Daily Papers

This paper presents InteractEdit, a novel framework for zero-shot Human-Object Interaction (HOI) editing, addressing the challenging task of transforming an existing interaction in an image into a new, desired interaction while preserving the identities of the subject and object. Unlike simpler image editing scenarios such as attribute manipulation, object replacement or style transfer, HOI editing involves complex spatial, contextual, and relational dependencies inherent in humans-objects interactions. Existing methods often overfit to the source image structure, limiting their ability to adapt to the substantial structural modifications demanded by new interactions. To address this, InteractEdit decomposes each scene into subject, object, and background components, then employs Low-Rank Adaptation (LoRA) and selective fine-tuning to preserve pretrained interaction priors while learning the visual identity of the source image. This regularization strategy effectively balances interaction edits with identity consistency. We further introduce IEBench, the most comprehensive benchmark for HOI editing, which evaluates both interaction editing and identity preservation. Our extensive experiments show that InteractEdit significantly outperforms existing methods, establishing a strong baseline for future HOI editing research and unlocking new possibilities for creative and practical applications. Code will be released upon publication.

Image generation and editing have seen a great deal of advancements with the rise of large-scale diffusion models that allow user control of different modalities such as text, mask, depth maps, etc. However, controlled editing of videos still lags behind. Prior work in this area has focused on using 2D diffusion models to globally change the style of an existing video. On the other hand, in many practical applications, editing localized parts of the video is critical. In this work, we propose a method to edit videos using a pre-trained inpainting image diffusion model. We systematically redesign the forward path of the model by replacing the self-attention modules with an extended version of attention modules that creates frame-level dependencies. In this way, we ensure that the edited information will be consistent across all the video frames no matter what the shape and position of the masked area is. We qualitatively compare our results with state-of-the-art in terms of accuracy on several video editing tasks like object retargeting, object replacement, and object removal tasks. Simulations demonstrate the superior performance of the proposed strategy.

Our work addresses limitations seen in previous approaches for object-centric editing problems, such as unrealistic results due to shape discrepancies and limited control in object replacement or insertion. To this end, we introduce FlexEdit, a flexible and controllable editing framework for objects where we iteratively adjust latents at each denoising step using our FlexEdit block. Initially, we optimize latents at test time to align with specified object constraints. Then, our framework employs an adaptive mask, automatically extracted during denoising, to protect the background while seamlessly blending new content into the target image. We demonstrate the versatility of FlexEdit in various object editing tasks and curate an evaluation test suite with samples from both real and synthetic images, along with novel evaluation metrics designed for object-centric editing. We conduct extensive experiments on different editing scenarios, demonstrating the superiority of our editing framework over recent advanced text-guided image editing methods. Our project page is published at https://flex-edit.github.io/.

High-performance Multimodal Large Language Models (MLLMs) rely heavily on data quality. This study introduces a novel dataset named Img-Diff, designed to enhance fine-grained image recognition in MLLMs by leveraging insights from contrastive learning and image difference captioning. By analyzing object differences between similar images, we challenge models to identify both matching and distinct components. We utilize the Stable-Diffusion-XL model and advanced image editing techniques to create pairs of similar images that highlight object replacements. Our methodology includes a Difference Area Generator for object differences identifying, followed by a Difference Captions Generator for detailed difference descriptions. The result is a relatively small but high-quality dataset of "object replacement" samples. We use the the proposed dataset to fine-tune state-of-the-art (SOTA) MLLMs such as MGM-7B, yielding comprehensive improvements of performance scores over SOTA models that trained with larger-scale datasets, in numerous image difference and Visual Question Answering tasks. For instance, our trained models notably surpass the SOTA models GPT-4V and Gemini on the MMVP benchmark. Besides, we investigate alternative methods for generating image difference data through "object removal" and conduct thorough evaluation to confirm the dataset's diversity, quality, and robustness, presenting several insights on synthesis of such contrastive dataset. To encourage further research and advance the field of multimodal data synthesis and enhancement of MLLMs' fundamental capabilities for image understanding, we release our codes and dataset at https://github.com/modelscope/data-juicer/tree/ImgDiff.

Recent advances in generative models enable highly realistic image manipulations, creating an urgent need for robust forgery detection methods. Current datasets for training and evaluating these methods are limited in scale and diversity. To address this, we propose a methodology for creating high-quality inpainting datasets and apply it to create DiQuID, comprising over 95,000 inpainted images generated from 78,000 original images sourced from MS-COCO, RAISE, and OpenImages. Our methodology consists of three components: (1) Semantically Aligned Object Replacement (SAOR) that identifies suitable objects through instance segmentation and generates contextually appropriate prompts, (2) Multiple Model Image Inpainting (MMII) that employs various state-of-the-art inpainting pipelines primarily based on diffusion models to create diverse manipulations, and (3) Uncertainty-Guided Deceptiveness Assessment (UGDA) that evaluates image realism through comparative analysis with originals. The resulting dataset surpasses existing ones in diversity, aesthetic quality, and technical quality. We provide comprehensive benchmarking results using state-of-the-art forgery detection methods, demonstrating the dataset's effectiveness in evaluating and improving detection algorithms. Through a human study with 42 participants on 1,000 images, we show that while humans struggle with images classified as deceiving by our methodology, models trained on our dataset maintain high performance on these challenging cases. Code and dataset are available at https://github.com/mever-team/DiQuID.

An image editing model should be able to perform diverse edits, ranging from object replacement, changing attributes or style, to performing actions or movement, which require many forms of reasoning. Current general instruction-guided editing models have significant shortcomings with action and reasoning-centric edits. Object, attribute or stylistic changes can be learned from visually static datasets. On the other hand, high-quality data for action and reasoning-centric edits is scarce and has to come from entirely different sources that cover e.g. physical dynamics, temporality and spatial reasoning. To this end, we meticulously curate the AURORA Dataset (Action-Reasoning-Object-Attribute), a collection of high-quality training data, human-annotated and curated from videos and simulation engines. We focus on a key aspect of quality training data: triplets (source image, prompt, target image) contain a single meaningful visual change described by the prompt, i.e., truly minimal changes between source and target images. To demonstrate the value of our dataset, we evaluate an AURORA-finetuned model on a new expert-curated benchmark (AURORA-Bench) covering 8 diverse editing tasks. Our model significantly outperforms previous editing models as judged by human raters. For automatic evaluations, we find important flaws in previous metrics and caution their use for semantically hard editing tasks. Instead, we propose a new automatic metric that focuses on discriminative understanding. We hope that our efforts : (1) curating a quality training dataset and an evaluation benchmark, (2) developing critical evaluations, and (3) releasing a state-of-the-art model, will fuel further progress on general image editing.

We present DialogPaint, an innovative framework that employs an interactive conversational approach for image editing. The framework comprises a pretrained dialogue model (Blenderbot) and a diffusion model (Stable Diffusion). The dialogue model engages in conversation with users to understand their requirements and generates concise instructions based on the dialogue. Subsequently, the Stable Diffusion model employs these instructions, along with the input image, to produce the desired output. Due to the difficulty of acquiring fine-tuning data for such models, we leverage multiple large-scale models to generate simulated dialogues and corresponding image pairs. After fine-tuning our framework with the synthesized data, we evaluate its performance in real application scenes. The results demonstrate that DialogPaint excels in both objective and subjective evaluation metrics effectively handling ambiguous instructions and performing tasks such as object replacement, style transfer, color modification. Moreover, our framework supports multi-round editing, allowing for the completion of complicated editing tasks.

Neural radiance fields (NeRF) have revolutionized the field of image-based view synthesis. However, NeRF uses straight rays and fails to deal with complicated light path changes caused by refraction and reflection. This prevents NeRF from successfully synthesizing transparent or specular objects, which are ubiquitous in real-world robotics and A/VR applications. In this paper, we introduce the refractive-reflective field. Taking the object silhouette as input, we first utilize marching tetrahedra with a progressive encoding to reconstruct the geometry of non-Lambertian objects and then model refraction and reflection effects of the object in a unified framework using Fresnel terms. Meanwhile, to achieve efficient and effective anti-aliasing, we propose a virtual cone supersampling technique. We benchmark our method on different shapes, backgrounds and Fresnel terms on both real-world and synthetic datasets. We also qualitatively and quantitatively benchmark the rendering results of various editing applications, including material editing, object replacement/insertion, and environment illumination estimation. Codes and data are publicly available at https://github.com/dawning77/NeRRF.

Text-driven image editing enables users to flexibly modify visual content through natural language instructions, and is widely applied to tasks such as semantic object replacement, insertion, and removal. While recent inversion-based editing methods using rectified flow models have achieved promising results in image quality, we identify a structural limitation in their editing behavior: the semantic bias toward the source concept encoded in the inverted noise tends to suppress attention to the target concept. This issue becomes particularly critical when the source and target semantics are dissimilar, where the attention mechanism inherently leads to editing failure or unintended modifications in non-target regions. In this paper, we systematically analyze and validate this structural flaw, and introduce LORE, a training-free and efficient image editing method. LORE directly optimizes the inverted noise, addressing the core limitations in generalization and controllability of existing approaches, enabling stable, controllable, and general-purpose concept replacement, without requiring architectural modification or model fine-tuning. We conduct comprehensive evaluations on three challenging benchmarks: PIEBench, SmartEdit, and GapEdit. Experimental results show that LORE significantly outperforms strong baselines in terms of semantic alignment, image quality, and background fidelity, demonstrating the effectiveness and scalability of latent-space optimization for general-purpose image editing.

Graph representation of objects and their relations in a scene, known as a scene graph, provides a precise and discernible interface to manipulate a scene by modifying the nodes or the edges in the graph. Although existing works have shown promising results in modifying the placement and pose of objects, scene manipulation often leads to losing some visual characteristics like the appearance or identity of objects. In this work, we propose DisPositioNet, a model that learns a disentangled representation for each object for the task of image manipulation using scene graphs in a self-supervised manner. Our framework enables the disentanglement of the variational latent embeddings as well as the feature representation in the graph. In addition to producing more realistic images due to the decomposition of features like pose and identity, our method takes advantage of the probabilistic sampling in the intermediate features to generate more diverse images in object replacement or addition tasks. The results of our experiments show that disentangling the feature representations in the latent manifold of the model outperforms the previous works qualitatively and quantitatively on two public benchmarks. Project Page: https://scenegenie.github.io/DispositioNet/

With the prosper of video diffusion models, down-stream applications like video editing have been significantly promoted without consuming much computational cost. One particular challenge in this task lies at the motion transfer process from the source video to the edited one, where it requires the consideration of the shape deformation in between, meanwhile maintaining the temporal consistency in the generated video sequence. However, existing methods fail to model complicated motion patterns for video editing, and are fundamentally limited to object replacement, where tasks with non-rigid object motions like multi-object and portrait editing are largely neglected. In this paper, we observe that optical flows offer a promising alternative in complex motion modeling, and present FlowV2V to re-investigate video editing as a task of flow-driven Image-to-Video (I2V) generation. Specifically, FlowV2V decomposes the entire pipeline into first-frame editing and conditional I2V generation, and simulates pseudo flow sequence that aligns with the deformed shape, thus ensuring the consistency during editing. Experimental results on DAVIS-EDIT with improvements of 13.67% and 50.66% on DOVER and warping error illustrate the superior temporal consistency and sample quality of FlowV2V compared to existing state-of-the-art ones. Furthermore, we conduct comprehensive ablation studies to analyze the internal functionalities of the first-frame paradigm and flow alignment in the proposed method.

Text-driven diffusion models have become increasingly popular for various image editing tasks, including inpainting, stylization, and object replacement. However, it still remains an open research problem to adopt this language-vision paradigm for more fine-level image processing tasks, such as denoising, super-resolution, deblurring, and compression artifact removal. In this paper, we develop TIP, a Text-driven Image Processing framework that leverages natural language as a user-friendly interface to control the image restoration process. We consider the capacity of text information in two dimensions. First, we use content-related prompts to enhance the semantic alignment, effectively alleviating identity ambiguity in the restoration outcomes. Second, our approach is the first framework that supports fine-level instruction through language-based quantitative specification of the restoration strength, without the need for explicit task-specific design. In addition, we introduce a novel fusion mechanism that augments the existing ControlNet architecture by learning to rescale the generative prior, thereby achieving better restoration fidelity. Our extensive experiments demonstrate the superior restoration performance of TIP compared to the state of the arts, alongside offering the flexibility of text-based control over the restoration effects.

Diffusion models have demonstrated their ability to generate diverse and high-quality images, sparking considerable interest in their potential for real image editing applications. However, existing diffusion-based approaches for local image editing often suffer from undesired artifacts due to the latent-level blending of the noised target images and diffusion latent variables, which lack the necessary semantics for maintaining image consistency. To address these issues, we propose PFB-Diff, a Progressive Feature Blending method for Diffusion-based image editing. Unlike previous methods, PFB-Diff seamlessly integrates text-guided generated content into the target image through multi-level feature blending. The rich semantics encoded in deep features and the progressive blending scheme from high to low levels ensure semantic coherence and high quality in edited images. Additionally, we introduce an attention masking mechanism in the cross-attention layers to confine the impact of specific words to desired regions, further improving the performance of background editing and multi-object replacement. PFB-Diff can effectively address various editing tasks, including object/background replacement and object attribute editing. Our method demonstrates its superior performance in terms of editing accuracy and image quality without the need for fine-tuning or training. Our implementation is available at https://github.com/CMACH508/PFB-Diff.

Despite the ability of existing large-scale text-to-image (T2I) models to generate high-quality images from detailed textual descriptions, they often lack the ability to precisely edit the generated or real images. In this paper, we propose a novel image editing method, DragonDiffusion, enabling Drag-style manipulation on Diffusion models. Specifically, we construct classifier guidance based on the strong correspondence of intermediate features in the diffusion model. It can transform the editing signals into gradients via feature correspondence loss to modify the intermediate representation of the diffusion model. Based on this guidance strategy, we also build a multi-scale guidance to consider both semantic and geometric alignment. Moreover, a cross-branch self-attention is added to maintain the consistency between the original image and the editing result. Our method, through an efficient design, achieves various editing modes for the generated or real images, such as object moving, object resizing, object appearance replacement, and content dragging. It is worth noting that all editing and content preservation signals come from the image itself, and the model does not require fine-tuning or additional modules. Our source code will be available at https://github.com/MC-E/DragonDiffusion.

Recent text-guided generation of individual 3D object has achieved great success using diffusion priors. However, these methods are not suitable for object insertion and replacement tasks as they do not consider the background, leading to illumination mismatches within the environment. To bridge the gap, we introduce an illumination-aware 3D scene editing pipeline for 3D Gaussian Splatting (3DGS) representation. Our key observation is that inpainting by the state-of-the-art conditional 2D diffusion model is consistent with background in lighting. To leverage the prior knowledge from the well-trained diffusion models for 3D object generation, our approach employs a coarse-to-fine objection optimization pipeline with inpainted views. In the first coarse step, we achieve image-to-3D lifting given an ideal inpainted view. The process employs 3D-aware diffusion prior from a view-conditioned diffusion model, which preserves illumination present in the conditioning image. To acquire an ideal inpainted image, we introduce an Anchor View Proposal (AVP) algorithm to find a single view that best represents the scene illumination in target region. In the second Texture Enhancement step, we introduce a novel Depth-guided Inpainting Score Distillation Sampling (DI-SDS), which enhances geometry and texture details with the inpainting diffusion prior, beyond the scope of the 3D-aware diffusion prior knowledge in the first coarse step. DI-SDS not only provides fine-grained texture enhancement, but also urges optimization to respect scene lighting. Our approach efficiently achieves local editing with global illumination consistency without explicitly modeling light transport. We demonstrate robustness of our method by evaluating editing in real scenes containing explicit highlight and shadows, and compare against the state-of-the-art text-to-3D editing methods.

We introduce an object-aware decoder for improving the performance of spatio-temporal representations on ego-centric videos. The key idea is to enhance object-awareness during training by tasking the model to predict hand positions, object positions, and the semantic label of the objects using paired captions when available. At inference time the model only requires RGB frames as inputs, and is able to track and ground objects (although it has not been trained explicitly for this). We demonstrate the performance of the object-aware representations learnt by our model, by: (i) evaluating it for strong transfer, i.e. through zero-shot testing, on a number of downstream video-text retrieval and classification benchmarks; and (ii) by using the representations learned as input for long-term video understanding tasks (e.g. Episodic Memory in Ego4D). In all cases the performance improves over the state of the art -- even compared to networks trained with far larger batch sizes. We also show that by using noisy image-level detection as pseudo-labels in training, the model learns to provide better bounding boxes using video consistency, as well as grounding the words in the associated text descriptions. Overall, we show that the model can act as a drop-in replacement for an ego-centric video model to improve performance through visual-text grounding.

Neural Radiance Fields (NeRFs) have demonstrated remarkable effectiveness in novel view synthesis within 3D environments. However, extracting a radiance field of one specific object from multi-view images encounters substantial challenges due to occlusion and background complexity, thereby presenting difficulties in downstream applications such as NeRF editing and 3D mesh extraction. To solve this problem, in this paper, we propose Obj-NeRF, a comprehensive pipeline that recovers the 3D geometry of a specific object from multi-view images using a single prompt. This method combines the 2D segmentation capabilities of the Segment Anything Model (SAM) in conjunction with the 3D reconstruction ability of NeRF. Specifically, we first obtain multi-view segmentation for the indicated object using SAM with a single prompt. Then, we use the segmentation images to supervise NeRF construction, integrating several effective techniques. Additionally, we construct a large object-level NeRF dataset containing diverse objects, which can be useful in various downstream tasks. To demonstrate the practicality of our method, we also apply Obj-NeRF to various applications, including object removal, rotation, replacement, and recoloring.

We propose Hyper-Dimensional Function Encoding (HDFE). Given samples of a continuous object (e.g. a function), HDFE produces an explicit vector representation of the given object, invariant to the sample distribution and density. Sample distribution and density invariance enables HDFE to consistently encode continuous objects regardless of their sampling, and therefore allows neural networks to receive continuous objects as inputs for machine learning tasks, such as classification and regression. Besides, HDFE does not require any training and is proved to map the object into an organized embedding space, which facilitates the training of the downstream tasks. In addition, the encoding is decodable, which enables neural networks to regress continuous objects by regressing their encodings. Therefore, HDFE serves as an interface for processing continuous objects. We apply HDFE to function-to-function mapping, where vanilla HDFE achieves competitive performance as the state-of-the-art algorithm. We apply HDFE to point cloud surface normal estimation, where a simple replacement from PointNet to HDFE leads to immediate 12% and 15% error reductions in two benchmarks. In addition, by integrating HDFE into the PointNet-based SOTA network, we improve the SOTA baseline by 2.5% and 1.7% in the same benchmarks.

