A dexterous hand capable of generalizable grasping objects is fundamental for the development of general-purpose embodied AI. However, previous methods focus narrowly on low-level grasp stability metrics, neglecting affordance-aware positioning and human-like poses which are crucial for downstream manipulation. To address these limitations, we propose AffordDex, a novel framework with two-stage training that learns a universal grasping policy with an inherent understanding of both motion priors and object affordances. In the first stage, a trajectory imitator is pre-trained on a large corpus of human hand motions to instill a strong prior for natural movement. In the second stage, a residual module is trained to adapt these general human-like motions to specific object instances. This refinement is critically guided by two components: our Negative Affordance-aware Segmentation (NAA) module, which identifies functionally inappropriate contact regions, and a privileged teacher-student distillation process that ensures the final vision-based policy is highly successful. Extensive experiments demonstrate that AffordDex not only achieves universal dexterous grasping but also remains remarkably human-like in posture and functionally appropriate in contact location. As a result, AffordDex significantly outperforms state-of-the-art baselines across seen objects, unseen instances, and even entirely novel categories.

Shuhang Chen, Hangjie Yuan, Yunqiu Xu, Pengwei Liu, Tao Feng, Jun Cen, Zeying Huang, Yi Yang. Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers). 2026.

Recent advancements in vision foundation models (VFMs) have revolutionized visual perception in 2D, yet their potential for 3D scene understanding, particularly in autonomous driving applications, remains underexplored. In this paper, we introduce LargeAD, a versatile and scalable framework designed for large-scale 3D pretraining across diverse real-world driving datasets. Our framework leverages VFMs to extract semantically rich superpixels from 2D images, which are aligned with LiDAR point clouds to generate high-quality contrastive samples. This alignment facilitates cross-modal representation learning, enhancing the semantic consistency between 2D and 3D data. We introduce several key innovations: (i) VFM-driven superpixel generation for detailed semantic representation, (ii) a VFM-assisted contrastive learning strategy to align multimodal features, (iii) superpoint temporal consistency to maintain stable representations across time, and (iv) multi-source data pretraining to generalize across various LiDAR configurations. Our approach achieves substantial gains over state-of-the-art methods in linear probing and fine-tuning for LiDAR-based segmentation and object detection. Extensive experiments on 11 large-scale multi-sensor datasets highlight our superior performance, demonstrating adaptability, efficiency, and robustness in real-world autonomous driving scenarios.

Safety-critical 3D scene understanding tasks necessitate not only accurate but also confident predictions from 3D perception models. This study introduces Calib3D, a pioneering effort to benchmark and scrutinize the reliability of 3D scene understanding models from an uncertainty estimation viewpoint. We comprehensively evaluate 28 state of the art models across 10 diverse 3D datasets, uncovering insightful phenomena that cope with both the aleatoric and epistemic uncertainties in 3D scene understanding. We discover that despite achieving impressive levels of accuracy, existing models frequently fail to provide reliable uncertainty estimates - a pitfall that critically undermines their applicability in safety-sensitive contexts. Through extensive analysis of key factors such as network capacity, LiDAR representations, rasterization resolutions, and 3D data augmentation techniques, we correlate these aspects directly with the model calibration efficacy. Furthermore, we introduce DeptS, a novel depth-aware scaling approach aimed at enhancing 3D model calibration. Extensive experiments across a wide range of configurations validate the superiority of our method. We hope this work could serve as a cornerstone for fostering reliable 3D scene understanding. Code and benchmark toolkit are publicly available11https://github.com/ldkong1205/Calib3D.

Continual learning empowers models to adapt autonomously to the ever-changing environment or data streams without forgetting old knowledge. Prompt-based approaches are built on frozen pre-trained models to learn the task-specific prompts and classifiers efficiently. Existing prompt-based methods are inconsistent between training and testing, limiting their effectiveness. Two types of inconsistency are revealed. Test predictions are made from all classifiers while training only focuses on the current task classifier without holistic alignment, leading to Classifier inconsistency. Prompt inconsistency indicates that the prompt selected during testing may not correspond to the one associated with this task during training. In this paper, we propose a novel prompt-based method, Consistent Prompting (CPrompt), for more aligned training and testing. Specifically, all existing classifiers are exposed to prompt training, resulting in classifier consistency learning. In addition, prompt consistency learning is proposed to enhance prediction robustness and boost prompt selection accuracy. Our Consistent Prompting surpasses its prompt-based counterparts and achieves state-of-the-art performance on multiple continual learning benchmarks. Detailed analysis shows that improvements come from more consistent training and testing. Our code is available at https://github.com/Zhanxin-Gao/CPrompt.

