressions and head poses. Our hybrid pipeline combines the geometry prior and dynamic tracking of a 3DMM with a neural radiance field to achieve fine-grained control and photorealism. To reduce over-smoothing and improve out-of-model expressions synthesis, we propose to predict local features anchored on the 3DMM geometry. These learnt features are driven by 3DMM deformation and interpolated in 3D space to yield the volumetric radiance at a designated query point. We further show that using a Convolutional Neural Network in the UV space is critical in incorporating spatial context and producing representative local features. Extensive experiments show that we are able to reconstruct high-quality avatars, with more accurate expression-dependent details, good generalization to out-of-training expressions, and quantitatively superior renderings compared to other state-of-the-art approaches.

One of the most fundamental and information-laden actions humans do is to look at objects. However, a survey of current works reveals that existing gaze-related datasets annotate only the pixel being looked at, and not the boundaries of a specific object of interest. This lack of object annotation presents an opportunity for further advancing gaze estimation research. To this end, we present a challenging new task called gaze object prediction, where the goal is to predict a bounding box for a person's gazed-at object. To train and evaluate gaze networks on this task, we present the Gaze On Objects (GOO) dataset. GOO is composed of a large set of synthetic images (GOO Synth) supplemented by a smaller subset of real images (GOO-Real) of people looking at objects in a retail environment. Our work establishes extensive baselines on GOO by re-implementing and evaluating selected state-of-the art models on the task of gaze following and domain adaptation. Code is available on github.

We present Wid3R, a feed-forward neural network for visual geometry reconstruction that supports wide field-of-view camera models. Prior methods typically assume that input images are rectified or captured with pinhole cameras, since both their architectures and training datasets are tailored to perspective images only. These assumptions limit their applicability in real-world scenarios that use fisheye or panoramic cameras and often require careful calibration and undistortion. In contrast, Wid3R is a generalizable multi-view 3D estimation method that can model wide field-of-view camera types. Our approach leverages a ray representation with spherical harmonics and a novel camera model token within the network, enabling distortion-aware 3D reconstruction. Furthermore, Wid3R is the first multi-view foundation model to support feed-forward 3D reconstruction directly from 360 imagery. It demonstrates strong zero-shot robustness and consistently outperforms prior methods, achieving improvements of up to +77.33 on Stanford2D3D.

Monocular 3D estimation is crucial for visual perception. However, current methods fall short by relying on oversimplified assumptions, such as pinhole camera models or rectified images. These limitations severely restrict their general applicability, causing poor performance in real-world scenarios with fisheye or panoramic images and resulting in substantial context loss. To address this, we present UniK3D, the first generalizable method for monocular 3D estimation able to model any camera. Our method introduces a spherical 3D representation which allows for better disentanglement of camera and scene geometry and enables accurate metric 3D reconstruction for unconstrained camera models. Our camera component features a novel, model-independent representation of the pencil of rays, achieved through a learned superposition of spherical harmonics. We also introduce an angular loss, which, together with the camera module design, prevents the contraction of the 3D outputs for wide-view cameras. A comprehensive zero-shot evaluation on 13 diverse datasets demonstrates the state-of-the-art performance of UniK3D across 3D, depth, and camera metrics, with substantial gains in challenging large-field-of-view and panoramic settings, while maintaining top accuracy in conventional pinhole small-field-of-view domains. Code and models are available at github.com/lpiccinelli-eth/unik3d .

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on the explicit extraction of 3D features, while still facing challenges such as the lack of large-scale robotic 3D data and the potential loss of spatial geometry. To address these limitations, we propose the Lift3D framework, which progressively enhances 2D foundation models with implicit and explicit 3D robotic representations to construct a robust 3D manipulation policy. Specifically, we first design a task-aware masked autoencoder that masks task-relevant affordance patches and reconstructs depth information, enhancing the 2D foundation model's implicit 3D robotic representation. After self-supervised fine-tuning, we introduce a 2D model-lifting strategy that establishes a positional mapping between the input 3D points and the positional embeddings of the 2D model. Based on the mapping, Lift3D utilizes the 2D foundation model to directly encode point cloud data, leveraging large-scale pretrained knowledge to construct explicit 3D robotic representations while minimizing spatial information loss. In experiments, Lift3D consistently outperforms previous state-of-the-art methods across several simulation benchmarks and real-world scenarios.

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming. Recently, pretrained large image diffusion models have become prominent as effective feature extractors for 2D perception tasks. However, these features are initially trained on paired text and image data, which are not optimized for 3D tasks, and often exhibit a domain gap when applied to the target data. Our approach bridges these gaps through two specialized tuning strategies: geometric and semantic. For geometric tuning, we fine-tune a diffusion model to perform novel view synthesis conditioned on a single image, by introducing a novel epipolar warp operator. This task meets two essential criteria: the necessity for 3D awareness and reliance solely on posed image data, which are readily available (e.g., from videos) and does not require manual annotation. For semantic refinement, we further train the model on target data with detection supervision. Both tuning phases employ ControlNet to preserve the integrity of the original feature capabilities. In the final step, we harness these enhanced capabilities to conduct a test-time prediction ensemble across multiple virtual viewpoints. Through our methodology, we obtain 3D-aware features that are tailored for 3D detection and excel in identifying cross-view point correspondences. Consequently, our model emerges as a powerful 3D detector, substantially surpassing previous benchmarks, e.g., Cube-RCNN, a precedent in single-view 3D detection by 9.43\% in AP3D on the Omni3D-ARkitscene dataset. Furthermore, 3DiffTection showcases robust data efficiency and generalization to cross-domain data.