In this paper, we present a light-weight detection transformer, LW-DETR, which outperforms YOLOs for real-time object detection. The architecture is a simple stack of a ViT encoder, a projector, and a shallow DETR decoder. Our approach leverages recent advanced techniques, such as training-effective techniques, e.g., improved loss and pretraining, and interleaved window and global attentions for reducing the ViT encoder complexity. We improve the ViT encoder by aggregating multi-level feature maps, and the intermediate and final feature maps in the ViT encoder, forming richer feature maps, and introduce window-major feature map organization for improving the efficiency of interleaved attention computation. Experimental results demonstrate that the proposed approach is superior over existing real-time detectors, e.g., YOLO and its variants, on COCO and other benchmark datasets. Code and models are available at (https://github.com/Atten4Vis/LW-DETR).

Training-free video object editing aims to achieve precise object-level manipulation, including object insertion, swapping, and deletion. However, it faces significant challenges in maintaining fidelity and temporal consistency. Existing methods, often designed for U-Net architectures, suffer from two primary limitations: inaccurate inversion due to first-order solvers, and contextual conflicts caused by crude "hard" feature replacement. These issues are more challenging in Diffusion Transformers (DiTs), where the unsuitability of prior layer-selection heuristics makes effective guidance challenging. To address these limitations, we introduce ContextFlow, a novel training-free framework for DiT-based video object editing. In detail, we first employ a high-order Rectified Flow solver to establish a robust editing foundation. The core of our framework is Adaptive Context Enrichment (for specifying what to edit), a mechanism that addresses contextual conflicts. Instead of replacing features, it enriches the self-attention context by concatenating Key-Value pairs from parallel reconstruction and editing paths, empowering the model to dynamically fuse information. Additionally, to determine where to apply this enrichment (for specifying where to edit), we propose a systematic, data-driven analysis to identify task-specific vital layers. Based on a novel Guidance Responsiveness Metric, our method pinpoints the most influential DiT blocks for different tasks (e.g., insertion, swapping), enabling targeted and highly effective guidance. Extensive experiments show that ContextFlow significantly outperforms existing training-free methods and even surpasses several state-of-the-art training-based approaches, delivering temporally coherent, high-fidelity results.

Supervised learning models for precise tracking of hand-object interactions (HOI) in 3D require large amounts of annotated data for training. Moreover, it is not intuitive for non-experts to label 3D ground truth (e.g. 6DoF object pose) on 2D images. To address these issues, we present "blender-hoisynth", an interactive synthetic data generator based on the Blender software. Blender-hoisynth can scalably generate and automatically annotate visual HOI training data. Other competing approaches usually generate synthetic HOI data compeletely without human input. While this may be beneficial in some scenarios, HOI applications inherently necessitate direct control over the HOIs as an expression of human intent. With blender-hoisynth, it is possible for users to interact with objects via virtual hands using standard Virtual Reality hardware. The synthetically generated data are characterized by a high degree of photorealism and contain visually plausible and physically realistic videos of hands grasping objects and moving them around in 3D. To demonstrate the efficacy of our data generation, we replace large parts of the training data in the well-known DexYCB dataset with hoisynth data and train a state-of-the-art HOI reconstruction model with it. We show that there is no significant degradation in the model performance despite the data replacement.

Depthwise convolution is becoming increasingly popular in modern efficient ConvNets, but its kernel size is often overlooked. In this paper, we systematically study the impact of different kernel sizes, and observe that combining the benefits of multiple kernel sizes can lead to better accuracy and efficiency. Based on this observation, we propose a new mixed depthwise convolution (MixConv), which naturally mixes up multiple kernel sizes in a single convolution. As a simple drop-in replacement of vanilla depthwise convolution, our MixConv improves the accuracy and efficiency for existing MobileNets on both ImageNet classification and COCO object detection. To demonstrate the effectiveness of MixConv, we integrate it into AutoML search space and develop a new family of models, named as MixNets, which outperform previous mobile models including MobileNetV2 [20] (ImageNet top-1 accuracy +4.2%), ShuffleNetV2 [16] (+3.5%), MnasNet [26] (+1.3%), ProxylessNAS [2] (+2.2%), and FBNet [27] (+2.0%). In particular, our MixNet-L achieves a new state-of-the-art 78.9% ImageNet top-1 accuracy under typical mobile settings (<600M FLOPS). Code is at https://github.com/ tensorflow/tpu/tree/master/models/official/mnasnet/mixnet

Novel View Synthesis (NVS) and 3D generation have recently achieved prominent improvements. However, these works mainly focus on confined categories or synthetic 3D assets, which are discouraged from generalizing to challenging in-the-wild scenes and fail to be employed with 2D synthesis directly. Moreover, these methods heavily depended on camera poses, limiting their real-world applications. To overcome these issues, we propose MVInpainter, re-formulating the 3D editing as a multi-view 2D inpainting task. Specifically, MVInpainter partially inpaints multi-view images with the reference guidance rather than intractably generating an entirely novel view from scratch, which largely simplifies the difficulty of in-the-wild NVS and leverages unmasked clues instead of explicit pose conditions. To ensure cross-view consistency, MVInpainter is enhanced by video priors from motion components and appearance guidance from concatenated reference key&value attention. Furthermore, MVInpainter incorporates slot attention to aggregate high-level optical flow features from unmasked regions to control the camera movement with pose-free training and inference. Sufficient scene-level experiments on both object-centric and forward-facing datasets verify the effectiveness of MVInpainter, including diverse tasks, such as multi-view object removal, synthesis, insertion, and replacement. The project page is https://ewrfcas.github.io/MVInpainter/.

Recent prompt-based image editing models have demonstrated impressive prompt-following capability at structural editing tasks. However, existing models still fail to perform local edits, follow detailed editing prompts, or maintain global image quality beyond a single editing step. To address these challenges, we introduce SPICE, a training-free workflow that accepts arbitrary resolutions and aspect ratios, accurately follows user requirements, and improves image quality consistently during more than 100 editing steps. By synergizing the strengths of a base diffusion model and a Canny edge ControlNet model, SPICE robustly handles free-form editing instructions from the user. SPICE outperforms state-of-the-art baselines on a challenging realistic image-editing dataset consisting of semantic editing (object addition, removal, replacement, and background change), stylistic editing (texture changes), and structural editing (action change) tasks. Not only does SPICE achieve the highest quantitative performance according to standard evaluation metrics, but it is also consistently preferred by users over existing image-editing methods. We release the workflow implementation for popular diffusion model Web UIs to support further research and artistic exploration.

We present BlenderFusion, a generative visual compositing framework that synthesizes new scenes by recomposing objects, camera, and background. It follows a layering-editing-compositing pipeline: (i) segmenting and converting visual inputs into editable 3D entities (layering), (ii) editing them in Blender with 3D-grounded control (editing), and (iii) fusing them into a coherent scene using a generative compositor (compositing). Our generative compositor extends a pre-trained diffusion model to process both the original (source) and edited (target) scenes in parallel. It is fine-tuned on video frames with two key training strategies: (i) source masking, enabling flexible modifications like background replacement; (ii) simulated object jittering, facilitating disentangled control over objects and camera. BlenderFusion significantly outperforms prior methods in complex compositional scene editing tasks.

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or employing Real-to-Sim-to-Real pipelines based on physical simulators. However, the former is constrained to 2D data augmentation, while the latter suffers from imprecise physical simulation caused by inaccurate geometric reconstruction. This paper introduces RoboSplat, a novel method that generates diverse, visually realistic demonstrations by directly manipulating 3D Gaussians. Specifically, we reconstruct the scene through 3D Gaussian Splatting (3DGS), directly edit the reconstructed scene, and augment data across six types of generalization with five techniques: 3D Gaussian replacement for varying object types, scene appearance, and robot embodiments; equivariant transformations for different object poses; visual attribute editing for various lighting conditions; novel view synthesis for new camera perspectives; and 3D content generation for diverse object types. Comprehensive real-world experiments demonstrate that RoboSplat significantly enhances the generalization of visuomotor policies under diverse disturbances. Notably, while policies trained on hundreds of real-world demonstrations with additional 2D data augmentation achieve an average success rate of 57.2%, RoboSplat attains 87.8% in one-shot settings across six types of generalization in the real world.

Introducing user-specified visual concepts in image editing is highly practical as these concepts convey the user's intent more precisely than text-based descriptions. We propose FreeEdit, a novel approach for achieving such reference-based image editing, which can accurately reproduce the visual concept from the reference image based on user-friendly language instructions. Our approach leverages the multi-modal instruction encoder to encode language instructions to guide the editing process. This implicit way of locating the editing area eliminates the need for manual editing masks. To enhance the reconstruction of reference details, we introduce the Decoupled Residual ReferAttention (DRRA) module. This module is designed to integrate fine-grained reference features extracted by a detail extractor into the image editing process in a residual way without interfering with the original self-attention. Given that existing datasets are unsuitable for reference-based image editing tasks, particularly due to the difficulty in constructing image triplets that include a reference image, we curate a high-quality dataset, FreeBench, using a newly developed twice-repainting scheme. FreeBench comprises the images before and after editing, detailed editing instructions, as well as a reference image that maintains the identity of the edited object, encompassing tasks such as object addition, replacement, and deletion. By conducting phased training on FreeBench followed by quality tuning, FreeEdit achieves high-quality zero-shot editing through convenient language instructions. We conduct extensive experiments to evaluate the effectiveness of FreeEdit across multiple task types, demonstrating its superiority over existing methods. The code will be available at: https://freeedit.github.io/.

Natural language offers a highly intuitive interface for image editing. In this paper, we introduce the first solution for performing local (region-based) edits in generic natural images, based on a natural language description along with an ROI mask. We achieve our goal by leveraging and combining a pretrained language-image model (CLIP), to steer the edit towards a user-provided text prompt, with a denoising diffusion probabilistic model (DDPM) to generate natural-looking results. To seamlessly fuse the edited region with the unchanged parts of the image, we spatially blend noised versions of the input image with the local text-guided diffusion latent at a progression of noise levels. In addition, we show that adding augmentations to the diffusion process mitigates adversarial results. We compare against several baselines and related methods, both qualitatively and quantitatively, and show that our method outperforms these solutions in terms of overall realism, ability to preserve the background and matching the text. Finally, we show several text-driven editing applications, including adding a new object to an image, removing/replacing/altering existing objects, background replacement, and image extrapolation. Code is available at: https://omriavrahami.com/blended-diffusion-page/

Scene graphs offer a structured, hierarchical representation of images, with nodes and edges symbolizing objects and the relationships among them. It can serve as a natural interface for image editing, dramatically improving precision and flexibility. Leveraging this benefit, we introduce a new framework that integrates large language model (LLM) with Text2Image generative model for scene graph-based image editing. This integration enables precise modifications at the object level and creative recomposition of scenes without compromising overall image integrity. Our approach involves two primary stages: 1) Utilizing a LLM-driven scene parser, we construct an image's scene graph, capturing key objects and their interrelationships, as well as parsing fine-grained attributes such as object masks and descriptions. These annotations facilitate concept learning with a fine-tuned diffusion model, representing each object with an optimized token and detailed description prompt. 2) During the image editing phase, a LLM editing controller guides the edits towards specific areas. These edits are then implemented by an attention-modulated diffusion editor, utilizing the fine-tuned model to perform object additions, deletions, replacements, and adjustments. Through extensive experiments, we demonstrate that our framework significantly outperforms existing image editing methods in terms of editing precision and scene aesthetics.

The integration of Rotary Position Embedding (RoPE) in Multimodal Diffusion Transformer (MMDiT) has significantly enhanced text-to-image generation quality. However, the fundamental reliance of self-attention layers on positional embedding versus query-key similarity during generation remains an intriguing question. We present the first mechanistic analysis of RoPE-based MMDiT models (e.g., FLUX), introducing an automated probing strategy that disentangles positional information versus content dependencies by strategically manipulating RoPE during generation. Our analysis reveals distinct dependency patterns that do not straightforwardly correlate with depth, offering new insights into the layer-specific roles in RoPE-based MMDiT. Based on these findings, we propose a training-free, task-specific image editing framework that categorizes editing tasks into three types: position-dependent editing (e.g., object addition), content similarity-dependent editing (e.g., non-rigid editing), and region-preserved editing (e.g., background replacement). For each type, we design tailored key-value injection strategies based on the characteristics of the editing task. Extensive qualitative and quantitative evaluations demonstrate that our method outperforms state-of-the-art approaches, particularly in preserving original semantic content and achieving seamless modifications.

We introduce ReplaceAnything3D model (RAM3D), a novel text-guided 3D scene editing method that enables the replacement of specific objects within a scene. Given multi-view images of a scene, a text prompt describing the object to replace, and a text prompt describing the new object, our Erase-and-Replace approach can effectively swap objects in the scene with newly generated content while maintaining 3D consistency across multiple viewpoints. We demonstrate the versatility of ReplaceAnything3D by applying it to various realistic 3D scenes, showcasing results of modified foreground objects that are well-integrated with the rest of the scene without affecting its overall integrity.

As large-scale text-to-image generation models have made remarkable progress in the field of text-to-image generation, many fine-tuning methods have been proposed. However, these models often struggle with novel objects, especially with one-shot scenarios. Our proposed method aims to address the challenges of generalizability and fidelity in an object-driven way, using only a single input image and the object-specific regions of interest. To improve generalizability and mitigate overfitting, in our paradigm, a prototypical embedding is initialized based on the object's appearance and its class, before fine-tuning the diffusion model. And during fine-tuning, we propose a class-characterizing regularization to preserve prior knowledge of object classes. To further improve fidelity, we introduce object-specific loss, which can also use to implant multiple objects. Overall, our proposed object-driven method for implanting new objects can integrate seamlessly with existing concepts as well as with high fidelity and generalization. Our method outperforms several existing works. The code will be released.

We introduce ObjectAdd, a training-free diffusion modification method to add user-expected objects into user-specified area. The motive of ObjectAdd stems from: first, describing everything in one prompt can be difficult, and second, users often need to add objects into the generated image. To accommodate with real world, our ObjectAdd maintains accurate image consistency after adding objects with technical innovations in: (1) embedding-level concatenation to ensure correct text embedding coalesce; (2) object-driven layout control with latent and attention injection to ensure objects accessing user-specified area; (3) prompted image inpainting in an attention refocusing & object expansion fashion to ensure rest of the image stays the same. With a text-prompted image, our ObjectAdd allows users to specify a box and an object, and achieves: (1) adding object inside the box area; (2) exact content outside the box area; (3) flawless fusion between the two areas

Text driven diffusion models have shown remarkable capabilities in editing images. However, when editing 3D scenes, existing works mostly rely on training a NeRF for 3D editing. Recent NeRF editing methods leverages edit operations by deploying 2D diffusion models and project these edits into 3D space. They require strong positional priors alongside text prompt to identify the edit location. These methods are operational on small 3D scenes and are more generalized to particular scene. They require training for each specific edit and cannot be exploited in real-time edits. To address these limitations, we propose a novel method, FreeEdit, to make edits in training free manner using mesh representations as a substitute for NeRF. Training-free methods are now a possibility because of the advances in foundation model's space. We leverage these models to bring a training-free alternative and introduce solutions for insertion, replacement and deletion. We consider insertion, replacement and deletion as basic blocks for performing intricate edits with certain combinations of these operations. Given a text prompt and a 3D scene, our model is capable of identifying what object should be inserted/replaced or deleted and location where edit should be performed. We also introduce a novel algorithm as part of FreeEdit to find the optimal location on grounding object for placement. We evaluate our model by comparing it with baseline models on a wide range of scenes using quantitative and qualitative metrics and showcase the merits of our method with respect to others.

This paper introduces a tuning-free method for both object insertion and subject-driven generation. The task involves composing an object, given multiple views, into a scene specified by either an image or text. Existing methods struggle to fully meet the task's challenging objectives: (i) seamlessly composing the object into the scene with photorealistic pose and lighting, and (ii) preserving the object's identity. We hypothesize that achieving these goals requires large scale supervision, but manually collecting sufficient data is simply too expensive. The key observation in this paper is that many mass-produced objects recur across multiple images of large unlabeled datasets, in different scenes, poses, and lighting conditions. We use this observation to create massive supervision by retrieving sets of diverse views of the same object. This powerful paired dataset enables us to train a straightforward text-to-image diffusion architecture to map the object and scene descriptions to the composited image. We compare our method, ObjectMate, with state-of-the-art methods for object insertion and subject-driven generation, using a single or multiple references. Empirically, ObjectMate achieves superior identity preservation and more photorealistic composition. Differently from many other multi-reference methods, ObjectMate does not require slow test-time tuning.

Subject-driven image generation aims at generating images containing customized subjects, which has recently drawn enormous attention from the research community. However, the previous works cannot precisely control the background and position of the target subject. In this work, we aspire to fill the void and propose two novel subject-driven sub-tasks, i.e., Subject Replacement and Subject Addition. The new tasks are challenging in multiple aspects: replacing a subject with a customized one can change its shape, texture, and color, while adding a target subject to a designated position in a provided scene necessitates a context-aware posture. To conquer these two novel tasks, we first manually curate a new dataset DreamEditBench containing 22 different types of subjects, and 440 source images with different difficulty levels. We plan to host DreamEditBench as a platform and hire trained evaluators for standard human evaluation. We also devise an innovative method DreamEditor to resolve these tasks by performing iterative generation, which enables a smooth adaptation to the customized subject. In this project, we conduct automatic and human evaluations to understand the performance of DreamEditor and baselines on DreamEditBench. For Subject Replacement, we found that the existing models are sensitive to the shape and color of the original subject. The model failure rate will dramatically increase when the source and target subjects are highly different. For Subject Addition, we found that the existing models cannot easily blend the customized subjects into the background smoothly, leading to noticeable artifacts in the generated image. We hope DreamEditBench can become a standard platform to enable future investigations toward building more controllable subject-driven image editing. Our project homepage is https://dreameditbenchteam.github.io/.

We introduce a set of image transformations that can be used as corruptions to evaluate the robustness of models as well as data augmentation mechanisms for training neural networks. The primary distinction of the proposed transformations is that, unlike existing approaches such as Common Corruptions, the geometry of the scene is incorporated in the transformations -- thus leading to corruptions that are more likely to occur in the real world. We also introduce a set of semantic corruptions (e.g. natural object occlusions). We show these transformations are `efficient' (can be computed on-the-fly), `extendable' (can be applied on most image datasets), expose vulnerability of existing models, and can effectively make models more robust when employed as `3D data augmentation' mechanisms. The evaluations on several tasks and datasets suggest incorporating 3D information into benchmarking and training opens up a promising direction for robustness research.

Recent text-to-image generative models can generate high-fidelity images from text prompts. However, these models struggle to consistently generate the same objects in different contexts with the same appearance. Consistent object generation is important to many downstream tasks like generating comic book illustrations with consistent characters and setting. Numerous approaches attempt to solve this problem by extending the vocabulary of diffusion models through fine-tuning. However, even lightweight fine-tuning approaches can be prohibitively expensive to run at scale and in real-time. We introduce a method called ObjectComposer for generating compositions of multiple objects that resemble user-specified images. Our approach is training-free, leveraging the abilities of preexisting models. We build upon the recent BLIP-Diffusion model, which can generate images of single objects specified by reference images. ObjectComposer enables the consistent generation of compositions containing multiple specific objects simultaneously, all without modifying the weights of the underlying models.