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most existing methods rely on fully-supervised learning, the manual labeling of point cloud data is laborious and time-consuming. Therefore, several annotation-efficient methods have been proposed to address this challenge. Al-though effective, these methods rely on weak annotations or additional multi-modal data like images, and the potential benefits inherent in the point cloud sequence are still underexplored. To this end, we explore the feasibility of self-supervised motion prediction with only unlabeled Li-DAR point clouds. Initially, we employ an optimal transport solver to establish coarse correspondences between current and future point clouds as the coarse pseudo motion labels. Training models directly using such coarse labels leads to noticeable spatial and temporal prediction in-consistencies. To mitigate these issues, we introduce three simple spatial and temporal regularization losses, which fa-cilitate the self-supervised training process effectively. Experimental results demonstrate the significant superiority of our approach over the state-of-the-art self-supervised methods. Code will be available at https://github.com/kwwcv/SelfMotion.

Large Language Models (LLMs) and Large Multi-modality Models (LMMs) have demonstrated remarkable decision masking capabilities on a variety of tasks. However, they inherently operate planning within the language space, lacking the vision and spatial imagination ability. In contrast, humans utilize both left and right hemispheres of the brain for language and visual planning during the thinking process. Therefore, we introduce a novel vision-language planning framework in this work to perform concurrent visual and language planning for tasks with inputs of any form. Our framework incorporates visual planning to capture intricate environmental details, while language planning enhances the logical coherence of the overall system. We evaluate the effectiveness of our framework across vision-language tasks, vision-only tasks, and language-only tasks. The results demonstrate the superior performance of our approach, indicating that the integration of visual and language planning yields better contextually aware task execution.

3D content creation has long been a complex and time-consuming process, often requiring specialized skills and resources. While re- cent advancements have allowed for text-guided 3D object and scene generation, they still fall short of providing sufficient control over the generation process, leading to a gap between the user’s creative vision and the generated results. In this paper, we present iControl3D, a novel interactive system that empowers users to gen- erate and render customizable 3D scenes with precise control. To this end, a 3D creator interface has been developed to provide users with fine-grained control over the creation process. Technically, we leverage 3D meshes as an intermediary proxy to iteratively merge individual 2D diffusion-generated images into a cohesive and uni- fied 3D scene representation. To ensure seamless integration of 3D meshes, we propose to perform boundary-aware depth alignment before fusing the newly generated mesh with the existing one in 3D space. Additionally, to effectively manage depth discrepancies between remote content and foreground, we propose to model re- mote content separately with an environment map instead of 3D meshes. Finally, our neural rendering interface enables users to build a radiance field of their scene online and navigate the entire scene. Extensive experiments have been conducted to demonstrate the effectiveness of our system. The code will be made available at https://github.com/xingyi- li/iControl3D.

Open-set action recognition is to reject unknown human action cases which are out of the distribution of the training set. Existing methods mainly focus on learning better uncertainty scores but dismiss the importance of feature representations. We find that features with richer semantic diversity can significantly improve the open-set performance under the same uncertainty scores. In this paper, we begin with analyzing the feature representation behavior in the open-set action recognition (OSAR) problem based on the information bottleneck (IB) theory, and propose to enlarge the instance-specific (IS) and classspecific (CS) information contained in the feature for better performance. To this end, a novel Prototypical Similarity Learning (PSL) framework is proposed to keep the instance variance within the same class to retain more IS information. Besides, we notice that unknown samples sharing similar appearances to known samples are easily misclassified as known classes. To alleviate this issue, video shuffling is further introduced in our PSL to learn distinct temporal information between original and shuffled samples, which we find enlarges the CS information. Extensive experiments demonstrate that the proposed PSL can significantly boost both the open-set and closed-set performance and achieves state-of-the-art results on multiple benchmarks. Code is available at https://github.com/Jun-CEN/PSL.