We present a method to efficiently generate 3D-aware high-resolution images that are view-consistent across multiple target views. The proposed multiplane neural radiance model, named GMNR, consists of a novel {\alpha}-guided view-dependent representation ({\alpha}-VdR) module for learning view-dependent information. The {\alpha}-VdR module, faciliated by an {\alpha}-guided pixel sampling technique, computes the view-dependent representation efficiently by learning viewing direction and position coefficients. Moreover, we propose a view-consistency loss to enforce photometric similarity across multiple views. The GMNR model can generate 3D-aware high-resolution images that are viewconsistent across multiple camera poses, while maintaining the computational efficiency in terms of both training and inference time. Experiments on three datasets demonstrate the effectiveness of the proposed modules, leading to favorable results in terms of both generation quality and inference time, compared to existing approaches. Our GMNR model generates 3D-aware images of 1024 X 1024 pixels with 17.6 FPS on a single V100. Code : https://github.com/VIROBO-15/GMNR

In recent years, 2D Vision-Language Models (VLMs) have made significant strides in image-text understanding tasks. However, their performance in 3D spatial comprehension, which is critical for embodied intelligence, remains limited. Recent advances have leveraged 3D point clouds and multi-view images as inputs, yielding promising results. However, we propose exploring a purely vision-based solution inspired by human perception, which merely relies on visual cues for 3D spatial understanding. This paper empirically investigates the limitations of VLMs in 3D spatial knowledge, revealing that their primary shortcoming lies in the lack of global-local correspondence between the scene and individual frames. To address this, we introduce GPT4Scene, a novel visual prompting paradigm in VLM training and inference that helps build the global-local relationship, significantly improving the 3D spatial understanding of indoor scenes. Specifically, GPT4Scene constructs a 3D Bird's Eye View (BEV) image from the video and marks consistent object IDs across both frames and the BEV image. The model then inputs the concatenated BEV image and video frames with markers. In zero-shot evaluations, GPT4Scene improves performance over closed-source VLMs like GPT-4o. Additionally, we prepare a processed video dataset consisting of 165K text annotation to fine-tune open-source VLMs, achieving state-of-the-art performance on all 3D understanding tasks. Surprisingly, after training with the GPT4Scene paradigm, VLMs consistently improve during inference, even without visual prompting and BEV image as explicit correspondence. It demonstrates that the proposed paradigm helps VLMs develop an intrinsic ability to understand 3D scenes, which paves the way for a noninvasive approach to extending pre-trained VLMs for 3D scene understanding.

Vision Foundation Models (VFMs) have achieved remarkable success when applied to various downstream 2D tasks. Despite their effectiveness, they often exhibit a critical lack of 3D awareness. To this end, we introduce Splat and Distill, a framework that instills robust 3D awareness into 2D VFMs by augmenting the teacher model with a fast, feed-forward 3D reconstruction pipeline. Given 2D features produced by a teacher model, our method first lifts these features into an explicit 3D Gaussian representation, in a feedforward manner. These 3D features are then ``splatted" onto novel viewpoints, producing a set of novel 2D feature maps used to supervise the student model, ``distilling" geometrically grounded knowledge. By replacing slow per-scene optimization of prior work with our feed-forward lifting approach, our framework avoids feature-averaging artifacts, creating a dynamic learning process where the teacher's consistency improves alongside that of the student. We conduct a comprehensive evaluation on a suite of downstream tasks, including monocular depth estimation, surface normal estimation, multi-view correspondence, and semantic segmentation. Our method significantly outperforms prior works, not only achieving substantial gains in 3D awareness but also enhancing the underlying semantic richness of 2D features. Project page is available at https://davidshavin4.github.io/Splat-and-Distill/

Radiologists rely on eye movements to navigate and interpret medical images. A trained radiologist possesses knowledge about the potential diseases that may be present in the images and, when searching, follows a mental checklist to locate them using their gaze. This is a key observation, yet existing models fail to capture the underlying intent behind each fixation. In this paper, we introduce a deep learning-based approach, RadGazeIntent, designed to model this behavior: having an intention to find something and actively searching for it. Our transformer-based architecture processes both the temporal and spatial dimensions of gaze data, transforming fine-grained fixation features into coarse, meaningful representations of diagnostic intent to interpret radiologists' goals. To capture the nuances of radiologists' varied intention-driven behaviors, we process existing medical eye-tracking datasets to create three intention-labeled subsets: RadSeq (Systematic Sequential Search), RadExplore (Uncertainty-driven Exploration), and RadHybrid (Hybrid Pattern). Experimental results demonstrate RadGazeIntent's ability to predict which findings radiologists are examining at specific moments, outperforming baseline methods across all intention-labeled datasets.

We introduce a framework that enables both multi-view character consistency and 3D camera control in video diffusion models through a novel customization data pipeline. We train the character consistency component with recorded volumetric capture performances re-rendered with diverse camera trajectories via 4D Gaussian Splatting (4DGS), lighting variability obtained with a video relighting model. We fine-tune state-of-the-art open-source video diffusion models on this data to provide strong multi-view identity preservation, precise camera control, and lighting adaptability. Our framework also supports core capabilities for virtual production, including multi-subject generation using two approaches: joint training and noise blending, the latter enabling efficient composition of independently customized models at inference time; it also achieves scene and real-life video customization as well as control over motion and spatial layout during customization. Extensive experiments show improved video quality, higher personalization accuracy, and enhanced camera control and lighting adaptability, advancing the integration of video generation into virtual production. Our project page is available at: https://eyeline-labs.github.io/Virtually-Being.

Text-to-3D generation by distilling pretrained large-scale text-to-image diffusion models has shown great promise but still suffers from inconsistent 3D geometric structures (Janus problems) and severe artifacts. The aforementioned problems mainly stem from 2D diffusion models lacking 3D awareness during the lifting. In this work, we present GeoDream, a novel method that incorporates explicit generalized 3D priors with 2D diffusion priors to enhance the capability of obtaining unambiguous 3D consistent geometric structures without sacrificing diversity or fidelity. Specifically, we first utilize a multi-view diffusion model to generate posed images and then construct cost volume from the predicted image, which serves as native 3D geometric priors, ensuring spatial consistency in 3D space. Subsequently, we further propose to harness 3D geometric priors to unlock the great potential of 3D awareness in 2D diffusion priors via a disentangled design. Notably, disentangling 2D and 3D priors allows us to refine 3D geometric priors further. We justify that the refined 3D geometric priors aid in the 3D-aware capability of 2D diffusion priors, which in turn provides superior guidance for the refinement of 3D geometric priors. Our numerical and visual comparisons demonstrate that GeoDream generates more 3D consistent textured meshes with high-resolution realistic renderings (i.e., 1024 times 1024) and adheres more closely to semantic coherence.