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may not suit the preferences of a particular customer. Moreover, such a system consists of multi-objective tasks comprising -- (i) Detection of misplaced objects and prediction of their potentially correct placements, (ii) Fine-grained manipulation for stable object grasping, and (iii) Room-to-room navigation for transferring objects in unseen environments. This work systematically tackles each component and integrates them into a complete object rearrangement pipeline. To validate our proposed system, we conduct multiple experiments on a real robotic platform involving multi-room object transfer, user preference-based placement, and complex pick-and-place tasks. Project page: https://sites.google.com/eng.ucsd.edu/home-robot

Object compositing based on 2D images is a challenging problem since it typically involves multiple processing stages such as color harmonization, geometry correction and shadow generation to generate realistic results. Furthermore, annotating training data pairs for compositing requires substantial manual effort from professionals, and is hardly scalable. Thus, with the recent advances in generative models, in this work, we propose a self-supervised framework for object compositing by leveraging the power of conditional diffusion models. Our framework can hollistically address the object compositing task in a unified model, transforming the viewpoint, geometry, color and shadow of the generated object while requiring no manual labeling. To preserve the input object's characteristics, we introduce a content adaptor that helps to maintain categorical semantics and object appearance. A data augmentation method is further adopted to improve the fidelity of the generator. Our method outperforms relevant baselines in both realism and faithfulness of the synthesized result images in a user study on various real-world images.

Object rearrangement is a significant task for collaborative robots, where they are directed to manipulate objects into a specified goal state. Determining the placement of objects is a major challenge that influences the efficiency of the rearrangement process. Most current methods heavily rely on pre-collected datasets to train the model for predicting the goal position and are restricted to specific instructions, which limits their broader applicability and effectiveness.In this paper, we propose a framework of language-conditioned object rearrangement based on the Large Language Model (LLM). Particularly, our approach mimics human reasoning by using past successful experiences as a reference to infer the desired goal position. Based on LLM's strong natural language comprehension and inference ability, our method can generalise to handle various everyday objects and free-form language instructions in a zero-shot manner. Experimental results demonstrate that our methods can effectively execute the robotic rearrangement tasks, even those involving long sequential orders.

Although text-to-image (T2I) models exhibit remarkable generation capabilities, they frequently fail to accurately bind semantically related objects or attributes in the input prompts; a challenge termed semantic binding. Previous approaches either involve intensive fine-tuning of the entire T2I model or require users or large language models to specify generation layouts, adding complexity. In this paper, we define semantic binding as the task of associating a given object with its attribute, termed attribute binding, or linking it to other related sub-objects, referred to as object binding. We introduce a novel method called Token Merging (ToMe), which enhances semantic binding by aggregating relevant tokens into a single composite token. This ensures that the object, its attributes and sub-objects all share the same cross-attention map. Additionally, to address potential confusion among main objects with complex textual prompts, we propose end token substitution as a complementary strategy. To further refine our approach in the initial stages of T2I generation, where layouts are determined, we incorporate two auxiliary losses, an entropy loss and a semantic binding loss, to iteratively update the composite token to improve the generation integrity. We conducted extensive experiments to validate the effectiveness of ToMe, comparing it against various existing methods on the T2I-CompBench and our proposed GPT-4o object binding benchmark. Our method is particularly effective in complex scenarios that involve multiple objects and attributes, which previous methods often fail to address. The code will be publicly available at https://github.com/hutaihang/ToMe.

We introduce precise object silhouette as a new form of user control in text-to-image diffusion models, which we dub Shape-Guided Diffusion. Our training-free method uses an Inside-Outside Attention mechanism during the inversion and generation process to apply a shape constraint to the cross- and self-attention maps. Our mechanism designates which spatial region is the object (inside) vs. background (outside) then associates edits to the correct region. We demonstrate the efficacy of our method on the shape-guided editing task, where the model must replace an object according to a text prompt and object mask. We curate a new ShapePrompts benchmark derived from MS-COCO and achieve SOTA results in shape faithfulness without a degradation in text alignment or image realism according to both automatic metrics and annotator ratings. Our data and code will be made available at https://shape-guided-diffusion.github.io.

Recent research has evidenced the significant potentials of Large Language Models (LLMs) in handling challenging tasks within 3D scenes. However, current models are constrained to addressing object-centric tasks, where each question-answer pair focuses solely on an individual object. In real-world applications, users may pose queries involving multiple objects or expect for answers that precisely reference various objects. We introduce the use of object identifiers to freely reference objects during a conversation. While this solution appears straightforward, it presents two main challenges: 1) How to establish a reliable one-to-one correspondence between each object and its identifier? 2) How to incorporate complex spatial relationships among dozens of objects into the embedding space of the LLM? To address these challenges, we propose a two-stage alignment method, which involves learning an attribute-aware token and a relation-aware token for each object. These tokens capture the object's attributes and spatial relationships with surrounding objects in the 3D scene. Once the alignment is established, we can fine-tune our model on various downstream tasks using instruction tuning. Experiments conducted on traditional datasets like ScanQA, ScanRefer, and Nr3D/Sr3D showcase the effectiveness of our proposed method. Additionally, we create a 3D scene captioning dataset annotated with rich object identifiers, with the assistant of GPT-4. This dataset aims to further explore the capability of object identifiers in effective object referencing and precise scene understanding.

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models. It relies on a small set of training objects to learn local object representations, which allow us to locally match the input image to a set of "templates", rendered images of the CAD models for the new objects. In contrast with the state-of-the-art methods, the new objects on which our method is applied can be very different from the training objects. As a result, we are the first to show generalization without retraining on the LINEMOD and Occlusion-LINEMOD datasets. Our analysis of the failure modes of previous template-based approaches further confirms the benefits of local features for template matching. We outperform the state-of-the-art template matching methods on the LINEMOD, Occlusion-LINEMOD and T-LESS datasets. Our source code and data are publicly available at https://github.com/nv-nguyen/template-pose

Simple as it seems, moving an object to another location within an image is, in fact, a challenging image-editing task that requires re-harmonizing the lighting, adjusting the pose based on perspective, accurately filling occluded regions, and ensuring coherent synchronization of shadows and reflections while maintaining the object identity. In this paper, we present ObjectMover, a generative model that can perform object movement in highly challenging scenes. Our key insight is that we model this task as a sequence-to-sequence problem and fine-tune a video generation model to leverage its knowledge of consistent object generation across video frames. We show that with this approach, our model is able to adjust to complex real-world scenarios, handling extreme lighting harmonization and object effect movement. As large-scale data for object movement are unavailable, we construct a data generation pipeline using a modern game engine to synthesize high-quality data pairs. We further propose a multi-task learning strategy that enables training on real-world video data to improve the model generalization. Through extensive experiments, we demonstrate that ObjectMover achieves outstanding results and adapts well to real-world scenarios.

Text-to-image models give rise to workflows which often begin with an exploration step, where users sift through a large collection of generated images. The global nature of the text-to-image generation process prevents users from narrowing their exploration to a particular object in the image. In this paper, we present a technique to generate a collection of images that depicts variations in the shape of a specific object, enabling an object-level shape exploration process. Creating plausible variations is challenging as it requires control over the shape of the generated object while respecting its semantics. A particular challenge when generating object variations is accurately localizing the manipulation applied over the object's shape. We introduce a prompt-mixing technique that switches between prompts along the denoising process to attain a variety of shape choices. To localize the image-space operation, we present two techniques that use the self-attention layers in conjunction with the cross-attention layers. Moreover, we show that these localization techniques are general and effective beyond the scope of generating object variations. Extensive results and comparisons demonstrate the effectiveness of our method in generating object variations, and the competence of our localization techniques.

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework that unifies 3D scene reconstruction with semantic understanding. Instead of treating the scene as a unified whole, ObjectGS models individual objects as local anchors that generate neural Gaussians and share object IDs, enabling precise object-level reconstruction. During training, we dynamically grow or prune these anchors and optimize their features, while a one-hot ID encoding with a classification loss enforces clear semantic constraints. We show through extensive experiments that ObjectGS not only outperforms state-of-the-art methods on open-vocabulary and panoptic segmentation tasks, but also integrates seamlessly with applications like mesh extraction and scene editing. Project page: https://ruijiezhu94.github.io/ObjectGS_page

Adding Object into images based on text instructions is a challenging task in semantic image editing, requiring a balance between preserving the original scene and seamlessly integrating the new object in a fitting location. Despite extensive efforts, existing models often struggle with this balance, particularly with finding a natural location for adding an object in complex scenes. We introduce Add-it, a training-free approach that extends diffusion models' attention mechanisms to incorporate information from three key sources: the scene image, the text prompt, and the generated image itself. Our weighted extended-attention mechanism maintains structural consistency and fine details while ensuring natural object placement. Without task-specific fine-tuning, Add-it achieves state-of-the-art results on both real and generated image insertion benchmarks, including our newly constructed "Additing Affordance Benchmark" for evaluating object placement plausibility, outperforming supervised methods. Human evaluations show that Add-it is preferred in over 80% of cases, and it also demonstrates improvements in various automated metrics.

By comparing the original and target prompts in editing task, we can obtain numerous editing pairs, each comprising an object and its corresponding editing target. To allow editability while maintaining fidelity to the input image, existing editing methods typically involve a fixed number of inversion steps that project the whole input image to its noisier latent representation, followed by a denoising process guided by the target prompt. However, we find that the optimal number of inversion steps for achieving ideal editing results varies significantly among different editing pairs, owing to varying editing difficulties. Therefore, the current literature, which relies on a fixed number of inversion steps, produces sub-optimal generation quality, especially when handling multiple editing pairs in a natural image. To this end, we propose a new image editing paradigm, dubbed Object-aware Inversion and Reassembly (OIR), to enable object-level fine-grained editing. Specifically, we design a new search metric, which determines the optimal inversion steps for each editing pair, by jointly considering the editability of the target and the fidelity of the non-editing region. We use our search metric to find the optimal inversion step for each editing pair when editing an image. We then edit these editing pairs separately to avoid concept mismatch. Subsequently, we propose an additional reassembly step to seamlessly integrate the respective editing results and the non-editing region to obtain the final edited image. To systematically evaluate the effectiveness of our method, we collect two datasets for benchmarking single- and multi-object editing, respectively. Experiments demonstrate that our method achieves superior performance in editing object shapes, colors, materials, categories, etc., especially in multi-object editing scenarios.

Imitation learning with visual observations is notoriously inefficient when addressed with end-to-end behavioural cloning methods. In this paper, we explore an alternative paradigm which decomposes reasoning into three phases. First, a retrieval phase, which informs the robot what it can do with an object. Second, an alignment phase, which informs the robot where to interact with the object. And third, a replay phase, which informs the robot how to interact with the object. Through a series of real-world experiments on everyday tasks, such as grasping, pouring, and inserting objects, we show that this decomposition brings unprecedented learning efficiency, and effective inter- and intra-class generalisation. Videos are available at https://www.robot-learning.uk/retrieval-alignment-replay.

Generative methods for image and video editing use generative models as priors to perform edits despite incomplete information, such as changing the composition of 3D objects shown in a single image. Recent methods have shown promising composition editing results in the image setting, but in the video setting, editing methods have focused on editing object's appearance and motion, or camera motion, and as a result, methods to edit object composition in videos are still missing. We propose \name as a method for editing 3D object compositions in videos of static scenes with camera motion. Our approach allows editing the 3D position of a 3D object across all frames of a video in a temporally consistent manner. This is achieved by lifting intermediate features of a generative model to a 3D reconstruction that is shared between all frames, editing the reconstruction, and projecting the features on the edited reconstruction back to each frame. To the best of our knowledge, this is the first generative approach to edit object compositions in videos. Our approach is simple and training-free, while outperforming state-of-the-art image editing baselines.

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic, real-world environments. One key challenge in this context is object generalization, where a robot trained to perform a task with one object, such as "hand over the apple," struggles to transfer its skills to a semantically similar but visually different object, such as "hand over the peach." This gap in generalization to new objects beyond those in the same category has yet to be adequately addressed in previous work on end-to-end visuomotor policy learning. In this paper, we present a simple yet effective approach for achieving object generalization through Vision-Language-Action (VLA) models, referred to as ObjectVLA. Our model enables robots to generalize learned skills to novel objects without requiring explicit human demonstrations for each new target object. By leveraging vision-language pair data, our method provides a lightweight and scalable way to inject knowledge about the target object, establishing an implicit link between the object and the desired action. We evaluate ObjectVLA on a real robotic platform, demonstrating its ability to generalize across 100 novel objects with a 64\% success rate in selecting objects not seen during training. Furthermore, we propose a more accessible method for enhancing object generalization in VLA models, using a smartphone to capture a few images and fine-tune the pre-trained model. These results highlight the effectiveness of our approach in enabling object-level generalization and reducing the need for extensive human demonstrations, paving the way for more flexible and scalable robotic learning systems.

Text-driven localized editing of 3D objects is particularly difficult as locally mixing the original 3D object with the intended new object and style effects without distorting the object's form is not a straightforward process. To address this issue, we propose a novel NeRF-based model, Blending-NeRF, which consists of two NeRF networks: pretrained NeRF and editable NeRF. Additionally, we introduce new blending operations that allow Blending-NeRF to properly edit target regions which are localized by text. By using a pretrained vision-language aligned model, CLIP, we guide Blending-NeRF to add new objects with varying colors and densities, modify textures, and remove parts of the original object. Our extensive experiments demonstrate that Blending-NeRF produces naturally and locally edited 3D objects from various text prompts. Our project page is available at https://seokhunchoi.github.io/Blending-NeRF/

Recent advances in Multimodal Large Language Models (MLLMs) have enabled models to perform both understanding and generation of multimodal data in a unified manner. However, achieving a fine-grained alignment between input prompts and generated images remains a major challenge especially in text-to-image generation. Therefore, recent works have introduced self-improving mechanisms based on self-generated data and self-feedback to efficiently mitigate this challenge without relying on external large-scale data or models. However, existing self-improving approaches have not focused on fine-grained visual details especially at the object level in generating training data or providing a feedback, and thus they still struggle to resolve the object hallucination problem in text-to-image generation. To tackle this problem, we propose an Object-centric Self-improving Preference Optimization (OSPO), a self-improving framework for enhancing object-level text-image alignment. OSPO is designed to explicitly address the need for constructing and leveraging object-level hard negative data and an object-centric optimization in improving object-specific fidelity. In specific, OSPO consists of: (1) Initial Prompt Generation (2) Hard Preference Pair Generation (3) Filtering and Selection (4) Object-centric Preference Optimization with Conditional Preference Loss. Extensive experiments on compositional image generation benchmarks demonstrate that OSPO significantly improves fine-grained alignment in text-to-image generation, surpassing not only prior self-improving methods but also diffusion-based specialized image generation models.

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform object handover almost flawlessly. The success of humans, however, belies the complexity of object handover as collaborative physical interaction between two agents with limited communication. This paper presents a learning algorithm for dynamic object handover, for example, when a robot hands over water bottles to marathon runners passing by the water station. We formulate the problem as contextual policy search, in which the robot learns object handover by interacting with the human. A key challenge here is to learn the latent reward of the handover task under noisy human feedback. Preliminary experiments show that the robot learns to hand over a water bottle naturally and that it adapts to the dynamics of human motion. One challenge for the future is to combine the model-free learning algorithm with a model-based planning approach and enable the robot to adapt over human preferences and object characteristics, such as shape, weight, and surface texture.

Developing deep learning models that effectively learn object-centric representations, akin to human cognition, remains a challenging task. Existing approaches facilitate object discovery by representing objects as fixed-size vectors, called ``slots'' or ``object files''. While these approaches have shown promise in certain scenarios, they still exhibit certain limitations. First, they rely on architectural priors which can be unreliable and usually require meticulous engineering to identify the correct objects. Second, there has been a notable gap in investigating the practical utility of these representations in downstream tasks. To address the first limitation, we introduce a method that explicitly optimizes the constraint that each object in a scene should be associated with a distinct slot. We formalize this constraint by introducing consistency objectives which are cyclic in nature. By integrating these consistency objectives into various existing slot-based object-centric methods, we showcase substantial improvements in object-discovery performance. These enhancements consistently hold true across both synthetic and real-world scenes, underscoring the effectiveness and adaptability of the proposed approach. To tackle the second limitation, we apply the learned object-centric representations from the proposed method to two downstream reinforcement learning tasks, demonstrating considerable performance enhancements compared to conventional slot-based and monolithic representation learning methods. Our results suggest that the proposed approach not only improves object discovery, but also provides richer features for downstream tasks.

Large-scale text-to-image generative models have been a ground-breaking development in generative AI, with diffusion models showing their astounding ability to synthesize convincing images following an input text prompt. The goal of image editing research is to give users control over the generated images by modifying the text prompt. Current image editing techniques are susceptible to unintended modifications of regions outside the targeted area, such as on the background or on distractor objects which have some semantic or visual relationship with the targeted object. According to our experimental findings, inaccurate cross-attention maps are at the root of this problem. Based on this observation, we propose Dynamic Prompt Learning (DPL) to force cross-attention maps to focus on correct noun words in the text prompt. By updating the dynamic tokens for nouns in the textual input with the proposed leakage repairment losses, we achieve fine-grained image editing over particular objects while preventing undesired changes to other image regions. Our method DPL, based on the publicly available Stable Diffusion, is extensively evaluated on a wide range of images, and consistently obtains superior results both quantitatively (CLIP score, Structure-Dist) and qualitatively (on user-evaluation). We show improved prompt editing results for Word-Swap, Prompt Refinement, and Attention Re-weighting, especially for complex multi-object scenes.

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling by using autonomous robot interaction with the environment. Such representation learning methods can benefit from continuous refinement of the representation as the robot collects more experience, allowing them to scale effectively without human intervention. Our representation learning approach is based on object persistence: when a robot removes an object from a scene, the representation of that scene should change according to the features of the object that was removed. We formulate an arithmetic relationship between feature vectors from this observation, and use it to learn a representation of scenes and objects that can then be used to identify object instances, localize them in the scene, and perform goal-directed grasping tasks where the robot must retrieve commanded objects from a bin. The same grasping procedure can also be used to automatically collect training data for our method, by recording images of scenes, grasping and removing an object, and recording the outcome. Our experiments demonstrate that this self-supervised approach for tasked grasping substantially outperforms direct reinforcement learning from images and prior representation learning methods.

Recently, several works tackled the video editing task fostered by the success of large-scale text-to-image generative models. However, most of these methods holistically edit the frame using the text, exploiting the prior given by foundation diffusion models and focusing on improving the temporal consistency across frames. In this work, we introduce a framework that is object-centric and is designed to control both the object's appearance and, notably, to execute precise and explicit structural modifications on the object. We build our framework on a pre-trained image-conditioned diffusion model, integrate layers to handle the temporal dimension, and propose training strategies and architectural modifications to enable shape control. We evaluate our method on the image-driven video editing task showing similar performance to the state-of-the-art, and showcasing novel shape-editing capabilities. Further details, code and examples are available on our project page: https://helia95.github.io/vase-website/

We introduce a novel approach to the executable semantic object rearrangement problem. In this challenge, a robot seeks to create an actionable plan that rearranges objects within a scene according to a pattern dictated by a natural language description. Unlike existing methods such as StructFormer and StructDiffusion, which tackle the issue in two steps by first generating poses and then leveraging a task planner for action plan formulation, our method concurrently addresses pose generation and action planning. We achieve this integration using a Language-Guided Monte-Carlo Tree Search (LGMCTS). Quantitative evaluations are provided on two simulation datasets, and complemented by qualitative tests with a real robot.