Recent advancements in vision foundation models (VFMs) have opened up new possibilities for versatile and efficient visual perception. In this work, we introduce Seal, a novel framework that harnesses VFMs for segmenting diverse automotive point cloud sequences. Seal exhibits three appealing properties: i) Scalability: VFMs are directly distilled into point clouds, obviating the need for annotations in either 2D or 3D during pretraining. ii) Consistency: Spatial and temporal relationships are enforced at both the camera-to-LiDAR and point-to-segment regularization stages, facilitating cross-modal representation learning. iii) Generalizability: Seal enables knowledge transfer in an off-the-shelf manner to downstream tasks involving diverse point clouds, including those from real/synthetic, low/high-resolution, large/small-scale, and clean/corrupted datasets. Extensive experiments conducted on eleven different point cloud datasets showcase the effectiveness and superiority of Seal. Notably, Seal achieves a remarkable 45.0% mIoU on nuScenes after linear probing, surpassing random initialization by 36.9% mIoU and outperforming prior arts by 6.1% mIoU. Moreover, Seal demonstrates significant performance gains over existing methods across 20 different few-shot fine-tuning tasks on all eleven tested point cloud datasets. The code is available at this link.

We are living in a three-dimensional space while moving forward through a fourth dimension: time. To allow artificial intelligence to develop a comprehensive understanding of such a 4D environment, we introduce **4D Panoptic Scene Graph (PSG-4D)**, a new representation that bridges the raw visual data perceived in a dynamic 4D world and high-level visual understanding. Specifically, PSG-4D abstracts rich 4D sensory data into nodes, which represent entities with precise location and status information, and edges, which capture the temporal relations. To facilitate research in this new area, we build a richly annotated PSG-4D dataset consisting of 3K RGB-D videos with a total of 1M frames, each of which is labeled with 4D panoptic segmentation masks as well as fine-grained, dynamic scene graphs. To solve PSG-4D, we propose PSG4DFormer, a Transformer-based model that can predict panoptic segmentation masks, track masks along the time axis, and generate the corresponding scene graphs via a relation component. Extensive experiments on the new dataset show that our method can serve as a strong baseline for future research on PSG-4D. In the end, we provide a real-world application example to demonstrate how we can achieve dynamic scene understanding by integrating a large language model into our PSG-4D system.

Due to the more dramatic multi-scale variations and more complicated foregrounds and backgrounds in optical remote sensing images (RSIs), the salient object detection (SOD) for optical RSIs becomes a huge challenge. However, different from natural scene images (NSIs), the discussion on the optical RSI SOD task still remains scarce. In this paper, we propose a multi-scale context network, namely MSCNet, for SOD in optical RSIs. Specifically, a multi-scale context extraction module is adopted to address the scale variation of salient objects by effectively learning multi-scale contextual information. Meanwhile, in order to accurately detect complete salient objects in complex backgrounds, we design an attention-based pyramid feature aggregation mechanism for gradually aggregating and refining the salient regions from the multi-scale context extraction module. Extensive experiments on two benchmarks demonstrate that MSCNet achieves competitive performance with only 3.26M parameters. The code will be available at https://github.com/NuaaYH/MSCNet.

Recent incremental learning for action recognition usually stores representative videos to mitigate catastrophic forgetting. However, only a few bulky videos can be stored due to the limited memory. To address this problem, we propose FrameMaker, a memory-efficient video class-incremental learning approach that learns to produce a condensed frame for each selected video. Specifically, FrameMaker is mainly composed of two crucial components: Frame Condensing and Instance-Specific Prompt. The former is to reduce the memory cost by preserving only one condensed frame instead of the whole video, while the latter aims to compensate the lost spatio-temporal details in the Frame Condensing stage. By this means, FrameMaker enables a remarkable reduction in memory but keep enough information that can be applied to following incremental tasks. Experimental results on multiple challenging benchmarks, i.e., HMDB51, UCF101 and Something-Something V2, demonstrate that FrameMaker can achieve better performance to recent advanced methods while consuming only 20% memory. Additionally, under the same memory consumption conditions, FrameMaker significantly outperforms existing state-of-the-arts by a convincing margin.

