Zero-shot object navigation tasks agents with locating target objects in unseen environments—a core capability of embodied intelligence. While recent vision-language navigation methods leverage Large Language Models (LLMs) for multimodal reasoning, they suffer from two key limitations: (1) semantic misalignment between language-grounded maps and real-world layouts, and (2) inefficiency due to LLMs’ lack of specialization for navigation-specific tasks. To address these challenges, we propose Chain-of-Search (CoS), a novel parameter-efficient framework that enables human-like decision-making via iterative semantic reasoning. First, CoS replaces traditional global maps with an optimal-benefit multi-map construction that continuously balances expected gain and cost throughout the navigation process. Second, we introduce a Parameter-Efficient Intent Aligner (PEIA), trained via a prompt-guided paradigm to align directional decisions with navigation intent. PEIA injects semantic cues into benefit-aware maps, enabling more rational and goal-consistent exploration. Finally, a Reflection-Guided Destination Verifier (RDV) confirms whether the target is reached via language-driven reasoning and corrects potential errors through self-reflection. CoS achieves state-of-the-art performance on HM3D (+2.8% SR) and MP3D (+1.2% SR) without relying on LLMs, demonstrating the effectiveness of lightweight, reasoning-centered navigation.

Augmented Reality (AR) navigation has emerged as a transformative tool for spatial intelligence, enabling users to interactively explore complex environments through wearable and mobile AR devices. However, current AR navigation systems struggle with low indoor localization accuracy, weak semantic understanding, and limited long-term memory, which severely limits their adaptability in dynamic, multi-floor, and large-scale real-world settings. To address these challenges, we present AR-Nav benchmark, a novel dataset with corresponding suite that leverages vision and language for AR navigation. First, to construct this benchmark, we proposed an Augmented Reality Visual-Language Memory Model (AR‑VLM²), which generates structured, semantically rich, and temporally indexed representations for long-term AR navigation. Second, we design a lightweight navigation intent recommending module with hierarchical topological reasoning and language-grounded path planning, called ARN‑Pilot, enabling low-latency and personalized route selection. Third, we introduce a closed-loop AR interaction module that supports real-time multi-modal feedback, dynamic memory updates, and human-in-the-loop query refinement. Extensive experiments in indoor multi-floor and outdoor parking scenarios show that AR-Nav suite significantly outperforms state-of-the-art AR navigation methods.

Drones have become essential tools for reconstructing wild scenes due to their outstanding maneuverability. Recent advances in radiance field methods have achieved remarkable rendering quality, providing a new avenue for 3D reconstruction from drone imagery. However, dynamic distractors in wild environments challenge the static scene assumption in radiance fields, while limited view constraints hinder the accurate capture of underlying scene geometry. To address these challenges, we introduce DroneSplat, a novel framework designed for robust 3D reconstruction from in-the-wild drone imagery. Our method adaptively adjusts masking thresholds by integrating local-global segmentation heuristics with statistical approaches, enabling precise identification and elimination of dynamic distractors in static scenes. We enhance 3D Gaussian Splatting with multi-view stereo predictions and a voxel-guided optimization strategy, supporting high-quality rendering under limited view constraints. For comprehensive evaluation, we provide a drone-captured 3D reconstruction dataset encompassing both dynamic and static scenes. Extensive experiments demonstrate that DroneSplat outperforms both 3DGS and NeRF baselines in handling in-the-wild drone imagery. Project page: https://bityia.github.io/DroneSplat/.

Dense video captioning is crucial for enhancing video understanding in daily applications and presents a significant challenge in multimodal analysis. Existing methods often overlook video-to-dynamic-space mapping at varying scales, resulting in captions that lack specificity and remain overly general, failing to capture real-world physical detail. To address this limitation, we propose a multi-granularity Spatio-Temporal Reasoning (STaR) approach, which integrates: (i) efficient global feature integration to model long-term temporal dependencies, (ii) spatial attention mechanisms with position encoding to capture absolute spatial information, and (iii) cross-modal feature fusion to align and unify global, local, and spatial representations. Moreover, we enhance the framework using a Large Language Model (LLM) to improve the richness and naturalness of the generated descriptions. Comparative experiments have been conducted to evaluate the effectiveness of the proposed method on SoccerNet dataset. Experimental results demonstrate that our model effectively enhances localization accuracy and generates captions with superior temporal and spatial detail fidelity. The code is available at https://github.com/bread-555/STaR.