We introduce a method to generate 3D scenes that are disentangled into their component objects. This disentanglement is unsupervised, relying only on the knowledge of a large pretrained text-to-image model. Our key insight is that objects can be discovered by finding parts of a 3D scene that, when rearranged spatially, still produce valid configurations of the same scene. Concretely, our method jointly optimizes multiple NeRFs from scratch - each representing its own object - along with a set of layouts that composite these objects into scenes. We then encourage these composited scenes to be in-distribution according to the image generator. We show that despite its simplicity, our approach successfully generates 3D scenes decomposed into individual objects, enabling new capabilities in text-to-3D content creation. For results and an interactive demo, see our project page at https://dave.ml/layoutlearning/

Open-vocabulary object detection aims to provide object detectors trained on a fixed set of object categories with the generalizability to detect objects described by arbitrary text queries. Previous methods adopt knowledge distillation to extract knowledge from Pretrained Vision-and-Language Models (PVLMs) and transfer it to detectors. However, due to the non-adaptive proposal cropping and single-level feature mimicking processes, they suffer from information destruction during knowledge extraction and inefficient knowledge transfer. To remedy these limitations, we propose an Object-Aware Distillation Pyramid (OADP) framework, including an Object-Aware Knowledge Extraction (OAKE) module and a Distillation Pyramid (DP) mechanism. When extracting object knowledge from PVLMs, the former adaptively transforms object proposals and adopts object-aware mask attention to obtain precise and complete knowledge of objects. The latter introduces global and block distillation for more comprehensive knowledge transfer to compensate for the missing relation information in object distillation. Extensive experiments show that our method achieves significant improvement compared to current methods. Especially on the MS-COCO dataset, our OADP framework reaches 35.6 mAP^{N}_{50}, surpassing the current state-of-the-art method by 3.3 mAP^{N}_{50}. Code is released at https://github.com/LutingWang/OADP.

Visual retrieval systems face significant challenges when updating models with improved representations due to misalignment between the old and new representations. The costly and resource-intensive backfilling process involves recalculating feature vectors for images in the gallery set whenever a new model is introduced. To address this, prior research has explored backward-compatible training methods that enable direct comparisons between new and old representations without backfilling. Despite these advancements, achieving a balance between backward compatibility and the performance of independently trained models remains an open problem. In this paper, we address it by expanding the representation space with additional dimensions and learning an orthogonal transformation to achieve compatibility with old models and, at the same time, integrate new information. This transformation preserves the original feature space's geometry, ensuring that our model aligns with previous versions while also learning new data. Our Orthogonal Compatible Aligned (OCA) approach eliminates the need for re-indexing during model updates and ensures that features can be compared directly across different model updates without additional mapping functions. Experimental results on CIFAR-100 and ImageNet-1k demonstrate that our method not only maintains compatibility with previous models but also achieves state-of-the-art accuracy, outperforming several existing methods.

Text-to-image based object customization, aiming to generate images with the same identity (ID) as objects of interest in accordance with text prompts and reference images, has made significant progress. However, recent customizing research is dominated by specialized tasks, such as human customization or virtual try-on, leaving a gap in general object customization. To this end, we introduce AnyMaker, an innovative zero-shot object customization framework capable of generating general objects with high ID fidelity and flexible text editability. The efficacy of AnyMaker stems from its novel general ID extraction, dual-level ID injection, and ID-aware decoupling. Specifically, the general ID extraction module extracts sufficient ID information with an ensemble of self-supervised models to tackle the diverse customization tasks for general objects. Then, to provide the diffusion UNet with the extracted ID as much while not damaging the text editability in the generation process, we design a global-local dual-level ID injection module, in which the global-level semantic ID is injected into text descriptions while the local-level ID details are injected directly into the model through newly added cross-attention modules. In addition, we propose an ID-aware decoupling module to disentangle ID-related information from non-ID elements in the extracted representations for high-fidelity generation of both identity and text descriptions. To validate our approach and boost the research of general object customization, we create the first large-scale general ID dataset, Multi-Category ID-Consistent (MC-IDC) dataset, with 315k text-image samples and 10k categories. Experiments show that AnyMaker presents remarkable performance in general object customization and outperforms specialized methods in corresponding tasks. Code and dataset will be released soon.

Text-to-image diffusion models have shown great success in generating high-quality text-guided images. Yet, these models may still fail to semantically align generated images with the provided text prompts, leading to problems like incorrect attribute binding and/or catastrophic object neglect. Given the pervasive object-oriented structure underlying text prompts, we introduce a novel object-conditioned Energy-Based Attention Map Alignment (EBAMA) method to address the aforementioned problems. We show that an object-centric attribute binding loss naturally emerges by approximately maximizing the log-likelihood of a z-parameterized energy-based model with the help of the negative sampling technique. We further propose an object-centric intensity regularizer to prevent excessive shifts of objects attention towards their attributes. Extensive qualitative and quantitative experiments, including human evaluation, on several challenging benchmarks demonstrate the superior performance of our method over previous strong counterparts. With better aligned attention maps, our approach shows great promise in further enhancing the text-controlled image editing ability of diffusion models.

The emergence of various adapters, including Low-Rank Adaptation (LoRA) applied from the field of natural language processing, has allowed diffusion models to personalize image generation at a low cost. However, due to the various challenges including limited datasets and shortage of regularization and computation resources, adapter training often results in unsatisfactory outcomes, leading to the corruption of the backbone model's prior knowledge. One of the well known phenomena is the loss of diversity in object generation, especially within the same class which leads to generating almost identical objects with minor variations. This poses challenges in generation capabilities. To solve this issue, we present Contrastive Adapter Training (CAT), a simple yet effective strategy to enhance adapter training through the application of CAT loss. Our approach facilitates the preservation of the base model's original knowledge when the model initiates adapters. Furthermore, we introduce the Knowledge Preservation Score (KPS) to evaluate CAT's ability to keep the former information. We qualitatively and quantitatively compare CAT's improvement. Finally, we mention the possibility of CAT in the aspects of multi-concept adapter and optimization.

General object composition (GOC) aims to seamlessly integrate a target object into a background scene with desired geometric properties, while simultaneously preserving its fine-grained appearance details. Recent approaches derive semantic embeddings and integrate them into advanced diffusion models to enable geometry-editable generation. However, these highly compact embeddings encode only high-level semantic cues and inevitably discard fine-grained appearance details. We introduce a Disentangled Geometry-editable and Appearance-preserving Diffusion (DGAD) model that first leverages semantic embeddings to implicitly capture the desired geometric transformations and then employs a cross-attention retrieval mechanism to align fine-grained appearance features with the geometry-edited representation, facilitating both precise geometry editing and faithful appearance preservation in object composition. Specifically, DGAD builds on CLIP/DINO-derived and reference networks to extract semantic embeddings and appearance-preserving representations, which are then seamlessly integrated into the encoding and decoding pipelines in a disentangled manner. We first integrate the semantic embeddings into pre-trained diffusion models that exhibit strong spatial reasoning capabilities to implicitly capture object geometry, thereby facilitating flexible object manipulation and ensuring effective editability. Then, we design a dense cross-attention mechanism that leverages the implicitly learned object geometry to retrieve and spatially align appearance features with their corresponding regions, ensuring faithful appearance consistency. Extensive experiments on public benchmarks demonstrate the effectiveness of the proposed DGAD framework.

Image editing has advanced significantly with the introduction of text-conditioned diffusion models. Despite this progress, seamlessly adding objects to images based on textual instructions without requiring user-provided input masks remains a challenge. We address this by leveraging the insight that removing objects (Inpaint) is significantly simpler than its inverse process of adding them (Paint), attributed to the utilization of segmentation mask datasets alongside inpainting models that inpaint within these masks. Capitalizing on this realization, by implementing an automated and extensive pipeline, we curate a filtered large-scale image dataset containing pairs of images and their corresponding object-removed versions. Using these pairs, we train a diffusion model to inverse the inpainting process, effectively adding objects into images. Unlike other editing datasets, ours features natural target images instead of synthetic ones; moreover, it maintains consistency between source and target by construction. Additionally, we utilize a large Vision-Language Model to provide detailed descriptions of the removed objects and a Large Language Model to convert these descriptions into diverse, natural-language instructions. We show that the trained model surpasses existing ones both qualitatively and quantitatively, and release the large-scale dataset alongside the trained models for the community.

Transformer based methods have enabled users to create, modify, and comprehend text and image data. Recently proposed Large Reconstruction Models (LRMs) further extend this by providing the ability to generate high-quality 3D models with the help of a single object image. These models, however, lack the ability to manipulate or edit the finer details, such as adding standard design patterns or changing the color and reflectance of the generated objects, thus lacking fine-grained control that may be very helpful in domains such as augmented reality, animation and gaming. Naively training LRMs for this purpose would require generating precisely edited images and 3D object pairs, which is computationally expensive. In this paper, we propose Instructive3D, a novel LRM based model that integrates generation and fine-grained editing, through user text prompts, of 3D objects into a single model. We accomplish this by adding an adapter that performs a diffusion process conditioned on a text prompt specifying edits in the triplane latent space representation of 3D object models. Our method does not require the generation of edited 3D objects. Additionally, Instructive3D allows us to perform geometrically consistent modifications, as the edits done through user-defined text prompts are applied to the triplane latent representation thus enhancing the versatility and precision of 3D objects generated. We compare the objects generated by Instructive3D and a baseline that first generates the 3D object meshes using a standard LRM model and then edits these 3D objects using text prompts when images are provided from the Objaverse LVIS dataset. We find that Instructive3D produces qualitatively superior 3D objects with the properties specified by the edit prompts.

Model customization introduces new concepts to existing text-to-image models, enabling the generation of the new concept in novel contexts. However, such methods lack accurate camera view control w.r.t the object, and users must resort to prompt engineering (e.g., adding "top-view") to achieve coarse view control. In this work, we introduce a new task -- enabling explicit control of camera viewpoint for model customization. This allows us to modify object properties amongst various background scenes via text prompts, all while incorporating the target camera pose as additional control. This new task presents significant challenges in merging a 3D representation from the multi-view images of the new concept with a general, 2D text-to-image model. To bridge this gap, we propose to condition the 2D diffusion process on rendered, view-dependent features of the new object. During training, we jointly adapt the 2D diffusion modules and 3D feature predictions to reconstruct the object's appearance and geometry while reducing overfitting to the input multi-view images. Our method outperforms existing image editing and model personalization baselines in preserving the custom object's identity while following the input text prompt and the object's camera pose.

Object removal refers to the process of erasing designated objects from an image while preserving the overall appearance, and it is one area where image inpainting is widely used in real-world applications. The performance of an object remover is quantitatively evaluated by measuring the quality of object removal results, similar to how the performance of an image inpainter is gauged. Current works reporting quantitative performance evaluations utilize original images as references. In this letter, to validate the current evaluation methods cannot properly evaluate the performance of an object remover, we create a dataset with object removal ground truth and compare the evaluations made by the current methods using original images to those utilizing object removal ground truth images. The disparities between two evaluation sets validate that the current methods are not suitable for measuring the performance of an object remover. Additionally, we propose new evaluation methods tailored to gauge the performance of an object remover. The proposed methods evaluate the performance through class-wise object removal results and utilize images without the target class objects as a comparison set. We confirm that the proposed methods can make judgments consistent with human evaluators in the COCO dataset, and that they can produce measurements aligning with those using object removal ground truth in the self-acquired dataset.

We present a method for controlling a simulated humanoid to grasp an object and move it to follow an object trajectory. Due to the challenges in controlling a humanoid with dexterous hands, prior methods often use a disembodied hand and only consider vertical lifts or short trajectories. This limited scope hampers their applicability for object manipulation required for animation and simulation. To close this gap, we learn a controller that can pick up a large number (>1200) of objects and carry them to follow randomly generated trajectories. Our key insight is to leverage a humanoid motion representation that provides human-like motor skills and significantly speeds up training. Using only simplistic reward, state, and object representations, our method shows favorable scalability on diverse object and trajectories. For training, we do not need dataset of paired full-body motion and object trajectories. At test time, we only require the object mesh and desired trajectories for grasping and transporting. To demonstrate the capabilities of our method, we show state-of-the-art success rates in following object trajectories and generalizing to unseen objects. Code and models will be released.

Recent developments in the field of diffusion models have demonstrated an exceptional capacity to generate high-quality prompt-conditioned image edits. Nevertheless, previous approaches have primarily relied on textual prompts for image editing, which tend to be less effective when making precise edits to specific objects or fine-grained regions within a scene containing single/multiple objects. We introduce a novel framework for zero-shot localized multi-object editing through a multi-diffusion process to overcome this challenge. This framework empowers users to perform various operations on objects within an image, such as adding, replacing, or editing many objects in a complex scene in one pass. Our approach leverages foreground masks and corresponding simple text prompts that exert localized influences on the target regions resulting in high-fidelity image editing. A combination of cross-attention and background preservation losses within the latent space ensures that the characteristics of the object being edited are preserved while simultaneously achieving a high-quality, seamless reconstruction of the background with fewer artifacts compared to the current methods. We also curate and release a dataset dedicated to multi-object editing, named LoMOE-Bench. Our experiments against existing state-of-the-art methods demonstrate the improved effectiveness of our approach in terms of both image editing quality and inference speed.

The neural implicit representation has shown its effectiveness in novel view synthesis and high-quality 3D reconstruction from multi-view images. However, most approaches focus on holistic scene representation yet ignore individual objects inside it, thus limiting potential downstream applications. In order to learn object-compositional representation, a few works incorporate the 2D semantic map as a cue in training to grasp the difference between objects. But they neglect the strong connections between object geometry and instance semantic information, which leads to inaccurate modeling of individual instance. This paper proposes a novel framework, ObjectSDF, to build an object-compositional neural implicit representation with high fidelity in 3D reconstruction and object representation. Observing the ambiguity of conventional volume rendering pipelines, we model the scene by combining the Signed Distance Functions (SDF) of individual object to exert explicit surface constraint. The key in distinguishing different instances is to revisit the strong association between an individual object's SDF and semantic label. Particularly, we convert the semantic information to a function of object SDF and develop a unified and compact representation for scene and objects. Experimental results show the superiority of ObjectSDF framework in representing both the holistic object-compositional scene and the individual instances. Code can be found at https://qianyiwu.github.io/objectsdf/

Large language models (LLMs)-based image captioning has the capability of describing objects not explicitly observed in training data; yet novel objects occur frequently, necessitating the requirement of sustaining up-to-date object knowledge for open-world comprehension. Instead of relying on large amounts of data and scaling up network parameters, we introduce a highly effective retrieval-augmented image captioning method that prompts LLMs with object names retrieved from External Visual--name memory (EVCap). We build ever-changing object knowledge memory using objects' visuals and names, enabling us to (i) update the memory at a minimal cost and (ii) effortlessly augment LLMs with retrieved object names utilizing a lightweight and fast-to-train model. Our model, which was trained only on the COCO dataset, can be adapted to out-domain data without additional fine-tuning or retraining. Our comprehensive experiments conducted on various benchmarks and synthetic commonsense-violating data demonstrate that EVCap, comprising solely 3.97M trainable parameters, exhibits superior performance compared to other methods of equivalent model size scale. Notably, it achieves competitive performance against specialist SOTAs with an enormous number of parameters. Our code is available at https://jiaxuan-li.github.io/EVCap.

Localizing objects in image collections without supervision can help to avoid expensive annotation campaigns. We propose a simple approach to this problem, that leverages the activation features of a vision transformer pre-trained in a self-supervised manner. Our method, LOST, does not require any external object proposal nor any exploration of the image collection; it operates on a single image. Yet, we outperform state-of-the-art object discovery methods by up to 8 CorLoc points on PASCAL VOC 2012. We also show that training a class-agnostic detector on the discovered objects boosts results by another 7 points. Moreover, we show promising results on the unsupervised object discovery task. The code to reproduce our results can be found at https://github.com/valeoai/LOST.

We introduce InseRF, a novel method for generative object insertion in the NeRF reconstructions of 3D scenes. Based on a user-provided textual description and a 2D bounding box in a reference viewpoint, InseRF generates new objects in 3D scenes. Recently, methods for 3D scene editing have been profoundly transformed, owing to the use of strong priors of text-to-image diffusion models in 3D generative modeling. Existing methods are mostly effective in editing 3D scenes via style and appearance changes or removing existing objects. Generating new objects, however, remains a challenge for such methods, which we address in this study. Specifically, we propose grounding the 3D object insertion to a 2D object insertion in a reference view of the scene. The 2D edit is then lifted to 3D using a single-view object reconstruction method. The reconstructed object is then inserted into the scene, guided by the priors of monocular depth estimation methods. We evaluate our method on various 3D scenes and provide an in-depth analysis of the proposed components. Our experiments with generative insertion of objects in several 3D scenes indicate the effectiveness of our method compared to the existing methods. InseRF is capable of controllable and 3D-consistent object insertion without requiring explicit 3D information as input. Please visit our project page at https://mohamad-shahbazi.github.io/inserf.

Objects manipulated by the hand (i.e., manipulanda) are particularly challenging to reconstruct from in-the-wild RGB images or videos. Not only does the hand occlude much of the object, but also the object is often only visible in a small number of image pixels. At the same time, two strong anchors emerge in this setting: (1) estimated 3D hands help disambiguate the location and scale of the object, and (2) the set of manipulanda is small relative to all possible objects. With these insights in mind, we present a scalable paradigm for handheld object reconstruction that builds on recent breakthroughs in large language/vision models and 3D object datasets. Our model, MCC-Hand-Object (MCC-HO), jointly reconstructs hand and object geometry given a single RGB image and inferred 3D hand as inputs. Subsequently, we use GPT-4(V) to retrieve a 3D object model that matches the object in the image and rigidly align the model to the network-inferred geometry; we call this alignment Retrieval-Augmented Reconstruction (RAR). Experiments demonstrate that MCC-HO achieves state-of-the-art performance on lab and Internet datasets, and we show how RAR can be used to automatically obtain 3D labels for in-the-wild images of hand-object interactions.