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes. Unfortunately, this closed-set condition is not robust enough for practical use, as it will identify unknown objects as known by mistake. Therefore, in this paper, we propose an open-set 3D object detector, which aims to (1) identify known objects, like the closed-set detection, and (2) identify unknown objects and give their accurate bounding boxes. Specifically, we divide the open-set 3D object detection problem into two steps: (1) finding out the regions containing the unknown objects with high probability and (2) enclosing the points of these regions with proper bounding boxes. The first step is solved by the finding that unknown objects are often classified as known objects with low confidence, and we show that the Euclidean distance sum based on metric learning is a better confidence score than the naive softmax probability to differentiate unknown objects from known objects. On this basis, unsupervised clustering is used to refine the bounding boxes of unknown objects. The proposed method combining metric learning and unsupervised clustering is called the MLUC network. Our experiments show that our MLUC network achieves state-of-the-art performance and can identify both known and unknown objects as expected.

In autonomous driving scenarios, edge cases require perception algorithms, like 3D object detection, to incrementally learn new data during a long term. To achieve it, previous methods seek help from knowledge distillation and recursively transfer knowledge from old models to new models. However, conflicts exist between the likelihood term and the distillation regularizer on both old and new knowledge. In this paper, we discuss the drawback of knowledge distillation in the task-incremental-learning scenario for 3D object detection and propose a New-Task-Aware Biased Sampling and Knowledge-Distillation-Aware Detection Loss to solve the conflicts. Based on the KITTI dataset, we thoroughly evaluate our proposed method from the aspects of both forward and backward transfer in the task incremental-learning scenario. A great margin of improvement on the whole task sequence (5.6 mAP) demonstrates the effectiveness of our proposed method.

Classical close-set semantic segmentation networks have limited ability to detect out-of-distribution (OOD) objects, which is important for safety-critical applications such as autonomous driving. Incrementally learning these OOD objects with few annotations is an ideal way to enlarge the knowledge base of the deep learning models. In this paper, we propose an open world semantic segmentation system that includes two modules: (1) an open-set semantic segmentation module to detect both in-distribution and OOD objects. (2) an incremental few-shot learning module to gradually incorporate those OOD objects into its existing knowledge base. This open world semantic segmentation system behaves like a human being, which is able to identify OOD objects and gradually learn them with corresponding supervision. We adopt the Deep Metric Learning Network (DMLNet) with contrastive clustering to implement open-set semantic segmentation. Compared to other open-set semantic segmentation methods, our DMLNet achieves state-of-the-art performance on three challenging open-set semantic segmentation datasets without using additional data or generative models. On this basis, two incremental few-shot learning methods are further proposed to progressively improve the DMLNet with the annotations of OOD objects.

Scene recognition is a fundamental task in robotic perception. For human beings, scene recognition is reasonable because they have abundant object knowledge of the real world. The idea of transferring prior object knowledge from humans to scene recognition is significant but still less exploited. In this paper, we propose to utilize meaningful object representations for indoor scene representation. First, we utilize an improved object model (IOM) as a baseline that enriches the object knowledge by introducing a scene parsing algorithm pretrained on the ADE20K dataset with rich object categories related to the indoor scene. To analyze the object co-occurrences and pairwise object relations, we formulate the IOM from a Bayesian perspective as the Bayesian object relation model (BORM). Meanwhile, we incorporate the proposed BORM with the PlacesCNN model as the combined Bayesian object relation model (CBORM) for scene recognition and significantly outperforms the state-of-the-art methods on the reduced Places365 dataset, and SUN RGB-D dataset without retraining, showing the excellent generalization ability of the proposed method. Code can be found at https://github.com/FreeformRobotics/BORM.

Abstract The semantic representation of deep features is essential for image context understanding, and effective fusion of features with different semantic representations can significantly improve the model's performance on salient object detection. This paper proposes a novel method called multi‐receptive and parallel integration, for salient object detection. Firstly, a multi‐receptive enhancement module is designed to effectively expand the receptive fields of features from different layers and generate features with different receptive fields. Multi‐receptive enhancement module can enhance the semantic representation and improve the model's perception of the image context, which enables the model to locate the salient object accurately. Secondly, in order to reduce the reuse of redundant information in the complex top‐down fusion method and weaken the differences between semantic features, a relatively simple but effective parallel fusion strategy is proposed. It allows multi‐scale features to better interact with each other, thus improving the overall performance of the model. Experimental results on multiple datasets demonstrate that the proposed method outperforms state‐of‐the‐art methods under different evaluation metrics.