3D content manipulation is an important computer vision task with many real-world applications (e.g., product design, cartoon generation, and 3D Avatar editing). Recently proposed 3D GANs can generate diverse photorealistic 3D-aware contents using Neural Radiance fields (NeRF). However, manipulation of NeRF still remains a challenging problem since the visual quality tends to degrade after manipulation and suboptimal control handles such as 2D semantic maps are used for manipulations. While text-guided manipulations have shown potential in 3D editing, such approaches often lack locality. To overcome these problems, we propose Local Editing NeRF (LENeRF), which only requires text inputs for fine-grained and localized manipulation. Specifically, we present three add-on modules of LENeRF, the Latent Residual Mapper, the Attention Field Network, and the Deformation Network, which are jointly used for local manipulations of 3D features by estimating a 3D attention field. The 3D attention field is learned in an unsupervised way, by distilling the zero-shot mask generation capability of CLIP to the 3D space with multi-view guidance. We conduct diverse experiments and thorough evaluations both quantitatively and qualitatively.

Benefiting from the capability of building inter-dependencies among channels or spatial locations, attention mechanisms have been extensively studied and broadly used in a variety of computer vision tasks recently. In this paper, we investigate light-weight but effective attention mechanisms and present triplet attention, a novel method for computing attention weights by capturing cross-dimension interaction using a three-branch structure. For an input tensor, triplet attention builds inter-dimensional dependencies by the rotation operation followed by residual transformations and encodes inter-channel and spatial information with negligible computational overhead. Our method is simple as well as efficient and can be easily plugged into classic backbone networks as an add-on module. We demonstrate the effectiveness of our method on various challenging tasks including image classification on ImageNet-1k and object detection on MSCOCO and PASCAL VOC datasets. Furthermore, we provide extensive in-sight into the performance of triplet attention by visually inspecting the GradCAM and GradCAM++ results. The empirical evaluation of our method supports our intuition on the importance of capturing dependencies across dimensions when computing attention weights. Code for this paper can be publicly accessed at https://github.com/LandskapeAI/triplet-attention

Omnidirectional videos (ODVs) are redefining viewer experiences in virtual reality (VR) by offering an unprecedented full field-of-view (FOV). This study extends the domain of saliency prediction to 360-degree environments, addressing the complexities of spherical distortion and the integration of spatial audio. Contextually, ODVs have transformed user experience by adding a spatial audio dimension that aligns sound direction with the viewer's perspective in spherical scenes. Motivated by the lack of comprehensive datasets for 360-degree audio-visual saliency prediction, our study curates YT360-EyeTracking, a new dataset of 81 ODVs, each observed under varying audio-visual conditions. Our goal is to explore how to utilize audio-visual cues to effectively predict visual saliency in 360-degree videos. Towards this aim, we propose two novel saliency prediction models: SalViT360, a vision-transformer-based framework for ODVs equipped with spherical geometry-aware spatio-temporal attention layers, and SalViT360-AV, which further incorporates transformer adapters conditioned on audio input. Our results on a number of benchmark datasets, including our YT360-EyeTracking, demonstrate that SalViT360 and SalViT360-AV significantly outperform existing methods in predicting viewer attention in 360-degree scenes. Interpreting these results, we suggest that integrating spatial audio cues in the model architecture is crucial for accurate saliency prediction in omnidirectional videos. Code and dataset will be available at https://cyberiada.github.io/SalViT360.

Egocentric gaze anticipation serves as a key building block for the emerging capability of Augmented Reality. Notably, gaze behavior is driven by both visual cues and audio signals during daily activities. Motivated by this observation, we introduce the first model that leverages both the video and audio modalities for egocentric gaze anticipation. Specifically, we propose a Contrastive Spatial-Temporal Separable (CSTS) fusion approach that adopts two modules to separately capture audio-visual correlations in spatial and temporal dimensions, and applies a contrastive loss on the re-weighted audio-visual features from fusion modules for representation learning. We conduct extensive ablation studies and thorough analysis using two egocentric video datasets: Ego4D and Aria, to validate our model design. We demonstrate the audio improves the performance by +2.5% and +2.4% on the two datasets. Our model also outperforms the prior state-of-the-art methods by at least +1.9% and +1.6%. Moreover, we provide visualizations to show the gaze anticipation results and provide additional insights into audio-visual representation learning. The code and data split are available on our website (https://bolinlai.github.io/CSTS-EgoGazeAnticipation/).

Current controls over diffusion models (e.g., through text or ControlNet) for image generation fall short in recognizing abstract, continuous attributes like illumination direction or non-rigid shape change. In this paper, we present an approach for allowing users of text-to-image models to have fine-grained control of several attributes in an image. We do this by engineering special sets of input tokens that can be transformed in a continuous manner -- we call them Continuous 3D Words. These attributes can, for example, be represented as sliders and applied jointly with text prompts for fine-grained control over image generation. Given only a single mesh and a rendering engine, we show that our approach can be adopted to provide continuous user control over several 3D-aware attributes, including time-of-day illumination, bird wing orientation, dollyzoom effect, and object poses. Our method is capable of conditioning image creation with multiple Continuous 3D Words and text descriptions simultaneously while adding no overhead to the generative process. Project Page: https://ttchengab.github.io/continuous_3d_words

We propose MVDream, a multi-view diffusion model that is able to generate geometrically consistent multi-view images from a given text prompt. By leveraging image diffusion models pre-trained on large-scale web datasets and a multi-view dataset rendered from 3D assets, the resulting multi-view diffusion model can achieve both the generalizability of 2D diffusion and the consistency of 3D data. Such a model can thus be applied as a multi-view prior for 3D generation via Score Distillation Sampling, where it greatly improves the stability of existing 2D-lifting methods by solving the 3D consistency problem. Finally, we show that the multi-view diffusion model can also be fine-tuned under a few shot setting for personalized 3D generation, i.e. DreamBooth3D application, where the consistency can be maintained after learning the subject identity.