The computational power required for training deep learning models has been skyrocketing in the past decade as they scale with big data, and has become a very expensive and scarce resource. Therefore, distributed training, which can leverage distributed available computational power, is vital for efficient large-scale model training. However, most previous distributed training frameworks like DDP and DeepSpeed are primarily designed for co-located clusters under homogeneous computing and communication conditions, and hence cannot account for geo-distributed clusters with both computing and communication heterogeneity. To address this challenge, we develop a new data parallel based distributed training framework called Co-Adaptive Data Parallelism (C-ADP). First, we consider a data owner and parameter server that distributes data to and coordinates the collaborative learning across all the computing devices. We employ local training and delayed parameter synchronization to reduce communication costs. Second, we formulate a data parallel scheduling optimization problem to minimize the training time by optimizing data distribution. Third, we devise an efficient algorithm to solve this scheduling problem, and formally prove that the obtained solution is optimal in the asymptotic sense. Experiments on the ImageNet100 dataset demonstrate that C-ADP achieves fast convergence in heterogeneous distributed training environments. Compared to Distributed Data Parallel (DDP) and DeepSpeed, C-ADP achieves 21.6 times and 26.3 times improvements in FLOPS, respectively, and a reduction in training time of about 72% and 47%, respectively.

Facial image steganography is crucial for privacy-preserving media transmission. Traditional embedding methods degrade image quality and are vulnerable to steganalysis, while GAN-based non-embedding approaches lack controllability and realism. Diffusion-based methods using textual prompts face two key issues: (1) security risks from interpretable prompts and (2) poor preservation of facial details. This paper presents Featurized Denoising Diffusion Implicit Models (F-DDIM), a novel non-embedding steganography framework. First, F-DDIM replaces explicit textual prompts with implicit image-based encoding, enhancing security. Second, it selectively refines facial regions for natural and high-quality recovery through iterative reconstruction. Third, it enables indistinguishable encryption without secret key sharing via a novel sub-code embedding algorithm. Fourth, a refinement step post-decoding improves the clarity and accuracy of recovered facial image details. Experimental results demonstrate that F-DDIM achieves superior image fidelity and robustness against transmission interference.

Fine-tuning large vision-language models is a challenging task. Prompt tuning approaches have been introduced to learn fixed textual or visual prompts while freezing the pre-trained model in downstream tasks. Despite the effectiveness of prompt tuning, what do those learnable prompts learn remains unexplained. In this work, we explore whether prompts in the fine-tuning can learn knowledge-aware prompts from the pre-training, by designing two different sets of prompts in pre-training and fine-tuning phases respectively. Specifically, we present a Video-Language Prompt tuning (VL-Prompt) approach for video captioning, which first efficiently pre-train a video-language model to extract key information (e.g., actions and objects) with flexibly generated Knowledge-Aware Prompt (KAP). Then, we design a Video-Language Prompt (VLP) to transfer the knowledge from the knowledge-aware prompts and fine-tune the model to generate full captions. Experimental results show the superior performance of our approach over several state-of-the-art baselines. We further demonstrate that the video-language prompts are well learned from the knowledge-aware prompts.

Instance segmentation in videos, which aims to segment and track multiple objects in video frames, has garnered a flurry of research attention in recent years. In this paper, we present a novel weakly supervised framework with Spatio-Temporal Collaboration for instance Segmentation in videos, namely STC-Seg. Concretely, STC-Seg demonstrates four contributions. First, we leverage the complementary representations from unsupervised depth estimation and optical flow to produce effective pseudo-labels for training deep networks and predicting high-quality instance masks. Second, to enhance the mask generation, we devise a puzzle loss, which enables end-to-end training using box-level annotations. Third, our tracking module jointly utilizes bounding-box diagonal points with spatio-temporal discrepancy to model movements, which largely improves the robustness to different object appearances. Finally, our framework is flexible and enables image-level instance segmentation methods to operate the video-level task. We conduct an extensive set of experiments on the KITTI MOTS and YT-VIS datasets. Experimental results demonstrate that our method achieves strong performance and even outperforms fully supervised TrackR-CNN and MaskTrack R-CNN. We believe that STC-Seg can be a valuable addition to the community, as it reflects the tip of an iceberg about the innovative opportunities in the weakly supervised paradigm for instance segmentation in videos.

Video captioning is a challenging task as it needs to accurately transform visual understanding into natural language description. To date, state-of-the-art methods inadequately model global-local representation across video frames for caption generation, leaving plenty of room for improvement. In this work, we approach the video captioning task from a new perspective and propose a GL-RG framework for video captioning, namely a Global-Local Representation Granularity. Our GL-RG demonstrates three advantages over the prior efforts: 1) we explicitly exploit extensive visual representations from different video ranges to improve linguistic expression; 2) we devise a novel global-local encoder to produce rich semantic vocabulary to obtain a descriptive granularity of video contents across frames; 3) we develop an incremental training strategy which organizes model learning in an incremental fashion to incur an optimal captioning behavior. Experimental results on the challenging MSR-VTT and MSVD datasets show that our DL-RG outperforms recent state-of-the-art methods by a significant margin. Code is available at https://github.com/ylqi/GL-RG.