In this paper, we tackle a new task of 3D object synthesis, where a 3D model is composited with another object category to create a novel 3D model. However, most existing text/image/3D-to-3D methods struggle to effectively integrate multiple content sources, often resulting in inconsistent textures and inaccurate shapes. To overcome these challenges, we propose a straightforward yet powerful approach, category+3D-to-3D (C33D), for generating novel and structurally coherent 3D models. Our method begins by rendering multi-view images and normal maps from the input 3D model, then generating a novel 2D object using adaptive text-image harmony (ATIH) with the front-view image and a text description from another object category as inputs. To ensure texture consistency, we introduce texture multi-view diffusion, which refines the textures of the remaining multi-view RGB images based on the novel 2D object. For enhanced shape accuracy, we propose shape multi-view diffusion to improve the 2D shapes of both the multi-view RGB images and the normal maps, also conditioned on the novel 2D object. Finally, these outputs are used to reconstruct a complete and novel 3D model. Extensive experiments demonstrate the effectiveness of our method, yielding impressive 3D creations, such as shark(3D)-crocodile(text) in the first row of Fig. 1. A project page is available at: https://xzr52.github.io/C33D/

We present the first text-based image editing approach for object parts based on pre-trained diffusion models. Diffusion-based image editing approaches capitalized on the deep understanding of diffusion models of image semantics to perform a variety of edits. However, existing diffusion models lack sufficient understanding of many object parts, hindering fine-grained edits requested by users. To address this, we propose to expand the knowledge of pre-trained diffusion models to allow them to understand various object parts, enabling them to perform fine-grained edits. We achieve this by learning special textual tokens that correspond to different object parts through an efficient token optimization process. These tokens are optimized to produce reliable localization masks at each inference step to localize the editing region. Leveraging these masks, we design feature-blending and adaptive thresholding strategies to execute the edits seamlessly. To evaluate our approach, we establish a benchmark and an evaluation protocol for part editing. Experiments show that our approach outperforms existing editing methods on all metrics and is preferred by users 77-90% of the time in conducted user studies.

In daily life, humans utilize hands to manipulate objects. Modeling the shape of objects that are manipulated by the hand is essential for AI to comprehend daily tasks and to learn manipulation skills. However, previous approaches have encountered difficulties in reconstructing the precise shapes of hand-held objects, primarily owing to a deficiency in prior shape knowledge and inadequate data for training. As illustrated, given a particular type of tool, such as a mug, despite its infinite variations in shape and appearance, humans have a limited number of 'effective' modes and poses for its manipulation. This can be attributed to the fact that humans have mastered the shape prior of the 'mug' category, and can quickly establish the corresponding relations between different mug instances and the prior, such as where the rim and handle are located. In light of this, we propose a new method, CHORD, for Category-level Hand-held Object Reconstruction via shape Deformation. CHORD deforms a categorical shape prior for reconstructing the intra-class objects. To ensure accurate reconstruction, we empower CHORD with three types of awareness: appearance, shape, and interacting pose. In addition, we have constructed a new dataset, COMIC, of category-level hand-object interaction. COMIC contains a rich array of object instances, materials, hand interactions, and viewing directions. Extensive evaluation shows that CHORD outperforms state-of-the-art approaches in both quantitative and qualitative measures. Code, model, and datasets are available at https://kailinli.github.io/CHORD.

Convolutional neural networks show remarkable results in classification but struggle with learning new things on the fly. We present a novel rehearsal-free approach, where a deep neural network is continually learning new unseen object categories without saving any data of prior sequences. Our approach is called RECALL, as the network recalls categories by calculating logits for old categories before training new ones. These are then used during training to avoid changing the old categories. For each new sequence, a new head is added to accommodate the new categories. To mitigate forgetting, we present a regularization strategy where we replace the classification with a regression. Moreover, for the known categories, we propose a Mahalanobis loss that includes the variances to account for the changing densities between known and unknown categories. Finally, we present a novel dataset for continual learning, especially suited for object recognition on a mobile robot (HOWS-CL-25), including 150,795 synthetic images of 25 household object categories. Our approach RECALL outperforms the current state of the art on CORe50 and iCIFAR-100 and reaches the best performance on HOWS-CL-25.

It is natural to represent objects in terms of their parts. This has the potential to improve the performance of algorithms for object recognition and segmentation but can also help for downstream tasks like activity recognition. Research on part-based models, however, is hindered by the lack of datasets with per-pixel part annotations. This is partly due to the difficulty and high cost of annotating object parts so it has rarely been done except for humans (where there exists a big literature on part-based models). To help address this problem, we propose PartImageNet, a large, high-quality dataset with part segmentation annotations. It consists of 158 classes from ImageNet with approximately 24,000 images. PartImageNet is unique because it offers part-level annotations on a general set of classes including non-rigid, articulated objects, while having an order of magnitude larger size compared to existing part datasets (excluding datasets of humans). It can be utilized for many vision tasks including Object Segmentation, Semantic Part Segmentation, Few-shot Learning and Part Discovery. We conduct comprehensive experiments which study these tasks and set up a set of baselines. The dataset and scripts are released at https://github.com/TACJu/PartImageNet.

Automatically discovering composable abstractions from raw perceptual data is a long-standing challenge in machine learning. Recent slot-based neural networks that learn about objects in a self-supervised manner have made exciting progress in this direction. However, they typically fall short at adequately capturing spatial symmetries present in the visual world, which leads to sample inefficiency, such as when entangling object appearance and pose. In this paper, we present a simple yet highly effective method for incorporating spatial symmetries via slot-centric reference frames. We incorporate equivariance to per-object pose transformations into the attention and generation mechanism of Slot Attention by translating, scaling, and rotating position encodings. These changes result in little computational overhead, are easy to implement, and can result in large gains in terms of data efficiency and overall improvements to object discovery. We evaluate our method on a wide range of synthetic object discovery benchmarks namely CLEVR, Tetrominoes, CLEVRTex, Objects Room and MultiShapeNet, and show promising improvements on the challenging real-world Waymo Open dataset.

Diffusion models have significantly improved text-to-image generation, producing high-quality, realistic images from textual descriptions. Beyond generation, object-level image editing remains a challenging problem, requiring precise modifications while preserving visual coherence. Existing text-based instructional editing methods struggle with localized shape and layout transformations, often introducing unintended global changes. Image interaction-based approaches offer better accuracy but require manual human effort to provide precise guidance. To reduce this manual effort while maintaining a high image editing accuracy, in this paper, we propose POEM, a framework for Precise Object-level Editing using Multimodal Large Language Models (MLLMs). POEM leverages MLLMs to analyze instructional prompts and generate precise object masks before and after transformation, enabling fine-grained control without extensive user input. This structured reasoning stage guides the diffusion-based editing process, ensuring accurate object localization and transformation. To evaluate our approach, we introduce VOCEdits, a benchmark dataset based on PASCAL VOC 2012, augmented with instructional edit prompts, ground-truth transformations, and precise object masks. Experimental results show that POEM outperforms existing text-based image editing approaches in precision and reliability while reducing manual effort compared to interaction-based methods.

Deep Reinforcement Learning has shown significant progress in extracting useful representations from high-dimensional inputs albeit using hand-crafted auxiliary tasks and pseudo rewards. Automatically learning such representations in an object-centric manner geared towards control and fast adaptation remains an open research problem. In this paper, we introduce a method that tries to discover meaningful features from objects, translating them to temporally coherent "question" functions and leveraging the subsequent learned general value functions for control. We compare our approach with state-of-the-art techniques alongside other ablations and show competitive performance in both stationary and non-stationary settings. Finally, we also investigate the discovered general value functions and through qualitative analysis show that the learned representations are not only interpretable but also, centered around objects that are invariant to changes across tasks facilitating fast adaptation.

Text- or image-to-3D generators and 3D scanners can now produce 3D assets with high-quality shapes and textures. These assets typically consist of a single, fused representation, like an implicit neural field, a Gaussian mixture, or a mesh, without any useful structure. However, most applications and creative workflows require assets to be made of several meaningful parts that can be manipulated independently. To address this gap, we introduce PartGen, a novel approach that generates 3D objects composed of meaningful parts starting from text, an image, or an unstructured 3D object. First, given multiple views of a 3D object, generated or rendered, a multi-view diffusion model extracts a set of plausible and view-consistent part segmentations, dividing the object into parts. Then, a second multi-view diffusion model takes each part separately, fills in the occlusions, and uses those completed views for 3D reconstruction by feeding them to a 3D reconstruction network. This completion process considers the context of the entire object to ensure that the parts integrate cohesively. The generative completion model can make up for the information missing due to occlusions; in extreme cases, it can hallucinate entirely invisible parts based on the input 3D asset. We evaluate our method on generated and real 3D assets and show that it outperforms segmentation and part-extraction baselines by a large margin. We also showcase downstream applications such as 3D part editing.

We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex, multi-step training pipelines, UniGraspTransformer follows a streamlined process: first, dedicated policy networks are trained for individual objects using reinforcement learning to generate successful grasp trajectories; then, these trajectories are distilled into a single, universal network. Our approach enables UniGraspTransformer to scale effectively, incorporating up to 12 self-attention blocks for handling thousands of objects with diverse poses. Additionally, it generalizes well to both idealized and real-world inputs, evaluated in state-based and vision-based settings. Notably, UniGraspTransformer generates a broader range of grasping poses for objects in various shapes and orientations, resulting in more diverse grasp strategies. Experimental results demonstrate significant improvements over state-of-the-art, UniDexGrasp++, across various object categories, achieving success rate gains of 3.5%, 7.7%, and 10.1% on seen objects, unseen objects within seen categories, and completely unseen objects, respectively, in the vision-based setting. Project page: https://dexhand.github.io/UniGraspTransformer.

We propose a system for rearranging objects in a scene to achieve a desired object-scene placing relationship, such as a book inserted in an open slot of a bookshelf. The pipeline generalizes to novel geometries, poses, and layouts of both scenes and objects, and is trained from demonstrations to operate directly on 3D point clouds. Our system overcomes challenges associated with the existence of many geometrically-similar rearrangement solutions for a given scene. By leveraging an iterative pose de-noising training procedure, we can fit multi-modal demonstration data and produce multi-modal outputs while remaining precise and accurate. We also show the advantages of conditioning on relevant local geometric features while ignoring irrelevant global structure that harms both generalization and precision. We demonstrate our approach on three distinct rearrangement tasks that require handling multi-modality and generalization over object shape and pose in both simulation and the real world. Project website, code, and videos: https://anthonysimeonov.github.io/rpdiff-multi-modal/

We introduce a method for the generation of images from an input scene graph. The method separates between a layout embedding and an appearance embedding. The dual embedding leads to generated images that better match the scene graph, have higher visual quality, and support more complex scene graphs. In addition, the embedding scheme supports multiple and diverse output images per scene graph, which can be further controlled by the user. We demonstrate two modes of per-object control: (i) importing elements from other images, and (ii) navigation in the object space, by selecting an appearance archetype. Our code is publicly available at https://www.github.com/ashual/scene_generation

Current digital human studies focusing on lip-syncing and body movement are no longer sufficient to meet the growing industrial demand, while human video generation techniques that support interacting with real-world environments (e.g., objects) have not been well investigated. Despite human hand synthesis already being an intricate problem, generating objects in contact with hands and their interactions presents an even more challenging task, especially when the objects exhibit obvious variations in size and shape. To tackle these issues, we present a novel video Reenactment framework focusing on Human-Object Interaction (HOI) via an adaptive Layout-instructed Diffusion model (Re-HOLD). Our key insight is to employ specialized layout representation for hands and objects, respectively. Such representations enable effective disentanglement of hand modeling and object adaptation to diverse motion sequences. To further improve the generation quality of HOI, we design an interactive textural enhancement module for both hands and objects by introducing two independent memory banks. We also propose a layout adjustment strategy for the cross-object reenactment scenario to adaptively adjust unreasonable layouts caused by diverse object sizes during inference. Comprehensive qualitative and quantitative evaluations demonstrate that our proposed framework significantly outperforms existing methods. Project page: https://fyycs.github.io/Re-HOLD.

We introduce a new approach for generating realistic 3D models with UV maps through a representation termed "Object Images." This approach encapsulates surface geometry, appearance, and patch structures within a 64x64 pixel image, effectively converting complex 3D shapes into a more manageable 2D format. By doing so, we address the challenges of both geometric and semantic irregularity inherent in polygonal meshes. This method allows us to use image generation models, such as Diffusion Transformers, directly for 3D shape generation. Evaluated on the ABO dataset, our generated shapes with patch structures achieve point cloud FID comparable to recent 3D generative models, while naturally supporting PBR material generation.

Existing image editing tools, while powerful, typically disregard the underlying 3D geometry from which the image is projected. As a result, edits made using these tools may become detached from the geometry and lighting conditions that are at the foundation of the image formation process. In this work, we formulate the newt ask of language-guided 3D-aware editing, where objects in an image should be edited according to a language instruction in context of the underlying 3D scene. To promote progress towards this goal, we release OBJECT: a dataset consisting of 400K editing examples created from procedurally generated 3D scenes. Each example consists of an input image, editing instruction in language, and the edited image. We also introduce 3DIT : single and multi-task models for four editing tasks. Our models show impressive abilities to understand the 3D composition of entire scenes, factoring in surrounding objects, surfaces, lighting conditions, shadows, and physically-plausible object configurations. Surprisingly, training on only synthetic scenes from OBJECT, editing capabilities of 3DIT generalize to real-world images.

Learning compatible representations enables the interchangeable use of semantic features as models are updated over time. This is particularly relevant in search and retrieval systems where it is crucial to avoid reprocessing of the gallery images with the updated model. While recent research has shown promising empirical evidence, there is still a lack of comprehensive theoretical understanding about learning compatible representations. In this paper, we demonstrate that the stationary representations learned by the d-Simplex fixed classifier optimally approximate compatibility representation according to the two inequality constraints of its formal definition. This not only establishes a solid foundation for future works in this line of research but also presents implications that can be exploited in practical learning scenarios. An exemplary application is the now-standard practice of downloading and fine-tuning new pre-trained models. Specifically, we show the strengths and critical issues of stationary representations in the case in which a model undergoing sequential fine-tuning is asynchronously replaced by downloading a better-performing model pre-trained elsewhere. Such a representation enables seamless delivery of retrieval service (i.e., no reprocessing of gallery images) and offers improved performance without operational disruptions during model replacement. Code available at: https://github.com/miccunifi/iamcl2r.

Training object class detectors typically requires a large set of images in which objects are annotated by bounding-boxes. However, manually drawing bounding-boxes is very time consuming. We propose a new scheme for training object detectors which only requires annotators to verify bounding-boxes produced automatically by the learning algorithm. Our scheme iterates between re-training the detector, re-localizing objects in the training images, and human verification. We use the verification signal both to improve re-training and to reduce the search space for re-localisation, which makes these steps different to what is normally done in a weakly supervised setting. Extensive experiments on PASCAL VOC 2007 show that (1) using human verification to update detectors and reduce the search space leads to the rapid production of high-quality bounding-box annotations; (2) our scheme delivers detectors performing almost as good as those trained in a fully supervised setting, without ever drawing any bounding-box; (3) as the verification task is very quick, our scheme substantially reduces total annotation time by a factor 6x-9x.

Learning compositional representation is a key aspect of object-centric learning as it enables flexible systematic generalization and supports complex visual reasoning. However, most of the existing approaches rely on auto-encoding objective, while the compositionality is implicitly imposed by the architectural or algorithmic bias in the encoder. This misalignment between auto-encoding objective and learning compositionality often results in failure of capturing meaningful object representations. In this study, we propose a novel objective that explicitly encourages compositionality of the representations. Built upon the existing object-centric learning framework (e.g., slot attention), our method incorporates additional constraints that an arbitrary mixture of object representations from two images should be valid by maximizing the likelihood of the composite data. We demonstrate that incorporating our objective to the existing framework consistently improves the objective-centric learning and enhances the robustness to the architectural choices.

Object models are gradually progressing from predicting just category labels to providing detailed descriptions of object instances. This motivates the need for large datasets which go beyond traditional object masks and provide richer annotations such as part masks and attributes. Hence, we introduce PACO: Parts and Attributes of Common Objects. It spans 75 object categories, 456 object-part categories and 55 attributes across image (LVIS) and video (Ego4D) datasets. We provide 641K part masks annotated across 260K object boxes, with roughly half of them exhaustively annotated with attributes as well. We design evaluation metrics and provide benchmark results for three tasks on the dataset: part mask segmentation, object and part attribute prediction and zero-shot instance detection. Dataset, models, and code are open-sourced at https://github.com/facebookresearch/paco.

Modern retrieval system often requires recomputing the representation of every piece of data in the gallery when updating to a better representation model. This process is known as backfilling and can be especially costly in the real world where the gallery often contains billions of samples. Recently, researchers have proposed the idea of Backward Compatible Training (BCT) where the new representation model can be trained with an auxiliary loss to make it backward compatible with the old representation. In this way, the new representation can be directly compared with the old representation, in principle avoiding the need for any backfilling. However, followup work shows that there is an inherent tradeoff where a backward compatible representation model cannot simultaneously maintain the performance of the new model itself. This paper reports our ``not-so-surprising'' finding that adding extra dimensions to the representation can help here. However, we also found that naively increasing the dimension of the representation did not work. To deal with this, we propose Backward-compatible Training with a novel Basis Transformation (BT^2). A basis transformation (BT) is basically a learnable set of parameters that applies an orthonormal transformation. Such a transformation possesses an important property whereby the original information contained in its input is retained in its output. We show in this paper how a BT can be utilized to add only the necessary amount of additional dimensions. We empirically verify the advantage of BT^2 over other state-of-the-art methods in a wide range of settings. We then further extend BT^2 to other challenging yet more practical settings, including significant change in model architecture (CNN to Transformers), modality change, and even a series of updates in the model architecture mimicking the evolution of deep learning models.

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast with most NeRF-based methods, we do not assume that the camera-object relative poses are known. Instead, we simultaneously optimize both the object shape and the pose trajectory. As direct optimization over all shape and pose parameters is prone to fail without coarse-level initialization, we propose an incremental approach that starts by splitting the sequence into carefully selected overlapping segments within which the optimization is likely to succeed. We reconstruct the object shape and track its poses independently within each segment, then merge all the segments before performing a global optimization. We show that our method is able to reconstruct the shape and color of both textured and challenging texture-less objects, outperforms classical methods that rely only on appearance features, and that its performance is close to recent methods that assume known camera poses.

Text-to-image generation from large generative models like Stable Diffusion, DALLE-2, etc., have become a common base for various tasks due to their superior quality and extensive knowledge bases. As image composition and generation are creative processes the artists need control over various parts of the images being generated. We find that just adding details about parts in the base text prompt either leads to an entirely different image (e.g., missing/incorrect identity) or the extra part details simply being ignored. To mitigate these issues, we introduce PartCraft, which enables image generation based on fine-grained part-level details specified for objects in the base text prompt. This allows more control for artists and enables novel object compositions by combining distinctive object parts. PartCraft first localizes object parts by denoising the object region from a specific diffusion process. This enables each part token to be localized to the right object region. After obtaining part masks, we run a localized diffusion process in each of the part regions based on fine-grained part descriptions and combine them to produce the final image. All the stages of PartCraft are based on repurposing a pre-trained diffusion model, which enables it to generalize across various domains without training. We demonstrate the effectiveness of part-level control provided by PartCraft qualitatively through visual examples and quantitatively in comparison to the contemporary baselines.