Generating high-quality 360-degree views of human heads from single-view images is essential for enabling accessible immersive telepresence applications and scalable personalized content creation. While cutting-edge methods for full head generation are limited to modeling realistic human heads, the latest diffusion-based approaches for style-omniscient head synthesis can produce only frontal views and struggle with view consistency, preventing their conversion into true 3D models for rendering from arbitrary angles. We introduce a novel approach that generates fully consistent 360-degree head views, accommodating human, stylized, and anthropomorphic forms, including accessories like glasses and hats. Our method builds on the DiffPortrait3D framework, incorporating a custom ControlNet for back-of-head detail generation and a dual appearance module to ensure global front-back consistency. By training on continuous view sequences and integrating a back reference image, our approach achieves robust, locally continuous view synthesis. Our model can be used to produce high-quality neural radiance fields (NeRFs) for real-time, free-viewpoint rendering, outperforming state-of-the-art methods in object synthesis and 360-degree head generation for very challenging input portraits.

In recent times, automatic text-to-3D content creation has made significant progress, driven by the development of pretrained 2D diffusion models. Existing text-to-3D methods typically optimize the 3D representation to ensure that the rendered image aligns well with the given text, as evaluated by the pretrained 2D diffusion model. Nevertheless, a substantial domain gap exists between 2D images and 3D assets, primarily attributed to variations in camera-related attributes and the exclusive presence of foreground objects. Consequently, employing 2D diffusion models directly for optimizing 3D representations may lead to suboptimal outcomes. To address this issue, we present X-Dreamer, a novel approach for high-quality text-to-3D content creation that effectively bridges the gap between text-to-2D and text-to-3D synthesis. The key components of X-Dreamer are two innovative designs: Camera-Guided Low-Rank Adaptation (CG-LoRA) and Attention-Mask Alignment (AMA) Loss. CG-LoRA dynamically incorporates camera information into the pretrained diffusion models by employing camera-dependent generation for trainable parameters. This integration enhances the alignment between the generated 3D assets and the camera's perspective. AMA loss guides the attention map of the pretrained diffusion model using the binary mask of the 3D object, prioritizing the creation of the foreground object. This module ensures that the model focuses on generating accurate and detailed foreground objects. Extensive evaluations demonstrate the effectiveness of our proposed method compared to existing text-to-3D approaches. Our project webpage: https://xmuxiaoma666.github.io/Projects/X-Dreamer .

Recent advancements in 3D generation have leveraged synthetic datasets with ground truth 3D assets and predefined cameras. However, the potential of adopting real-world datasets, which can produce significantly more realistic 3D scenes, remains largely unexplored. In this work, we delve into the key challenge of the complex and scene-specific camera trajectories found in real-world captures. We introduce Director3D, a robust open-world text-to-3D generation framework, designed to generate both real-world 3D scenes and adaptive camera trajectories. To achieve this, (1) we first utilize a Trajectory Diffusion Transformer, acting as the Cinematographer, to model the distribution of camera trajectories based on textual descriptions. (2) Next, a Gaussian-driven Multi-view Latent Diffusion Model serves as the Decorator, modeling the image sequence distribution given the camera trajectories and texts. This model, fine-tuned from a 2D diffusion model, directly generates pixel-aligned 3D Gaussians as an immediate 3D scene representation for consistent denoising. (3) Lastly, the 3D Gaussians are refined by a novel SDS++ loss as the Detailer, which incorporates the prior of the 2D diffusion model. Extensive experiments demonstrate that Director3D outperforms existing methods, offering superior performance in real-world 3D generation.

In this letter, we propose a new method, Multi-Clue Gaze (MCGaze), to facilitate video gaze estimation via capturing spatial-temporal interaction context among head, face, and eye in an end-to-end learning way, which has not been well concerned yet. The main advantage of MCGaze is that the tasks of clue localization of head, face, and eye can be solved jointly for gaze estimation in a one-step way, with joint optimization to seek optimal performance. During this, spatial-temporal context exchange happens among the clues on the head, face, and eye. Accordingly, the final gazes obtained by fusing features from various queries can be aware of global clues from heads and faces, and local clues from eyes simultaneously, which essentially leverages performance. Meanwhile, the one-step running way also ensures high running efficiency. Experiments on the challenging Gaze360 dataset verify the superiority of our proposition. The source code will be released at https://github.com/zgchen33/MCGaze.

Generating dense multiview images from text prompts is crucial for creating high-fidelity 3D assets. Nevertheless, existing methods struggle with space-view correspondences, resulting in sparse and low-quality outputs. In this paper, we introduce CoSER, a novel consistent dense Multiview Text-to-Image Generator for Text-to-3D, achieving both efficiency and quality by meticulously learning neighbor-view coherence and further alleviating ambiguity through the swift traversal of all views. For achieving neighbor-view consistency, each viewpoint densely interacts with adjacent viewpoints to perceive the global spatial structure, and aggregates information along motion paths explicitly defined by physical principles to refine details. To further enhance cross-view consistency and alleviate content drift, CoSER rapidly scan all views in spiral bidirectional manner to aware holistic information and then scores each point based on semantic material. Subsequently, we conduct weighted down-sampling along the spatial dimension based on scores, thereby facilitating prominent information fusion across all views with lightweight computation. Technically, the core module is built by integrating the attention mechanism with a selective state space model, exploiting the robust learning capabilities of the former and the low overhead of the latter. Extensive evaluation shows that CoSER is capable of producing dense, high-fidelity, content-consistent multiview images that can be flexibly integrated into various 3D generation models.

Understanding 3D scenes from multi-view inputs has been proven to alleviate the view discrepancy issue in 3D visual grounding. However, existing methods normally neglect the view cues embedded in the text modality and fail to weigh the relative importance of different views. In this paper, we propose ViewRefer, a multi-view framework for 3D visual grounding exploring how to grasp the view knowledge from both text and 3D modalities. For the text branch, ViewRefer leverages the diverse linguistic knowledge of large-scale language models, e.g., GPT, to expand a single grounding text to multiple geometry-consistent descriptions. Meanwhile, in the 3D modality, a transformer fusion module with inter-view attention is introduced to boost the interaction of objects across views. On top of that, we further present a set of learnable multi-view prototypes, which memorize scene-agnostic knowledge for different views, and enhance the framework from two perspectives: a view-guided attention module for more robust text features, and a view-guided scoring strategy during the final prediction. With our designed paradigm, ViewRefer achieves superior performance on three benchmarks and surpasses the second-best by +2.8%, +1.5%, and +1.35% on Sr3D, Nr3D, and ScanRefer.