Video captioning is a challenging task as it needs to accurately transform visual understanding into natural language description. To date, state-of-the-art methods inadequately model global-local vision representation for sentence generation, leaving plenty of room for improvement. In this work, we approach the video captioning task from a new perspective and propose a GLR framework, namely a global-local representation granularity. Our GLR demonstrates three advantages over the prior efforts. First, we propose a simple solution, which exploits extensive vision representations from different video ranges to improve linguistic expression. Second, we devise a novel global-local encoder, which encodes different video representations including long-range, short-range and local-keyframe, to produce rich semantic vocabulary for obtaining a descriptive granularity of video contents across frames. Finally, we introduce the progressive training strategy which can effectively organize feature learning to incur optimal captioning behavior. Evaluated on the MSR-VTT and MSVD dataset, we outperform recent state-of-the-art methods including a well-tuned SA-LSTM baseline by a significant margin, with shorter training schedules. Because of its simplicity and efficacy, we hope that our GLR could serve as a strong baseline for many video understanding tasks besides video captioning. Code will be available.

In this work, we introduce a Denser Feature Network(DenserNet) for visual localization. Our work provides three principal contributions. First, we develop a convolutional neural network (CNN) architecture which aggregates feature maps at different semantic levels for image representations. Using denser feature maps, our method can produce more key point features and increase image retrieval accuracy. Second, our model is trained end-to-end without pixel-level an-notation other than positive and negative GPS-tagged image pairs. We use a weakly supervised triplet ranking loss to learn discriminative features and encourage keypoint feature repeatability for image representation. Finally, our method is computationally efficient as our architecture has shared features and parameters during forwarding propagation. Our method is flexible and can be crafted on a light-weighted backbone architecture to achieve appealing efficiency with a small penalty on accuracy. Extensive experiment results indicate that our method sets a new state-of-the-art on four challenging large-scale localization benchmarks and three image retrieval benchmarks with the same level of supervision. The code is available at https://github.com/goodproj13/DenserNet

Geo-localization is a critical task in computer vision. In this work, we cast the geo-localization as a 2D image retrieval task. Current state-of-the-art methods for 2D geo-localization are not robust to locate a scene with drastic scale variations because they only exploit features from one semantic level for image representations. To address this limitation, we introduce a hierarchical attention fusion network using multi-scale features for geo-localization. We extract the hierarchical feature maps from a convolutional neural network (CNN) and organically fuse the extracted features for image representations. Our training is self-supervised using adaptive weights to control the attention of feature emphasis from each hierarchical level. Evaluation results on the image retrieval and the large-scale geo-localization benchmarks indicate that our method outperforms the existing state-of-the-art methods. Code is available here: https://github.com/YanLiqi/HAF.

Video objection detection is a challenging task because isolated video frames may encounter appearance deterioration, which introduces great confusion for detection. One of the popular solutions is to exploit the temporal information and enhance per-frame representation through aggregating features from neighboring frames. Despite achieving improvements in detection, existing methods focus on the selection of higher-level video frames for aggregation rather than modeling lower-level temporal relations to increase the feature representation. To address this limitation, we propose a novel solution named TF-Blender, which includes three modules: 1) Temporal relation models the relations between the current frame and its neigh-boring frames to preserve spatial information. 2). Feature adjustment enriches the representation of every neigh-boring feature map; 3) Feature blender combines outputs from the first two modules and produces stronger features for the later detection tasks. For its simplicity, TF-Blender can be effortlessly plugged into any detection network to improve detection behavior. Extensive evaluations on ImageNet VID and YouTube-VIS benchmarks indicate the performance guarantees of using TF-Blender on recent state-of-the-art methods. Code is available at https://github.com/goodproj13/TF-Blender.

Vision and voice are two vital keys for agents' interaction and learning. In this paper, we present a novel indoor navigation model called Memory Vision-Voice Indoor Navigation (MVV-IN), which receives voice commands and analyzes multimodal information of visual observation in order to enhance robots' environment understanding. We make use of single RGB images taken by a rst-view monocular camera. We also apply a self-attention mechanism to keep the agent focusing on key areas. Memory is important for the agent to avoid repeating certain tasks unnecessarily and in order for it to adapt adequately to new scenes, therefore, we make use of meta-learning. We have experimented with various functional features extracted from visual observation. Comparative experiments prove that our methods outperform state-of-the-art baselines.