Recent progress in 3D object generation has been fueled by the strong priors offered by diffusion models. However, existing models are tailored to specific tasks, accommodating only one modality at a time and necessitating retraining to change modalities. Given an image-to-3D model and a text prompt, a naive approach is to convert text prompts to images and then use the image-to-3D model for generation. This approach is both time-consuming and labor-intensive, resulting in unavoidable information loss during modality conversion. To address this, we introduce XBind, a unified framework for any-to-3D generation using cross-modal pre-alignment techniques. XBind integrates an multimodal-aligned encoder with pre-trained diffusion models to generate 3D objects from any modalities, including text, images, and audio. We subsequently present a novel loss function, termed Modality Similarity (MS) Loss, which aligns the embeddings of the modality prompts and the rendered images, facilitating improved alignment of the 3D objects with multiple modalities. Additionally, Hybrid Diffusion Supervision combined with a Three-Phase Optimization process improves the quality of the generated 3D objects. Extensive experiments showcase XBind's broad generation capabilities in any-to-3D scenarios. To our knowledge, this is the first method to generate 3D objects from any modality prompts. Project page: https://zeroooooooow1440.github.io/.

Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life. Different from the semantic part assembly (e.g., assembling a chair's semantic parts like legs into a whole chair), geometric part assembly (e.g., assembling bowl fragments into a complete bowl) is an emerging task in computer vision and robotics. Instead of semantic information, this task focuses on geometric information of parts. As the both geometric and pose space of fractured parts are exceptionally large, shape pose disentanglement of part representations is beneficial to geometric shape assembly. In our paper, we propose to leverage SE(3) equivariance for such shape pose disentanglement. Moreover, while previous works in vision and robotics only consider SE(3) equivariance for the representations of single objects, we move a step forward and propose leveraging SE(3) equivariance for representations considering multi-part correlations, which further boosts the performance of the multi-part assembly. Experiments demonstrate the significance of SE(3) equivariance and our proposed method for geometric shape assembly. Project page: https://crtie.github.io/SE-3-part-assembly/

For object re-identification (re-ID), learning from synthetic data has become a promising strategy to cheaply acquire large-scale annotated datasets and effective models, with few privacy concerns. Many interesting research problems arise from this strategy, e.g., how to reduce the domain gap between synthetic source and real-world target. To facilitate developing more new approaches in learning from synthetic data, we introduce the Alice benchmarks, large-scale datasets providing benchmarks as well as evaluation protocols to the research community. Within the Alice benchmarks, two object re-ID tasks are offered: person and vehicle re-ID. We collected and annotated two challenging real-world target datasets: AlicePerson and AliceVehicle, captured under various illuminations, image resolutions, etc. As an important feature of our real target, the clusterability of its training set is not manually guaranteed to make it closer to a real domain adaptation test scenario. Correspondingly, we reuse existing PersonX and VehicleX as synthetic source domains. The primary goal is to train models from synthetic data that can work effectively in the real world. In this paper, we detail the settings of Alice benchmarks, provide an analysis of existing commonly-used domain adaptation methods, and discuss some interesting future directions. An online server has been set up for the community to evaluate methods conveniently and fairly. Datasets and the online server details are available at https://sites.google.com/view/alice-benchmarks.

Object manipulation is a common component of everyday tasks, but learning to manipulate objects from high-dimensional observations presents significant challenges. These challenges are heightened in multi-object environments due to the combinatorial complexity of the state space as well as of the desired behaviors. While recent approaches have utilized large-scale offline data to train models from pixel observations, achieving performance gains through scaling, these methods struggle with compositional generalization in unseen object configurations with constrained network and dataset sizes. To address these issues, we propose a novel behavioral cloning (BC) approach that leverages object-centric representations and an entity-centric Transformer with diffusion-based optimization, enabling efficient learning from offline image data. Our method first decomposes observations into an object-centric representation, which is then processed by our entity-centric Transformer that computes attention at the object level, simultaneously predicting object dynamics and the agent's actions. Combined with the ability of diffusion models to capture multi-modal behavior distributions, this results in substantial performance improvements in multi-object tasks and, more importantly, enables compositional generalization. We present BC agents capable of zero-shot generalization to tasks with novel compositions of objects and goals, including larger numbers of objects than seen during training. We provide video rollouts on our webpage: https://sites.google.com/view/ec-diffuser.

We address the problem of multi-object 3D pose control in image diffusion models. Instead of conditioning on a sequence of text tokens, we propose to use a set of per-object representations, Neural Assets, to control the 3D pose of individual objects in a scene. Neural Assets are obtained by pooling visual representations of objects from a reference image, such as a frame in a video, and are trained to reconstruct the respective objects in a different image, e.g., a later frame in the video. Importantly, we encode object visuals from the reference image while conditioning on object poses from the target frame. This enables learning disentangled appearance and pose features. Combining visual and 3D pose representations in a sequence-of-tokens format allows us to keep the text-to-image architecture of existing models, with Neural Assets in place of text tokens. By fine-tuning a pre-trained text-to-image diffusion model with this information, our approach enables fine-grained 3D pose and placement control of individual objects in a scene. We further demonstrate that Neural Assets can be transferred and recomposed across different scenes. Our model achieves state-of-the-art multi-object editing results on both synthetic 3D scene datasets, as well as two real-world video datasets (Objectron, Waymo Open).

Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without object-specific skills. Recent works synthesize grasping motions following single objectives such as a desired approach heading direction or a grasping area. Moreover, they usually rely on expensive 3D hand-object data during training and inference, which limits their capability to synthesize grasping motions for unseen objects at scale. In this paper, we unify the generation of hand-object grasping motions across multiple motion objectives, diverse object shapes and dexterous hand morphologies in a policy learning framework GraspXL. The objectives are composed of the graspable area, heading direction during approach, wrist rotation, and hand position. Without requiring any 3D hand-object interaction data, our policy trained with 58 objects can robustly synthesize diverse grasping motions for more than 500k unseen objects with a success rate of 82.2%. At the same time, the policy adheres to objectives, which enables the generation of diverse grasps per object. Moreover, we show that our framework can be deployed to different dexterous hands and work with reconstructed or generated objects. We quantitatively and qualitatively evaluate our method to show the efficacy of our approach. Our model, code, and the large-scale generated motions are available at https://eth-ait.github.io/graspxl/.

Deep generative models have been recently extended to synthesizing 3D digital humans. However, previous approaches treat clothed humans as a single chunk of geometry without considering the compositionality of clothing and accessories. As a result, individual items cannot be naturally composed into novel identities, leading to limited expressiveness and controllability of generative 3D avatars. While several methods attempt to address this by leveraging synthetic data, the interaction between humans and objects is not authentic due to the domain gap, and manual asset creation is difficult to scale for a wide variety of objects. In this work, we present a novel framework for learning a compositional generative model of humans and objects (backpacks, coats, scarves, and more) from real-world 3D scans. Our compositional model is interaction-aware, meaning the spatial relationship between humans and objects, and the mutual shape change by physical contact is fully incorporated. The key challenge is that, since humans and objects are in contact, their 3D scans are merged into a single piece. To decompose them without manual annotations, we propose to leverage two sets of 3D scans of a single person with and without objects. Our approach learns to decompose objects and naturally compose them back into a generative human model in an unsupervised manner. Despite our simple setup requiring only the capture of a single subject with objects, our experiments demonstrate the strong generalization of our model by enabling the natural composition of objects to diverse identities in various poses and the composition of multiple objects, which is unseen in training data. https://taeksuu.github.io/ncho/

The objective of text-to-image (T2I) personalization is to customize a diffusion model to a user-provided reference concept, generating diverse images of the concept aligned with the target prompts. Conventional methods representing the reference concepts using unique text embeddings often fail to accurately mimic the appearance of the reference. To address this, one solution may be explicitly conditioning the reference images into the target denoising process, known as key-value replacement. However, prior works are constrained to local editing since they disrupt the structure path of the pre-trained T2I model. To overcome this, we propose a novel plug-in method, called DreamMatcher, which reformulates T2I personalization as semantic matching. Specifically, DreamMatcher replaces the target values with reference values aligned by semantic matching, while leaving the structure path unchanged to preserve the versatile capability of pre-trained T2I models for generating diverse structures. We also introduce a semantic-consistent masking strategy to isolate the personalized concept from irrelevant regions introduced by the target prompts. Compatible with existing T2I models, DreamMatcher shows significant improvements in complex scenarios. Intensive analyses demonstrate the effectiveness of our approach.

Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several works have shown progress towards object compositional reconstruction. Despite their superior performance in observed regions, their performance is still limited in reconstructing objects that are partially observed. To better treat this problem, we introduce category-level neural fields that learn meaningful common 3D information among objects belonging to the same category present in the scene. Our key idea is to subcategorize objects based on their observed shape for better training of the category-level model. Then we take advantage of the neural field to conduct the challenging task of registering partially observed objects by selecting and aligning against representative objects selected by ray-based uncertainty. Experiments on both simulation and real-world datasets demonstrate that our method improves the reconstruction of unobserved parts for several categories.

Recognizing objects from sparse and noisy events becomes extremely difficult when paired images and category labels do not exist. In this paper, we study label-free event-based object recognition where category labels and paired images are not available. To this end, we propose a joint formulation of object recognition and image reconstruction in a complementary manner. Our method first reconstructs images from events and performs object recognition through Contrastive Language-Image Pre-training (CLIP), enabling better recognition through a rich context of images. Since the category information is essential in reconstructing images, we propose category-guided attraction loss and category-agnostic repulsion loss to bridge the textual features of predicted categories and the visual features of reconstructed images using CLIP. Moreover, we introduce a reliable data sampling strategy and local-global reconstruction consistency to boost joint learning of two tasks. To enhance the accuracy of prediction and quality of reconstruction, we also propose a prototype-based approach using unpaired images. Extensive experiments demonstrate the superiority of our method and its extensibility for zero-shot object recognition. Our project code is available at https://github.com/Chohoonhee/Ev-LaFOR.

Both indoor and outdoor environments are inherently structured and repetitive. Traditional modeling pipelines keep an asset library storing unique object templates, which is both versatile and memory efficient in practice. Inspired by this observation, we propose AssetField, a novel neural scene representation that learns a set of object-aware ground feature planes to represent the scene, where an asset library storing template feature patches can be constructed in an unsupervised manner. Unlike existing methods which require object masks to query spatial points for object editing, our ground feature plane representation offers a natural visualization of the scene in the bird-eye view, allowing a variety of operations (e.g. translation, duplication, deformation) on objects to configure a new scene. With the template feature patches, group editing is enabled for scenes with many recurring items to avoid repetitive work on object individuals. We show that AssetField not only achieves competitive performance for novel-view synthesis but also generates realistic renderings for new scene configurations.

Subject-driven image inpainting has emerged as a popular task in image editing alongside recent advancements in diffusion models. Previous methods primarily focus on identity preservation but struggle to maintain the editability of inserted objects. In response, this paper introduces DreamMix, a diffusion-based generative model adept at inserting target objects into given scenes at user-specified locations while concurrently enabling arbitrary text-driven modifications to their attributes. In particular, we leverage advanced foundational inpainting models and introduce a disentangled local-global inpainting framework to balance precise local object insertion with effective global visual coherence. Additionally, we propose an Attribute Decoupling Mechanism (ADM) and a Textual Attribute Substitution (TAS) module to improve the diversity and discriminative capability of the text-based attribute guidance, respectively. Extensive experiments demonstrate that DreamMix effectively balances identity preservation and attribute editability across various application scenarios, including object insertion, attribute editing, and small object inpainting. Our code is publicly available at https://github.com/mycfhs/DreamMix.

Subject-driven generation has garnered significant interest recently due to its ability to personalize text-to-image generation. Typical works focus on learning the new subject's private attributes. However, an important fact has not been taken seriously that a subject is not an isolated new concept but should be a specialization of a certain category in the pre-trained model. This results in the subject failing to comprehensively inherit the attributes in its category, causing poor attribute-related generations. In this paper, motivated by object-oriented programming, we model the subject as a derived class whose base class is its semantic category. This modeling enables the subject to inherit public attributes from its category while learning its private attributes from the user-provided example. Specifically, we propose a plug-and-play method, Subject-Derived regularization (SuDe). It constructs the base-derived class modeling by constraining the subject-driven generated images to semantically belong to the subject's category. Extensive experiments under three baselines and two backbones on various subjects show that our SuDe enables imaginative attribute-related generations while maintaining subject fidelity. Codes will be open sourced soon at FaceChain (https://github.com/modelscope/facechain).

The traditional image inpainting task aims to restore corrupted regions by referencing surrounding background and foreground. However, the object erasure task, which is in increasing demand, aims to erase objects and generate harmonious background. Previous GAN-based inpainting methods struggle with intricate texture generation. Emerging diffusion model-based algorithms, such as Stable Diffusion Inpainting, exhibit the capability to generate novel content, but they often produce incongruent results at the locations of the erased objects and require high-quality text prompt inputs. To address these challenges, we introduce MagicEraser, a diffusion model-based framework tailored for the object erasure task. It consists of two phases: content initialization and controllable generation. In the latter phase, we develop two plug-and-play modules called prompt tuning and semantics-aware attention refocus. Additionally, we propose a data construction strategy that generates training data specially suitable for this task. MagicEraser achieves fine and effective control of content generation while mitigating undesired artifacts. Experimental results highlight a valuable advancement of our approach in the object erasure task.

Massive data corpora like WebText, Wikipedia, Conceptual Captions, WebImageText, and LAION have propelled recent dramatic progress in AI. Large neural models trained on such datasets produce impressive results and top many of today's benchmarks. A notable omission within this family of large-scale datasets is 3D data. Despite considerable interest and potential applications in 3D vision, datasets of high-fidelity 3D models continue to be mid-sized with limited diversity of object categories. Addressing this gap, we present Objaverse 1.0, a large dataset of objects with 800K+ (and growing) 3D models with descriptive captions, tags, and animations. Objaverse improves upon present day 3D repositories in terms of scale, number of categories, and in the visual diversity of instances within a category. We demonstrate the large potential of Objaverse via four diverse applications: training generative 3D models, improving tail category segmentation on the LVIS benchmark, training open-vocabulary object-navigation models for Embodied AI, and creating a new benchmark for robustness analysis of vision models. Objaverse can open new directions for research and enable new applications across the field of AI.

Effective editing of personal content holds a pivotal role in enabling individuals to express their creativity, weaving captivating narratives within their visual stories, and elevate the overall quality and impact of their visual content. Therefore, in this work, we introduce SwapAnything, a novel framework that can swap any objects in an image with personalized concepts given by the reference, while keeping the context unchanged. Compared with existing methods for personalized subject swapping, SwapAnything has three unique advantages: (1) precise control of arbitrary objects and parts rather than the main subject, (2) more faithful preservation of context pixels, (3) better adaptation of the personalized concept to the image. First, we propose targeted variable swapping to apply region control over latent feature maps and swap masked variables for faithful context preservation and initial semantic concept swapping. Then, we introduce appearance adaptation, to seamlessly adapt the semantic concept into the original image in terms of target location, shape, style, and content during the image generation process. Extensive results on both human and automatic evaluation demonstrate significant improvements of our approach over baseline methods on personalized swapping. Furthermore, SwapAnything shows its precise and faithful swapping abilities across single object, multiple objects, partial object, and cross-domain swapping tasks. SwapAnything also achieves great performance on text-based swapping and tasks beyond swapping such as object insertion.

Multimodal Large Language Models have advanced AI in applications like text-to-video generation and visual question answering. These models rely on visual encoders to convert non-text data into vectors, but current encoders either lack semantic alignment or overlook non-salient objects. We propose the Guiding Visual Encoder to Perceive Overlooked Information (GiVE) approach. GiVE enhances visual representation with an Attention-Guided Adapter (AG-Adapter) module and an Object-focused Visual Semantic Learning module. These incorporate three novel loss terms: Object-focused Image-Text Contrast (OITC) loss, Object-focused Image-Image Contrast (OIIC) loss, and Object-focused Image Discrimination (OID) loss, improving object consideration, retrieval accuracy, and comprehensiveness. Our contributions include dynamic visual focus adjustment, novel loss functions to enhance object retrieval, and the Multi-Object Instruction (MOInst) dataset. Experiments show our approach achieves state-of-the-art performance.

We consider a scenario where we have access to the target domain, but cannot afford on-the-fly training data annotation, and instead would like to construct an alternative training set from a large-scale data pool such that a competitive model can be obtained. We propose a search and pruning (SnP) solution to this training data search problem, tailored to object re-identification (re-ID), an application aiming to match the same object captured by different cameras. Specifically, the search stage identifies and merges clusters of source identities which exhibit similar distributions with the target domain. The second stage, subject to a budget, then selects identities and their images from the Stage I output, to control the size of the resulting training set for efficient training. The two steps provide us with training sets 80\% smaller than the source pool while achieving a similar or even higher re-ID accuracy. These training sets are also shown to be superior to a few existing search methods such as random sampling and greedy sampling under the same budget on training data size. If we release the budget, training sets resulting from the first stage alone allow even higher re-ID accuracy. We provide interesting discussions on the specificity of our method to the re-ID problem and particularly its role in bridging the re-ID domain gap. The code is available at https://github.com/yorkeyao/SnP.

We consider the task of Image-to-Video (I2V) generation, which involves transforming static images into realistic video sequences based on a textual description. While recent advancements produce photorealistic outputs, they frequently struggle to create videos with accurate and consistent object motion, especially in multi-object scenarios. To address these limitations, we propose a two-stage compositional framework that decomposes I2V generation into: (i) An explicit intermediate representation generation stage, followed by (ii) A video generation stage that is conditioned on this representation. Our key innovation is the introduction of a mask-based motion trajectory as an intermediate representation, that captures both semantic object information and motion, enabling an expressive but compact representation of motion and semantics. To incorporate the learned representation in the second stage, we utilize object-level attention objectives. Specifically, we consider a spatial, per-object, masked-cross attention objective, integrating object-specific prompts into corresponding latent space regions and a masked spatio-temporal self-attention objective, ensuring frame-to-frame consistency for each object. We evaluate our method on challenging benchmarks with multi-object and high-motion scenarios and empirically demonstrate that the proposed method achieves state-of-the-art results in temporal coherence, motion realism, and text-prompt faithfulness. Additionally, we introduce \benchmark, a new challenging benchmark for single-object and multi-object I2V generation, and demonstrate our method's superiority on this benchmark. Project page is available at https://guyyariv.github.io/TTM/.

We are witnessing significant breakthroughs in the technology for generating 3D objects from text. Existing approaches either leverage large text-to-image models to optimize a 3D representation or train 3D generators on object-centric datasets. Generating entire scenes, however, remains very challenging as a scene contains multiple 3D objects, diverse and scattered. In this work, we introduce SceneWiz3D, a novel approach to synthesize high-fidelity 3D scenes from text. We marry the locality of objects with globality of scenes by introducing a hybrid 3D representation: explicit for objects and implicit for scenes. Remarkably, an object, being represented explicitly, can be either generated from text using conventional text-to-3D approaches, or provided by users. To configure the layout of the scene and automatically place objects, we apply the Particle Swarm Optimization technique during the optimization process. Furthermore, it is difficult for certain parts of the scene (e.g., corners, occlusion) to receive multi-view supervision, leading to inferior geometry. We incorporate an RGBD panorama diffusion model to mitigate it, resulting in high-quality geometry. Extensive evaluation supports that our approach achieves superior quality over previous approaches, enabling the generation of detailed and view-consistent 3D scenes.