Recent advances in text-to-3D generation have been remarkable, with methods such as DreamFusion leveraging large-scale text-to-image diffusion-based models to supervise 3D generation. These methods, including the variational score distillation proposed by ProlificDreamer, enable the synthesis of detailed and photorealistic textured meshes. However, the appearance of 3D objects generated by these methods is often random and uncontrollable, posing a challenge in achieving appearance-controllable 3D objects. To address this challenge, we introduce IPDreamer, a novel approach that incorporates image prompts to provide specific and comprehensive appearance information for 3D object generation. Our results demonstrate that IPDreamer effectively generates high-quality 3D objects that are consistent with both the provided text and image prompts, demonstrating its promising capability in appearance-controllable 3D object generation.

We introduce a highly performant 3D object detector for point clouds using the DETR framework. The prior attempts all end up with suboptimal results because they fail to learn accurate inductive biases from the limited scale of training data. In particular, the queries often attend to points that are far away from the target objects, violating the locality principle in object detection. To address the limitation, we introduce a novel 3D Vertex Relative Position Encoding (3DV-RPE) method which computes position encoding for each point based on its relative position to the 3D boxes predicted by the queries in each decoder layer, thus providing clear information to guide the model to focus on points near the objects, in accordance with the principle of locality. In addition, we systematically improve the pipeline from various aspects such as data normalization based on our understanding of the task. We show exceptional results on the challenging ScanNetV2 benchmark, achieving significant improvements over the previous 3DETR in AP_{25}/AP_{50} from 65.0\%/47.0\% to 77.8\%/66.0\%, respectively. In addition, our method sets a new record on ScanNetV2 and SUN RGB-D datasets.Code will be released at http://github.com/yichaoshen-MS/V-DETR.

Feed-forward 3D modeling has emerged as a promising approach for rapid and high-quality 3D reconstruction. In particular, directly generating explicit 3D representations, such as 3D Gaussian splatting, has attracted significant attention due to its fast and high-quality rendering, as well as numerous applications. However, many state-of-the-art methods, primarily based on transformer architectures, suffer from severe scalability issues because they rely on full attention across image tokens from multiple input views, resulting in prohibitive computational costs as the number of views or image resolution increases. Toward a scalable and efficient feed-forward 3D reconstruction, we introduce an iterative Large 3D Reconstruction Model (iLRM) that generates 3D Gaussian representations through an iterative refinement mechanism, guided by three core principles: (1) decoupling the scene representation from input-view images to enable compact 3D representations; (2) decomposing fully-attentional multi-view interactions into a two-stage attention scheme to reduce computational costs; and (3) injecting high-resolution information at every layer to achieve high-fidelity reconstruction. Experimental results on widely used datasets, such as RE10K and DL3DV, demonstrate that iLRM outperforms existing methods in both reconstruction quality and speed. Notably, iLRM exhibits superior scalability, delivering significantly higher reconstruction quality under comparable computational cost by efficiently leveraging a larger number of input views.

Single-image 3D reconstruction remains a fundamental challenge in computer vision due to inherent geometric ambiguities and limited viewpoint information. Recent advances in Latent Video Diffusion Models (LVDMs) offer promising 3D priors learned from large-scale video data. However, leveraging these priors effectively faces three key challenges: (1) degradation in quality across large camera motions, (2) difficulties in achieving precise camera control, and (3) geometric distortions inherent to the diffusion process that damage 3D consistency. We address these challenges by proposing LiftImage3D, a framework that effectively releases LVDMs' generative priors while ensuring 3D consistency. Specifically, we design an articulated trajectory strategy to generate video frames, which decomposes video sequences with large camera motions into ones with controllable small motions. Then we use robust neural matching models, i.e. MASt3R, to calibrate the camera poses of generated frames and produce corresponding point clouds. Finally, we propose a distortion-aware 3D Gaussian splatting representation, which can learn independent distortions between frames and output undistorted canonical Gaussians. Extensive experiments demonstrate that LiftImage3D achieves state-of-the-art performance on two challenging datasets, i.e. LLFF, DL3DV, and Tanks and Temples, and generalizes well to diverse in-the-wild images, from cartoon illustrations to complex real-world scenes.

Text-to-3D generation, which aims to synthesize vivid 3D objects from text prompts, has attracted much attention from the computer vision community. While several existing works have achieved impressive results for this task, they mainly rely on a time-consuming optimization paradigm. Specifically, these methods optimize a neural field from scratch for each text prompt, taking approximately one hour or more to generate one object. This heavy and repetitive training cost impedes their practical deployment. In this paper, we propose a novel framework for fast text-to-3D generation, dubbed Instant3D. Once trained, Instant3D is able to create a 3D object for an unseen text prompt in less than one second with a single run of a feedforward network. We achieve this remarkable speed by devising a new network that directly constructs a 3D triplane from a text prompt. The core innovation of our Instant3D lies in our exploration of strategies to effectively inject text conditions into the network. Furthermore, we propose a simple yet effective activation function, the scaled-sigmoid, to replace the original sigmoid function, which speeds up the training convergence by more than ten times. Finally, to address the Janus (multi-head) problem in 3D generation, we propose an adaptive Perp-Neg algorithm that can dynamically adjust its concept negation scales according to the severity of the Janus problem during training, effectively reducing the multi-head effect. Extensive experiments on a wide variety of benchmark datasets demonstrate that the proposed algorithm performs favorably against the state-of-the-art methods both qualitatively and quantitatively, while achieving significantly better efficiency. The project page is at https://ming1993li.github.io/Instant3DProj.