In this paper, we study the problem of 3D scene geometry decomposition and manipulation from 2D views. By leveraging the recent implicit neural representation techniques, particularly the appealing neural radiance fields, we introduce an object field component to learn unique codes for all individual objects in 3D space only from 2D supervision. The key to this component is a series of carefully designed loss functions to enable every 3D point, especially in non-occupied space, to be effectively optimized even without 3D labels. In addition, we introduce an inverse query algorithm to freely manipulate any specified 3D object shape in the learned scene representation. Notably, our manipulation algorithm can explicitly tackle key issues such as object collisions and visual occlusions. Our method, called DM-NeRF, is among the first to simultaneously reconstruct, decompose, manipulate and render complex 3D scenes in a single pipeline. Extensive experiments on three datasets clearly show that our method can accurately decompose all 3D objects from 2D views, allowing any interested object to be freely manipulated in 3D space such as translation, rotation, size adjustment, and deformation.

Grasping objects by a specific part is often crucial for safety and for executing downstream tasks. Yet, learning-based grasp planners lack this behavior unless they are trained on specific object part data, making it a significant challenge to scale object diversity. Instead, we propose LERF-TOGO, Language Embedded Radiance Fields for Task-Oriented Grasping of Objects, which uses vision-language models zero-shot to output a grasp distribution over an object given a natural language query. To accomplish this, we first reconstruct a LERF of the scene, which distills CLIP embeddings into a multi-scale 3D language field queryable with text. However, LERF has no sense of objectness, meaning its relevancy outputs often return incomplete activations over an object which are insufficient for subsequent part queries. LERF-TOGO mitigates this lack of spatial grouping by extracting a 3D object mask via DINO features and then conditionally querying LERF on this mask to obtain a semantic distribution over the object with which to rank grasps from an off-the-shelf grasp planner. We evaluate LERF-TOGO's ability to grasp task-oriented object parts on 31 different physical objects, and find it selects grasps on the correct part in 81% of all trials and grasps successfully in 69%. See the project website at: lerftogo.github.io

Recent work has shown that large text-based neural language models, trained with conventional supervised learning objectives, acquire a surprising propensity for few- and one-shot learning. Here, we show that an embodied agent situated in a simulated 3D world, and endowed with a novel dual-coding external memory, can exhibit similar one-shot word learning when trained with conventional reinforcement learning algorithms. After a single introduction to a novel object via continuous visual perception and a language prompt ("This is a dax"), the agent can re-identify the object and manipulate it as instructed ("Put the dax on the bed"). In doing so, it seamlessly integrates short-term, within-episode knowledge of the appropriate referent for the word "dax" with long-term lexical and motor knowledge acquired across episodes (i.e. "bed" and "putting"). We find that, under certain training conditions and with a particular memory writing mechanism, the agent's one-shot word-object binding generalizes to novel exemplars within the same ShapeNet category, and is effective in settings with unfamiliar numbers of objects. We further show how dual-coding memory can be exploited as a signal for intrinsic motivation, stimulating the agent to seek names for objects that may be useful for later executing instructions. Together, the results demonstrate that deep neural networks can exploit meta-learning, episodic memory and an explicitly multi-modal environment to account for 'fast-mapping', a fundamental pillar of human cognitive development and a potentially transformative capacity for agents that interact with human users.

Traditional approaches for learning 3D object categories have been predominantly trained and evaluated on synthetic datasets due to the unavailability of real 3D-annotated category-centric data. Our main goal is to facilitate advances in this field by collecting real-world data in a magnitude similar to the existing synthetic counterparts. The principal contribution of this work is thus a large-scale dataset, called Common Objects in 3D, with real multi-view images of object categories annotated with camera poses and ground truth 3D point clouds. The dataset contains a total of 1.5 million frames from nearly 19,000 videos capturing objects from 50 MS-COCO categories and, as such, it is significantly larger than alternatives both in terms of the number of categories and objects. We exploit this new dataset to conduct one of the first large-scale "in-the-wild" evaluations of several new-view-synthesis and category-centric 3D reconstruction methods. Finally, we contribute NerFormer - a novel neural rendering method that leverages the powerful Transformer to reconstruct an object given a small number of its views. The CO3D dataset is available at https://github.com/facebookresearch/co3d .

Object detection has been expanded from a limited number of categories to open vocabulary. Moving forward, a complete intelligent vision system requires understanding more fine-grained object descriptions, object parts. In this paper, we propose a detector with the ability to predict both open-vocabulary objects and their part segmentation. This ability comes from two designs. First, we train the detector on the joint of part-level, object-level and image-level data to build the multi-granularity alignment between language and image. Second, we parse the novel object into its parts by its dense semantic correspondence with the base object. These two designs enable the detector to largely benefit from various data sources and foundation models. In open-vocabulary part segmentation experiments, our method outperforms the baseline by 3.3sim7.3 mAP in cross-dataset generalization on PartImageNet, and improves the baseline by 7.3 novel AP_{50} in cross-category generalization on Pascal Part. Finally, we train a detector that generalizes to a wide range of part segmentation datasets while achieving better performance than dataset-specific training.

Humans are good at recomposing novel objects, i.e. they can identify commonalities between unknown objects from general structure to finer detail, an ability difficult to replicate by machines. We propose a framework, ISCO, to recompose an object using 3D superquadrics as semantic parts directly from 2D views without training a model that uses 3D supervision. To achieve this, we optimize the superquadric parameters that compose a specific instance of the object, comparing its rendered 3D view and 2D image silhouette. Our ISCO framework iteratively adds new superquadrics wherever the reconstruction error is high, abstracting first coarse regions and then finer details of the target object. With this simple coarse-to-fine inductive bias, ISCO provides consistent superquadrics for related object parts, despite not having any semantic supervision. Since ISCO does not train any neural network, it is also inherently robust to out-of-distribution objects. Experiments show that, compared to recent single instance superquadrics reconstruction approaches, ISCO provides consistently more accurate 3D reconstructions, even from images in the wild. Code available at https://github.com/ExplainableML/ISCO .

We propose NeRFiller, an approach that completes missing portions of a 3D capture via generative 3D inpainting using off-the-shelf 2D visual generative models. Often parts of a captured 3D scene or object are missing due to mesh reconstruction failures or a lack of observations (e.g., contact regions, such as the bottom of objects, or hard-to-reach areas). We approach this challenging 3D inpainting problem by leveraging a 2D inpainting diffusion model. We identify a surprising behavior of these models, where they generate more 3D consistent inpaints when images form a 2times2 grid, and show how to generalize this behavior to more than four images. We then present an iterative framework to distill these inpainted regions into a single consistent 3D scene. In contrast to related works, we focus on completing scenes rather than deleting foreground objects, and our approach does not require tight 2D object masks or text. We compare our approach to relevant baselines adapted to our setting on a variety of scenes, where NeRFiller creates the most 3D consistent and plausible scene completions. Our project page is at https://ethanweber.me/nerfiller.

This paper presents a novel object-centric contact representation ContactGen for hand-object interaction. The ContactGen comprises three components: a contact map indicates the contact location, a part map represents the contact hand part, and a direction map tells the contact direction within each part. Given an input object, we propose a conditional generative model to predict ContactGen and adopt model-based optimization to predict diverse and geometrically feasible grasps. Experimental results demonstrate our method can generate high-fidelity and diverse human grasps for various objects. Project page: https://stevenlsw.github.io/contactgen/

Textural Inversion, a prompt learning method, learns a singular embedding for a new "word" to represent image style and appearance, allowing it to be integrated into natural language sentences to generate novel synthesised images. However, identifying and integrating multiple object-level concepts within one scene poses significant challenges even when embeddings for individual concepts are attainable. This is further confirmed by our empirical tests. To address this challenge, we introduce a framework for Multi-Concept Prompt Learning (MCPL), where multiple new "words" are simultaneously learned from a single sentence-image pair. To enhance the accuracy of word-concept correlation, we propose three regularisation techniques: Attention Masking (AttnMask) to concentrate learning on relevant areas; Prompts Contrastive Loss (PromptCL) to separate the embeddings of different concepts; and Bind adjective (Bind adj.) to associate new "words" with known words. We evaluate via image generation, editing, and attention visualisation with diverse images. Extensive quantitative comparisons demonstrate that our method can learn more semantically disentangled concepts with enhanced word-concept correlation. Additionally, we introduce a novel dataset and evaluation protocol tailored for this new task of learning object-level concepts.

Text-conditioned image editing has recently attracted considerable interest. However, most methods are currently either limited to specific editing types (e.g., object overlay, style transfer), or apply to synthetically generated images, or require multiple input images of a common object. In this paper we demonstrate, for the very first time, the ability to apply complex (e.g., non-rigid) text-guided semantic edits to a single real image. For example, we can change the posture and composition of one or multiple objects inside an image, while preserving its original characteristics. Our method can make a standing dog sit down or jump, cause a bird to spread its wings, etc. -- each within its single high-resolution natural image provided by the user. Contrary to previous work, our proposed method requires only a single input image and a target text (the desired edit). It operates on real images, and does not require any additional inputs (such as image masks or additional views of the object). Our method, which we call "Imagic", leverages a pre-trained text-to-image diffusion model for this task. It produces a text embedding that aligns with both the input image and the target text, while fine-tuning the diffusion model to capture the image-specific appearance. We demonstrate the quality and versatility of our method on numerous inputs from various domains, showcasing a plethora of high quality complex semantic image edits, all within a single unified framework.

We present a system for generating indoor scenes in response to text prompts. The prompts are not limited to a fixed vocabulary of scene descriptions, and the objects in generated scenes are not restricted to a fixed set of object categories -- we call this setting indoor scene generation. Unlike most prior work on indoor scene generation, our system does not require a large training dataset of existing 3D scenes. Instead, it leverages the world knowledge encoded in pre-trained large language models (LLMs) to synthesize programs in a domain-specific layout language that describe objects and spatial relations between them. Executing such a program produces a specification of a constraint satisfaction problem, which the system solves using a gradient-based optimization scheme to produce object positions and orientations. To produce object geometry, the system retrieves 3D meshes from a database. Unlike prior work which uses databases of category-annotated, mutually-aligned meshes, we develop a pipeline using vision-language models (VLMs) to retrieve meshes from massive databases of un-annotated, inconsistently-aligned meshes. Experimental evaluations show that our system outperforms generative models trained on 3D data for traditional, closed-universe scene generation tasks; it also outperforms a recent LLM-based layout generation method on open-universe scene generation.

We present a method for zero-shot, text-driven appearance manipulation in natural images and videos. Given an input image or video and a target text prompt, our goal is to edit the appearance of existing objects (e.g., object's texture) or augment the scene with visual effects (e.g., smoke, fire) in a semantically meaningful manner. We train a generator using an internal dataset of training examples, extracted from a single input (image or video and target text prompt), while leveraging an external pre-trained CLIP model to establish our losses. Rather than directly generating the edited output, our key idea is to generate an edit layer (color+opacity) that is composited over the original input. This allows us to constrain the generation process and maintain high fidelity to the original input via novel text-driven losses that are applied directly to the edit layer. Our method neither relies on a pre-trained generator nor requires user-provided edit masks. We demonstrate localized, semantic edits on high-resolution natural images and videos across a variety of objects and scenes.

Object-centric (OC) representations, which represent the state of a visual scene by modeling it as a composition of objects, have the potential to be used in various downstream tasks to achieve systematic compositional generalization and facilitate reasoning. However, these claims have not been thoroughly analyzed yet. Recently, foundation models have demonstrated unparalleled capabilities across diverse domains from language to computer vision, marking them as a potential cornerstone of future research for a multitude of computational tasks. In this paper, we conduct an extensive empirical study on representation learning for downstream Visual Question Answering (VQA), which requires an accurate compositional understanding of the scene. We thoroughly investigate the benefits and trade-offs of OC models and alternative approaches including large pre-trained foundation models on both synthetic and real-world data, and demonstrate a viable way to achieve the best of both worlds. The extensiveness of our study, encompassing over 600 downstream VQA models and 15 different types of upstream representations, also provides several additional insights that we believe will be of interest to the community at large.

While learning visuomotor skills in an end-to-end manner is appealing, deep neural networks are often uninterpretable and fail in surprising ways. For robotics tasks, such as autonomous driving, models that explicitly represent objects may be more robust to new scenes and provide intuitive visualizations. We describe a taxonomy of "object-centric" models which leverage both object instances and end-to-end learning. In the Grand Theft Auto V simulator, we show that object-centric models outperform object-agnostic methods in scenes with other vehicles and pedestrians, even with an imperfect detector. We also demonstrate that our architectures perform well on real-world environments by evaluating on the Berkeley DeepDrive Video dataset, where an object-centric model outperforms object-agnostic models in the low-data regimes.

Lenses are a well-established structure for modelling bidirectional transformations, such as the interactions between a database and a view of it. Lenses may be symmetric or asymmetric, and may be composed, forming the morphisms of a monoidal category. More recently, the notion of a learner has been proposed: these provide a compositional way of modelling supervised learning algorithms, and again form the morphisms of a monoidal category. In this paper, we show that the two concepts are tightly linked. We show both that there is a faithful, identity-on-objects symmetric monoidal functor embedding a category of asymmetric lenses into the category of learners, and furthermore there is such a functor embedding the category of learners into a category of symmetric lenses.

We address the task of predicting what parts of an object can open and how they move when they do so. The input is a single image of an object, and as output we detect what parts of the object can open, and the motion parameters describing the articulation of each openable part. To tackle this task, we create two datasets of 3D objects: OPDSynth based on existing synthetic objects, and OPDReal based on RGBD reconstructions of real objects. We then design OPDRCNN, a neural architecture that detects openable parts and predicts their motion parameters. Our experiments show that this is a challenging task especially when considering generalization across object categories, and the limited amount of information in a single image. Our architecture outperforms baselines and prior work especially for RGB image inputs. Short video summary at https://www.youtube.com/watch?v=P85iCaD0rfc

Current image manipulation primarily centers on static manipulation, such as replacing specific regions within an image or altering its overall style. In this paper, we introduce an innovative dynamic manipulation task, subject repositioning. This task involves relocating a user-specified subject to a desired position while preserving the image's fidelity. Our research reveals that the fundamental sub-tasks of subject repositioning, which include filling the void left by the repositioned subject, reconstructing obscured portions of the subject and blending the subject to be consistent with surrounding areas, can be effectively reformulated as a unified, prompt-guided inpainting task. Consequently, we can employ a single diffusion generative model to address these sub-tasks using various task prompts learned through our proposed task inversion technique. Additionally, we integrate pre-processing and post-processing techniques to further enhance the quality of subject repositioning. These elements together form our SEgment-gEnerate-and-bLEnd (SEELE) framework. To assess SEELE's effectiveness in subject repositioning, we assemble a real-world subject repositioning dataset called ReS. Our results on ReS demonstrate the quality of repositioned image generation.

Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets were generated using simple grasp sampling methods using priors. Recently, Quality-Diversity (QD) algorithms have been proven to make grasp sampling significantly more efficient. In this work, we extend QDG-6DoF, a QD framework for generating object-centric grasps, to scale up the production of synthetic grasping datasets. We propose a data augmentation method that combines the transformation of object meshes with transfer learning from previous grasping repertoires. The conducted experiments show that this approach reduces the number of required evaluations per discovered robust grasp by up to 20%. We used this approach to generate QDGset, a dataset of 6DoF grasp poses that contains about 3.5 and 4.5 times more grasps and objects, respectively, than the previous state-of-the-art. Our method allows anyone to easily generate data, eventually contributing to a large-scale collaborative dataset of synthetic grasps.

State-of-the-art vision pretraining methods rely on image-level self-distillation from object-centric datasets such as ImageNet, implicitly assuming each image contains a single object. This assumption does not always hold: many ImageNet images already contain multiple objects. Further, it limits scalability to scene-centric datasets that better mirror real-world complexity. We address these challenges by introducing Object-level Self-DIStillation (ODIS), a pretraining approach that shifts the self-distillation granularity from whole images to individual objects. Using object-aware cropping and masked attention, ODIS isolates object-specific regions, guiding the transformer toward semantically meaningful content and transforming a noisy, scene-level task into simpler object-level sub-tasks. We show that this approach improves visual representations both at the image and patch levels. Using masks at inference time, our method achieves an impressive 82.6% k-NN accuracy on ImageNet1k with ViT-Large.

We introduce a method for composing object-level visual prompts within a text-to-image diffusion model. Our approach addresses the task of generating semantically coherent compositions across diverse scenes and styles, similar to the versatility and expressiveness offered by text prompts. A key challenge in this task is to preserve the identity of the objects depicted in the input visual prompts, while also generating diverse compositions across different images. To address this challenge, we introduce a new KV-mixed cross-attention mechanism, in which keys and values are learned from distinct visual representations. The keys are derived from an encoder with a small bottleneck for layout control, whereas the values come from a larger bottleneck encoder that captures fine-grained appearance details. By mixing keys and values from these complementary sources, our model preserves the identity of the visual prompts while supporting flexible variations in object arrangement, pose, and composition. During inference, we further propose object-level compositional guidance to improve the method's identity preservation and layout correctness. Results show that our technique produces diverse scene compositions that preserve the unique characteristics of each visual prompt, expanding the creative potential of text-to-image generation.

In this paper, we address the problem of conditional scene decoration for 360-degree images. Our method takes a 360-degree background photograph of an indoor scene and generates decorated images of the same scene in the panorama view. To do this, we develop a 360-aware object layout generator that learns latent object vectors in the 360-degree view to enable a variety of furniture arrangements for an input 360-degree background image. We use this object layout to condition a generative adversarial network to synthesize images of an input scene. To further reinforce the generation capability of our model, we develop a simple yet effective scene emptier that removes the generated furniture and produces an emptied scene for our model to learn a cyclic constraint. We train the model on the Structure3D dataset and show that our model can generate diverse decorations with controllable object layout. Our method achieves state-of-the-art performance on the Structure3D dataset and generalizes well to the Zillow indoor scene dataset. Our user study confirms the immersive experiences provided by the realistic image quality and furniture layout in our generation results. Our implementation will be made available.

Incorporating a customized object into image generation presents an attractive feature in text-to-image generation. However, existing optimization-based and encoder-based methods are hindered by drawbacks such as time-consuming optimization, insufficient identity preservation, and a prevalent copy-pasting effect. To overcome these limitations, we introduce CustomNet, a novel object customization approach that explicitly incorporates 3D novel view synthesis capabilities into the object customization process. This integration facilitates the adjustment of spatial position relationships and viewpoints, yielding diverse outputs while effectively preserving object identity. Moreover, we introduce delicate designs to enable location control and flexible background control through textual descriptions or specific user-defined images, overcoming the limitations of existing 3D novel view synthesis methods. We further leverage a dataset construction pipeline that can better handle real-world objects and complex backgrounds. Equipped with these designs, our method facilitates zero-shot object customization without test-time optimization, offering simultaneous control over the viewpoints, location, and background. As a result, our CustomNet ensures enhanced identity preservation and generates diverse, harmonious outputs.