Designing an efficient yet deployment-friendly 3D backbone to handle sparse point clouds is a fundamental problem in 3D perception. Compared with the customized sparse convolution, the attention mechanism in Transformers is more appropriate for flexibly modeling long-range relationships and is easier to be deployed in real-world applications. However, due to the sparse characteristics of point clouds, it is non-trivial to apply a standard transformer on sparse points. In this paper, we present Dynamic Sparse Voxel Transformer (DSVT), a single-stride window-based voxel Transformer backbone for outdoor 3D perception. In order to efficiently process sparse points in parallel, we propose Dynamic Sparse Window Attention, which partitions a series of local regions in each window according to its sparsity and then computes the features of all regions in a fully parallel manner. To allow the cross-set connection, we design a rotated set partitioning strategy that alternates between two partitioning configurations in consecutive self-attention layers. To support effective downsampling and better encode geometric information, we also propose an attention-style 3D pooling module on sparse points, which is powerful and deployment-friendly without utilizing any customized CUDA operations. Our model achieves state-of-the-art performance with a broad range of 3D perception tasks. More importantly, DSVT can be easily deployed by TensorRT with real-time inference speed (27Hz). Code will be available at https://github.com/Haiyang-W/DSVT.

Contextual cues related to a person's pose and interactions with objects and other people in the scene can provide valuable information for gaze following. While existing methods have focused on dedicated cue extraction methods, in this work we investigate the zero-shot capabilities of Vision-Language Models (VLMs) for extracting a wide array of contextual cues to improve gaze following performance. We first evaluate various VLMs, prompting strategies, and in-context learning (ICL) techniques for zero-shot cue recognition performance. We then use these insights to extract contextual cues for gaze following, and investigate their impact when incorporated into a state of the art model for the task. Our analysis indicates that BLIP-2 is the overall top performing VLM and that ICL can improve performance. We also observe that VLMs are sensitive to the choice of the text prompt although ensembling over multiple text prompts can provide more robust performance. Additionally, we discover that using the entire image along with an ellipse drawn around the target person is the most effective strategy for visual prompting. For gaze following, incorporating the extracted cues results in better generalization performance, especially when considering a larger set of cues, highlighting the potential of this approach.

We introduce RealmDreamer, a technique for generation of general forward-facing 3D scenes from text descriptions. Our technique optimizes a 3D Gaussian Splatting representation to match complex text prompts. We initialize these splats by utilizing the state-of-the-art text-to-image generators, lifting their samples into 3D, and computing the occlusion volume. We then optimize this representation across multiple views as a 3D inpainting task with image-conditional diffusion models. To learn correct geometric structure, we incorporate a depth diffusion model by conditioning on the samples from the inpainting model, giving rich geometric structure. Finally, we finetune the model using sharpened samples from image generators. Notably, our technique does not require video or multi-view data and can synthesize a variety of high-quality 3D scenes in different styles, consisting of multiple objects. Its generality additionally allows 3D synthesis from a single image.

We have witnessed significant progress in deep learning-based 3D vision, ranging from neural radiance field (NeRF) based 3D representation learning to applications in novel view synthesis (NVS). However, existing scene-level datasets for deep learning-based 3D vision, limited to either synthetic environments or a narrow selection of real-world scenes, are quite insufficient. This insufficiency not only hinders a comprehensive benchmark of existing methods but also caps what could be explored in deep learning-based 3D analysis. To address this critical gap, we present DL3DV-10K, a large-scale scene dataset, featuring 51.2 million frames from 10,510 videos captured from 65 types of point-of-interest (POI) locations, covering both bounded and unbounded scenes, with different levels of reflection, transparency, and lighting. We conducted a comprehensive benchmark of recent NVS methods on DL3DV-10K, which revealed valuable insights for future research in NVS. In addition, we have obtained encouraging results in a pilot study to learn generalizable NeRF from DL3DV-10K, which manifests the necessity of a large-scale scene-level dataset to forge a path toward a foundation model for learning 3D representation. Our DL3DV-10K dataset, benchmark results, and models will be publicly accessible at https://dl3dv-10k.github.io/DL3DV-10K/.

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of geometry-conscious features from RGB images. Recent approaches have utilized geometric-aware image backbones pretrained on depth-relevant tasks to acquire spatial information. However, these approaches overlook the critical aspect of view transformation, resulting in inadequate performance due to the misalignment of spatial knowledge between the image backbone and view transformation. To address this issue, we propose a novel geometric-aware pretraining framework called GAPretrain. Our approach incorporates spatial and structural cues to camera networks by employing the geometric-rich modality as guidance during the pretraining phase. The transference of modal-specific attributes across different modalities is non-trivial, but we bridge this gap by using a unified bird's-eye-view (BEV) representation and structural hints derived from LiDAR point clouds to facilitate the pretraining process. GAPretrain serves as a plug-and-play solution that can be flexibly applied to multiple state-of-the-art detectors. Our experiments demonstrate the effectiveness and generalization ability of the proposed method. We achieve 46.2 mAP and 55.5 NDS on the nuScenes val set using the BEVFormer method, with a gain of 2.7 and 2.1 points, respectively. We also conduct experiments on various image backbones and view transformations to validate the efficacy of our approach. Code will be released at https://github.com/OpenDriveLab/BEVPerception-Survey-Recipe.

Head avatar reconstruction, crucial for applications in virtual reality, online meetings, gaming, and film industries, has garnered substantial attention within the computer vision community. The fundamental objective of this field is to faithfully recreate the head avatar and precisely control expressions and postures. Existing methods, categorized into 2D-based warping, mesh-based, and neural rendering approaches, present challenges in maintaining multi-view consistency, incorporating non-facial information, and generalizing to new identities. In this paper, we propose a framework named GPAvatar that reconstructs 3D head avatars from one or several images in a single forward pass. The key idea of this work is to introduce a dynamic point-based expression field driven by a point cloud to precisely and effectively capture expressions. Furthermore, we use a Multi Tri-planes Attention (MTA) fusion module in the tri-planes canonical field to leverage information from multiple input images. The proposed method achieves faithful identity reconstruction, precise expression control, and multi-view consistency, demonstrating promising results for free-viewpoint rendering and novel view synthesis.

Virtual reality and augmented reality (XR) bring increasing demand for 3D content. However, creating high-quality 3D content requires tedious work that a human expert must do. In this work, we study the challenging task of lifting a single image to a 3D object and, for the first time, demonstrate the ability to generate a plausible 3D object with 360{\deg} views that correspond well with the given reference image. By conditioning on the reference image, our model can fulfill the everlasting curiosity for synthesizing novel views of objects from images. Our technique sheds light on a promising direction of easing the workflows for 3D artists and XR designers. We propose a novel framework, dubbed NeuralLift-360, that utilizes a depth-aware neural radiance representation (NeRF) and learns to craft the scene guided by denoising diffusion models. By introducing a ranking loss, our NeuralLift-360 can be guided with rough depth estimation in the wild. We also adopt a CLIP-guided sampling strategy for the diffusion prior to provide coherent guidance. Extensive experiments demonstrate that our NeuralLift-360 significantly outperforms existing state-of-the-art baselines. Project page: https://vita-group.github.io/NeuralLift-360/

State-of-the-art models on contemporary 3D perception benchmarks like ScanNet consume and label dataset-provided 3D point clouds, obtained through post processing of sensed multiview RGB-D images. They are typically trained in-domain, forego large-scale 2D pre-training and outperform alternatives that featurize the posed RGB-D multiview images instead. The gap in performance between methods that consume posed images versus post-processed 3D point clouds has fueled the belief that 2D and 3D perception require distinct model architectures. In this paper, we challenge this view and propose ODIN (Omni-Dimensional INstance segmentation), a model that can segment and label both 2D RGB images and 3D point clouds, using a transformer architecture that alternates between 2D within-view and 3D cross-view information fusion. Our model differentiates 2D and 3D feature operations through the positional encodings of the tokens involved, which capture pixel coordinates for 2D patch tokens and 3D coordinates for 3D feature tokens. ODIN achieves state-of-the-art performance on ScanNet200, Matterport3D and AI2THOR 3D instance segmentation benchmarks, and competitive performance on ScanNet, S3DIS and COCO. It outperforms all previous works by a wide margin when the sensed 3D point cloud is used in place of the point cloud sampled from 3D mesh. When used as the 3D perception engine in an instructable embodied agent architecture, it sets a new state-of-the-art on the TEACh action-from-dialogue benchmark. Our code and checkpoints can be found at the project website: https://odin-seg.github.io.

Reconstructing 3D objects from a single image is an intriguing but challenging problem. One promising solution is to utilize multi-view (MV) 3D reconstruction to fuse generated MV images into consistent 3D objects. However, the generated images usually suffer from inconsistent lighting, misaligned geometry, and sparse views, leading to poor reconstruction quality. To cope with these problems, we present a novel 3D reconstruction framework that leverages intrinsic decomposition guidance, transient-mono prior guidance, and view augmentation to cope with the three issues, respectively. Specifically, we first leverage to decouple the shading information from the generated images to reduce the impact of inconsistent lighting; then, we introduce mono prior with view-dependent transient encoding to enhance the reconstructed normal; and finally, we design a view augmentation fusion strategy that minimizes pixel-level loss in generated sparse views and semantic loss in augmented random views, resulting in view-consistent geometry and detailed textures. Our approach, therefore, enables the integration of a pre-trained MV image generator and a neural network-based volumetric signed distance function (SDF) representation for a single image to 3D object reconstruction. We evaluate our framework on various datasets and demonstrate its superior performance in both quantitative and qualitative assessments, signifying a significant advancement in 3D object reconstruction. Compared with the latest state-of-the-art method Syncdreamer~liu2023syncdreamer, we reduce the Chamfer Distance error by about 36\% and improve PSNR by about 30\% .

Witnessing the evolution of text-to-image diffusion models, significant strides have been made in text-to-3D generation. Currently, two primary paradigms dominate the field of text-to-3D: the feed-forward generation solutions, capable of swiftly producing 3D assets but often yielding coarse results, and the Score Distillation Sampling (SDS) based solutions, known for generating high-fidelity 3D assets albeit at a slower pace. The synergistic integration of these methods holds substantial promise for advancing 3D generation techniques. In this paper, we present BoostDream, a highly efficient plug-and-play 3D refining method designed to transform coarse 3D assets into high-quality. The BoostDream framework comprises three distinct processes: (1) We introduce 3D model distillation that fits differentiable representations from the 3D assets obtained through feed-forward generation. (2) A novel multi-view SDS loss is designed, which utilizes a multi-view aware 2D diffusion model to refine the 3D assets. (3) We propose to use prompt and multi-view consistent normal maps as guidance in refinement.Our extensive experiment is conducted on different differentiable 3D representations, revealing that BoostDream excels in generating high-quality 3D assets rapidly, overcoming the Janus problem compared to conventional SDS-based methods. This breakthrough signifies a substantial advancement in both the efficiency and quality of 3D generation processes.

Transformers have emerged as a universal backbone across 3D perception, video generation, and world models for autonomous driving and embodied AI, where understanding camera geometry is essential for grounding visual observations in three-dimensional space. However, existing camera encoding methods often rely on simplified pinhole assumptions, restricting generalization across the diverse intrinsics and lens distortions in real-world cameras. We introduce Relative Ray Encoding, a geometry-consistent representation that unifies complete camera information, including 6-DoF poses, intrinsics, and lens distortions. To evaluate its capability under diverse controllability demands, we adopt camera-controlled text-to-video generation as a testbed task. Within this setting, we further identify pitch and roll as two components effective for Absolute Orientation Encoding, enabling full control over the initial camera orientation. Together, these designs form UCPE (Unified Camera Positional Encoding), which integrates into a pretrained video Diffusion Transformer through a lightweight spatial attention adapter, adding less than 1% trainable parameters while achieving state-of-the-art camera controllability and visual fidelity. To facilitate systematic training and evaluation, we construct a large video dataset covering a wide range of camera motions and lens types. Extensive experiments validate the effectiveness of UCPE in camera-controllable video generation and highlight its potential as a general camera representation for Transformers across future multi-view, video, and 3D tasks. Code will be available at https://github.com/chengzhag/UCPE.

Recent works learn 3D representation explicitly under text-3D guidance. However, limited text-3D data restricts the vocabulary scale and text control of generations. Generators may easily fall into a stereotype concept for certain text prompts, thus losing open-vocabulary generation ability. To tackle this issue, we introduce a conditional 3D generative model, namely TextField3D. Specifically, rather than using the text prompts as input directly, we suggest to inject dynamic noise into the latent space of given text prompts, i.e., Noisy Text Fields (NTFs). In this way, limited 3D data can be mapped to the appropriate range of textual latent space that is expanded by NTFs. To this end, an NTFGen module is proposed to model general text latent code in noisy fields. Meanwhile, an NTFBind module is proposed to align view-invariant image latent code to noisy fields, further supporting image-conditional 3D generation. To guide the conditional generation in both geometry and texture, multi-modal discrimination is constructed with a text-3D discriminator and a text-2.5D discriminator. Compared to previous methods, TextField3D includes three merits: 1) large vocabulary, 2) text consistency, and 3) low latency. Extensive experiments demonstrate that our method achieves a potential open-vocabulary 3D generation capability.

Recent advances in generalizable 3D Gaussian Splatting have demonstrated promising results in real-time high-fidelity rendering without per-scene optimization, yet existing approaches still struggle to handle unfamiliar visual content during inference on novel scenes due to limited generalizability. To address this challenge, we introduce MonoSplat, a novel framework that leverages rich visual priors from pre-trained monocular depth foundation models for robust Gaussian reconstruction. Our approach consists of two key components: a Mono-Multi Feature Adapter that transforms monocular features into multi-view representations, coupled with an Integrated Gaussian Prediction module that effectively fuses both feature types for precise Gaussian generation. Through the Adapter's lightweight attention mechanism, features are seamlessly aligned and aggregated across views while preserving valuable monocular priors, enabling the Prediction module to generate Gaussian primitives with accurate geometry and appearance. Through extensive experiments on diverse real-world datasets, we convincingly demonstrate that MonoSplat achieves superior reconstruction quality and generalization capability compared to existing methods while maintaining computational efficiency with minimal trainable parameters. Codes are available at https://github.com/CUHK-AIM-Group/MonoSplat.

Very recently, a variety of vision transformer architectures for dense prediction tasks have been proposed and they show that the design of spatial attention is critical to their success in these tasks. In this work, we revisit the design of the spatial attention and demonstrate that a carefully-devised yet simple spatial attention mechanism performs favourably against the state-of-the-art schemes. As a result, we propose two vision transformer architectures, namely, Twins-PCPVT and Twins-SVT. Our proposed architectures are highly-efficient and easy to implement, only involving matrix multiplications that are highly optimized in modern deep learning frameworks. More importantly, the proposed architectures achieve excellent performance on a wide range of visual tasks, including image level classification as well as dense detection and segmentation. The simplicity and strong performance suggest that our proposed architectures may serve as stronger backbones for many vision tasks. Our code is released at https://github.com/Meituan-AutoML/Twins .

In contrast to numerous NLP and 2D vision foundational models, learning a 3D foundational model poses considerably greater challenges. This is primarily due to the inherent data variability and diversity of downstream tasks. In this paper, we introduce a novel universal 3D pre-training framework designed to facilitate the acquisition of efficient 3D representation, thereby establishing a pathway to 3D foundational models. Considering that informative 3D features should encode rich geometry and appearance cues that can be utilized to render realistic images, we propose to learn 3D representations by differentiable neural rendering. We train a 3D backbone with a devised volumetric neural renderer by comparing the rendered with the real images. Notably, our approach seamlessly integrates the learned 3D encoder into various downstream tasks. These tasks encompass not only high-level challenges such as 3D detection and segmentation but also low-level objectives like 3D reconstruction and image synthesis, spanning both indoor and outdoor scenarios. Besides, we also illustrate the capability of pre-training a 2D backbone using the proposed methodology, surpassing conventional pre-training methods by a large margin. For the first time, PonderV2 achieves state-of-the-art performance on 11 indoor and outdoor benchmarks, implying its effectiveness. Code and models are available at https://github.com/OpenGVLab/PonderV2.

3D content creation from a single image is a long-standing yet highly desirable task. Recent advances introduce 2D diffusion priors, yielding reasonable results. However, existing methods are not hyper-realistic enough for post-generation usage, as users cannot view, render and edit the resulting 3D content from a full range. To address these challenges, we introduce HyperDreamer with several key designs and appealing properties: 1) Viewable: 360 degree mesh modeling with high-resolution textures enables the creation of visually compelling 3D models from a full range of observation points. 2) Renderable: Fine-grained semantic segmentation and data-driven priors are incorporated as guidance to learn reasonable albedo, roughness, and specular properties of the materials, enabling semantic-aware arbitrary material estimation. 3) Editable: For a generated model or their own data, users can interactively select any region via a few clicks and efficiently edit the texture with text-based guidance. Extensive experiments demonstrate the effectiveness of HyperDreamer in modeling region-aware materials with high-resolution textures and enabling user-friendly editing. We believe that HyperDreamer holds promise for advancing 3D content creation and finding applications in various domains.

Predicting human gaze scanpaths is crucial for understanding visual attention, with applications in human-computer interaction, autonomous systems, and cognitive robotics. While deep learning models have advanced scanpath prediction, most existing approaches generate averaged behaviors, failing to capture the variability of human visual exploration. In this work, we present ScanDiff, a novel architecture that combines diffusion models with Vision Transformers to generate diverse and realistic scanpaths. Our method explicitly models scanpath variability by leveraging the stochastic nature of diffusion models, producing a wide range of plausible gaze trajectories. Additionally, we introduce textual conditioning to enable task-driven scanpath generation, allowing the model to adapt to different visual search objectives. Experiments on benchmark datasets show that ScanDiff surpasses state-of-the-art methods in both free-viewing and task-driven scenarios, producing more diverse and accurate scanpaths. These results highlight its ability to better capture the complexity of human visual behavior, pushing forward gaze prediction research. Source code and models are publicly available at https://aimagelab.github.io/ScanDiff.