Recent years have witnessed the strong power of 3D generation models, which offer a new level of creative flexibility by allowing users to guide the 3D content generation process through a single image or natural language. However, it remains challenging for existing 3D generation methods to create subject-driven 3D content across diverse prompts. In this paper, we introduce a novel 3D customization method, dubbed Make-Your-3D that can personalize high-fidelity and consistent 3D content from only a single image of a subject with text description within 5 minutes. Our key insight is to harmonize the distributions of a multi-view diffusion model and an identity-specific 2D generative model, aligning them with the distribution of the desired 3D subject. Specifically, we design a co-evolution framework to reduce the variance of distributions, where each model undergoes a process of learning from the other through identity-aware optimization and subject-prior optimization, respectively. Extensive experiments demonstrate that our method can produce high-quality, consistent, and subject-specific 3D content with text-driven modifications that are unseen in subject image.

We present GSEdit, a pipeline for text-guided 3D object editing based on Gaussian Splatting models. Our method enables the editing of the style and appearance of 3D objects without altering their main details, all in a matter of minutes on consumer hardware. We tackle the problem by leveraging Gaussian splatting to represent 3D scenes, and we optimize the model while progressively varying the image supervision by means of a pretrained image-based diffusion model. The input object may be given as a 3D triangular mesh, or directly provided as Gaussians from a generative model such as DreamGaussian. GSEdit ensures consistency across different viewpoints, maintaining the integrity of the original object's information. Compared to previously proposed methods relying on NeRF-like MLP models, GSEdit stands out for its efficiency, making 3D editing tasks much faster. Our editing process is refined via the application of the SDS loss, ensuring that our edits are both precise and accurate. Our comprehensive evaluation demonstrates that GSEdit effectively alters object shape and appearance following the given textual instructions while preserving their coherence and detail.

Effective waste sorting is critical for sustainable recycling, yet AI research in this domain continues to lag behind commercial systems due to limited datasets and reliance on legacy object detectors. In this work, we advance AI-driven waste detection by establishing strong baselines and introducing an ensemble-based semi-supervised learning framework. We first benchmark state-of-the-art Open-Vocabulary Object Detection (OVOD) models on the real-world ZeroWaste dataset, demonstrating that while class-only prompts perform poorly, LLM-optimized prompts significantly enhance zero-shot accuracy. Next, to address domain-specific limitations, we fine-tune modern transformer-based detectors, achieving a new baseline of 51.6 mAP. We then propose a soft pseudo-labeling strategy that fuses ensemble predictions using spatial and consensus-aware weighting, enabling robust semi-supervised training. Applied to the unlabeled ZeroWaste-s subset, our pseudo-annotations achieve performance gains that surpass fully supervised training, underscoring the effectiveness of scalable annotation pipelines. Our work contributes to the research community by establishing rigorous baselines, introducing a robust ensemble-based pseudo-labeling pipeline, generating high-quality annotations for the unlabeled ZeroWaste-s subset, and systematically evaluating OVOD models under real-world waste sorting conditions. Our code is available at: https://github.com/h-abid97/robust-waste-detection.

The intimate entanglement between objects affordances and human poses is of large interest, among others, for behavioural sciences, cognitive psychology, and Computer Vision communities. In recent years, the latter has developed several object-centric approaches: starting from items, learning pipelines synthesizing human poses and dynamics in a realistic way, satisfying both geometrical and functional expectations. However, the inverse perspective is significantly less explored: Can we infer 3D objects and their poses from human interactions alone? Our investigation follows this direction, showing that a generic 3D human point cloud is enough to pop up an unobserved object, even when the user is just imitating a functionality (e.g., looking through a binocular) without involving a tangible counterpart. We validate our method qualitatively and quantitatively, with synthetic data and sequences acquired for the task, showing applicability for XR/VR. The code is available at https://github.com/ptrvilya/object-popup.

We present T-Rex2, a highly practical model for open-set object detection. Previous open-set object detection methods relying on text prompts effectively encapsulate the abstract concept of common objects, but struggle with rare or complex object representation due to data scarcity and descriptive limitations. Conversely, visual prompts excel in depicting novel objects through concrete visual examples, but fall short in conveying the abstract concept of objects as effectively as text prompts. Recognizing the complementary strengths and weaknesses of both text and visual prompts, we introduce T-Rex2 that synergizes both prompts within a single model through contrastive learning. T-Rex2 accepts inputs in diverse formats, including text prompts, visual prompts, and the combination of both, so that it can handle different scenarios by switching between the two prompt modalities. Comprehensive experiments demonstrate that T-Rex2 exhibits remarkable zero-shot object detection capabilities across a wide spectrum of scenarios. We show that text prompts and visual prompts can benefit from each other within the synergy, which is essential to cover massive and complicated real-world scenarios and pave the way towards generic object detection. Model API is now available at https://github.com/IDEA-Research/T-Rex.

Large text-to-image models achieved a remarkable leap in the evolution of AI, enabling high-quality and diverse synthesis of images from a given text prompt. However, these models lack the ability to mimic the appearance of subjects in a given reference set and synthesize novel renditions of them in different contexts. In this work, we present a new approach for "personalization" of text-to-image diffusion models (specializing them to users' needs). Given as input just a few images of a subject, we fine-tune a pretrained text-to-image model (Imagen, although our method is not limited to a specific model) such that it learns to bind a unique identifier with that specific subject. Once the subject is embedded in the output domain of the model, the unique identifier can then be used to synthesize fully-novel photorealistic images of the subject contextualized in different scenes. By leveraging the semantic prior embedded in the model with a new autogenous class-specific prior preservation loss, our technique enables synthesizing the subject in diverse scenes, poses, views, and lighting conditions that do not appear in the reference images. We apply our technique to several previously-unassailable tasks, including subject recontextualization, text-guided view synthesis, appearance modification, and artistic rendering (all while preserving the subject's key features). Project page: https://dreambooth.github.io/

We present Recurrent Fitting (ReFit), a neural network architecture for single-image, parametric 3D human reconstruction. ReFit learns a feedback-update loop that mirrors the strategy of solving an inverse problem through optimization. At each iterative step, it reprojects keypoints from the human model to feature maps to query feedback, and uses a recurrent-based updater to adjust the model to fit the image better. Because ReFit encodes strong knowledge of the inverse problem, it is faster to train than previous regression models. At the same time, ReFit improves state-of-the-art performance on standard benchmarks. Moreover, ReFit applies to other optimization settings, such as multi-view fitting and single-view shape fitting. Project website: https://yufu-wang.github.io/refit_humans/

We introduce Uncommon Objects in 3D (uCO3D), a new object-centric dataset for 3D deep learning and 3D generative AI. uCO3D is the largest publicly-available collection of high-resolution videos of objects with 3D annotations that ensures full-360^{circ} coverage. uCO3D is significantly more diverse than MVImgNet and CO3Dv2, covering more than 1,000 object categories. It is also of higher quality, due to extensive quality checks of both the collected videos and the 3D annotations. Similar to analogous datasets, uCO3D contains annotations for 3D camera poses, depth maps and sparse point clouds. In addition, each object is equipped with a caption and a 3D Gaussian Splat reconstruction. We train several large 3D models on MVImgNet, CO3Dv2, and uCO3D and obtain superior results using the latter, showing that uCO3D is better for learning applications.

One of the biggest challenges in single-view 3D shape reconstruction in the wild is the scarcity of <3D shape, 2D image>-paired data from real-world environments. Inspired by remarkable achievements via domain randomization, we propose ObjectDR which synthesizes such paired data via a random simulation of visual variations in object appearances and backgrounds. Our data synthesis framework exploits a conditional generative model (e.g., ControlNet) to generate images conforming to spatial conditions such as 2.5D sketches, which are obtainable through a rendering process of 3D shapes from object collections (e.g., Objaverse-XL). To simulate diverse variations while preserving object silhouettes embedded in spatial conditions, we also introduce a disentangled framework which leverages an initial object guidance. After synthesizing a wide range of data, we pre-train a model on them so that it learns to capture a domain-invariant geometry prior which is consistent across various domains. We validate its effectiveness by substantially improving 3D shape reconstruction models on a real-world benchmark. In a scale-up evaluation, our pre-training achieves 23.6% superior results compared with the pre-training on high-quality computer graphics renderings.

Image composition aims to generate realistic composite image by inserting an object from one image into another background image, where the placement (e.g., location, size, occlusion) of inserted object may be unreasonable, which would significantly degrade the quality of the composite image. Although some works attempted to learn object placement to create realistic composite images, they did not focus on assessing the plausibility of object placement. In this paper, we focus on object placement assessment task, which verifies whether a composite image is plausible in terms of the object placement. To accomplish this task, we construct the first Object Placement Assessment (OPA) dataset consisting of composite images and their rationality labels. We also propose a simple yet effective baseline for this task. Dataset is available at https://github.com/bcmi/Object-Placement-Assessment-Dataset-OPA.

We introduce PartCrafter, the first structured 3D generative model that jointly synthesizes multiple semantically meaningful and geometrically distinct 3D meshes from a single RGB image. Unlike existing methods that either produce monolithic 3D shapes or follow two-stage pipelines, i.e., first segmenting an image and then reconstructing each segment, PartCrafter adopts a unified, compositional generation architecture that does not rely on pre-segmented inputs. Conditioned on a single image, it simultaneously denoises multiple 3D parts, enabling end-to-end part-aware generation of both individual objects and complex multi-object scenes. PartCrafter builds upon a pretrained 3D mesh diffusion transformer (DiT) trained on whole objects, inheriting the pretrained weights, encoder, and decoder, and introduces two key innovations: (1) A compositional latent space, where each 3D part is represented by a set of disentangled latent tokens; (2) A hierarchical attention mechanism that enables structured information flow both within individual parts and across all parts, ensuring global coherence while preserving part-level detail during generation. To support part-level supervision, we curate a new dataset by mining part-level annotations from large-scale 3D object datasets. Experiments show that PartCrafter outperforms existing approaches in generating decomposable 3D meshes, including parts that are not directly visible in input images, demonstrating the strength of part-aware generative priors for 3D understanding and synthesis. Code and training data will be released.

Scene synthesis and editing has emerged as a promising direction in computer graphics. Current trained approaches for 3D indoor scenes either oversimplify object semantics through one-hot class encodings (e.g., 'chair' or 'table'), require masked diffusion for editing, ignore room boundaries, or rely on floor plan renderings that fail to capture complex layouts. In contrast, LLM-based methods enable richer semantics via natural language (e.g., 'modern studio with light wood furniture') but do not support editing, remain limited to rectangular layouts or rely on weak spatial reasoning from implicit world models. We introduce ReSpace, a generative framework for text-driven 3D indoor scene synthesis and editing using autoregressive language models. Our approach features a compact structured scene representation with explicit room boundaries that frames scene editing as a next-token prediction task. We leverage a dual-stage training approach combining supervised fine-tuning and preference alignment, enabling a specially trained language model for object addition that accounts for user instructions, spatial geometry, object semantics, and scene-level composition. For scene editing, we employ a zero-shot LLM to handle object removal and prompts for addition. We further introduce a novel voxelization-based evaluation that captures fine-grained geometry beyond 3D bounding boxes. Experimental results surpass state-of-the-art on object addition while maintaining competitive results on full scene synthesis.

We present Shap-MeD, a text-to-3D object generative model specialized in the biomedical domain. The objective of this study is to develop an assistant that facilitates the 3D modeling of medical objects, thereby reducing development time. 3D modeling in medicine has various applications, including surgical procedure simulation and planning, the design of personalized prosthetic implants, medical education, the creation of anatomical models, and the development of research prototypes. To achieve this, we leverage Shap-e, an open-source text-to-3D generative model developed by OpenAI, and fine-tune it using a dataset of biomedical objects. Our model achieved a mean squared error (MSE) of 0.089 in latent generation on the evaluation set, compared to Shap-e's MSE of 0.147. Additionally, we conducted a qualitative evaluation, comparing our model with others in the generation of biomedical objects. Our results indicate that Shap-MeD demonstrates higher structural accuracy in biomedical object generation.

This paper propels creative control in generative visual AI by allowing users to "select". Departing from traditional text or sketch-based methods, we for the first time allow users to choose visual concepts by parts for their creative endeavors. The outcome is fine-grained generation that precisely captures selected visual concepts, ensuring a holistically faithful and plausible result. To achieve this, we first parse objects into parts through unsupervised feature clustering. Then, we encode parts into text tokens and introduce an entropy-based normalized attention loss that operates on them. This loss design enables our model to learn generic prior topology knowledge about object's part composition, and further generalize to novel part compositions to ensure the generation looks holistically faithful. Lastly, we employ a bottleneck encoder to project the part tokens. This not only enhances fidelity but also accelerates learning, by leveraging shared knowledge and facilitating information exchange among instances. Visual results in the paper and supplementary material showcase the compelling power of PartCraft in crafting highly customized, innovative creations, exemplified by the "charming" and creative birds. Code is released at https://github.com/kamwoh/partcraft.

Personalized text-to-image generation methods can generate customized images based on the reference images, which have garnered wide research interest. Recent methods propose a finetuning-free approach with a decoupled cross-attention mechanism to generate personalized images requiring no test-time finetuning. However, when multiple reference images are provided, the current decoupled cross-attention mechanism encounters the object confusion problem and fails to map each reference image to its corresponding object, thereby seriously limiting its scope of application. To address the object confusion problem, in this work we investigate the relevance of different positions of the latent image features to the target object in diffusion model, and accordingly propose a weighted-merge method to merge multiple reference image features into the corresponding objects. Next, we integrate this weighted-merge method into existing pre-trained models and continue to train the model on a multi-object dataset constructed from the open-sourced SA-1B dataset. To mitigate object confusion and reduce training costs, we propose an object quality score to estimate the image quality for the selection of high-quality training samples. Furthermore, our weighted-merge training framework can be employed on single-object generation when a single object has multiple reference images. The experiments verify that our method achieves superior performance to the state-of-the-arts on the Concept101 dataset and DreamBooth dataset of multi-object personalized image generation, and remarkably improves the performance on single-object personalized image generation. Our code is available at https://github.com/hqhQAQ/MIP-Adapter.

Editing a local region or a specific object in a 3D scene represented by a NeRF is challenging, mainly due to the implicit nature of the scene representation. Consistently blending a new realistic object into the scene adds an additional level of difficulty. We present Blended-NeRF, a robust and flexible framework for editing a specific region of interest in an existing NeRF scene, based on text prompts or image patches, along with a 3D ROI box. Our method leverages a pretrained language-image model to steer the synthesis towards a user-provided text prompt or image patch, along with a 3D MLP model initialized on an existing NeRF scene to generate the object and blend it into a specified region in the original scene. We allow local editing by localizing a 3D ROI box in the input scene, and seamlessly blend the content synthesized inside the ROI with the existing scene using a novel volumetric blending technique. To obtain natural looking and view-consistent results, we leverage existing and new geometric priors and 3D augmentations for improving the visual fidelity of the final result. We test our framework both qualitatively and quantitatively on a variety of real 3D scenes and text prompts, demonstrating realistic multi-view consistent results with much flexibility and diversity compared to the baselines. Finally, we show the applicability of our framework for several 3D editing applications, including adding new objects to a scene, removing/replacing/altering existing objects, and texture conversion.

We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized at a random location and pose in an environment and asked to find an instance of an object category, e.g., find a chair, by navigating to it. As the community begins to show increased interest in semantic goal specification for navigation tasks, a number of different often-inconsistent interpretations of this task are emerging. This document summarizes the consensus recommendations of this working group on ObjectNav. In particular, we make recommendations on subtle but important details of evaluation criteria (for measuring success when navigating towards a target object), the agent's embodiment parameters, and the characteristics of the environments within which the task is carried out. Finally, we provide a detailed description of the instantiation of these recommendations in challenges organized at the Embodied AI workshop at CVPR 2020 http://embodied-ai.org .

Understanding objects is a central building block of artificial intelligence, especially for embodied AI. Even though object recognition excels with deep learning, current machines still struggle to learn higher-level knowledge, e.g., what attributes an object has, and what can we do with an object. In this work, we propose a challenging Object Concept Learning (OCL) task to push the envelope of object understanding. It requires machines to reason out object affordances and simultaneously give the reason: what attributes make an object possesses these affordances. To support OCL, we build a densely annotated knowledge base including extensive labels for three levels of object concept (category, attribute, affordance), and the causal relations of three levels. By analyzing the causal structure of OCL, we present a baseline, Object Concept Reasoning Network (OCRN). It leverages causal intervention and concept instantiation to infer the three levels following their causal relations. In experiments, OCRN effectively infers the object knowledge while following the causalities well. Our data and code are available at https://mvig-rhos.com/ocl.

Diffusion-based generative models have significantly advanced text-to-image generation but encounter challenges when processing lengthy and intricate text prompts describing complex scenes with multiple objects. While excelling in generating images from short, single-object descriptions, these models often struggle to faithfully capture all the nuanced details within longer and more elaborate textual inputs. In response, we present a novel approach leveraging Large Language Models (LLMs) to extract critical components from text prompts, including bounding box coordinates for foreground objects, detailed textual descriptions for individual objects, and a succinct background context. These components form the foundation of our layout-to-image generation model, which operates in two phases. The initial Global Scene Generation utilizes object layouts and background context to create an initial scene but often falls short in faithfully representing object characteristics as specified in the prompts. To address this limitation, we introduce an Iterative Refinement Scheme that iteratively evaluates and refines box-level content to align them with their textual descriptions, recomposing objects as needed to ensure consistency. Our evaluation on complex prompts featuring multiple objects demonstrates a substantial improvement in recall compared to baseline diffusion models. This is further validated by a user study, underscoring the efficacy of our approach in generating coherent and detailed scenes from intricate textual inputs.

Diffusion-based image generation models such as DALL-E 3 and Stable Diffusion-XL demonstrate remarkable capabilities in generating images with realistic and unique compositions. Yet, these models are not robust in precisely reasoning about physical and spatial configurations of objects, especially when instructed with unconventional, thereby out-of-distribution descriptions, such as "a chair with five legs". In this paper, we propose a language agent with chain-of-3D-thoughts (L3GO), an inference-time approach that can reason about part-based 3D mesh generation of unconventional objects that current data-driven diffusion models struggle with. More concretely, we use large language models as agents to compose a desired object via trial-and-error within the 3D simulation environment. To facilitate our investigation, we develop a new benchmark, Unconventionally Feasible Objects (UFO), as well as SimpleBlenv, a wrapper environment built on top of Blender where language agents can build and compose atomic building blocks via API calls. Human and automatic GPT-4V evaluations show that our approach surpasses the standard GPT-4 and other language agents (e.g., ReAct and Reflexion) for 3D mesh generation on ShapeNet. Moreover, when tested on our UFO benchmark, our approach outperforms other state-of-the-art text-to-2D image and text-to-3D models based on human evaluation.

We introduce a new setting, Edit Transfer, where a model learns a transformation from just a single source-target example and applies it to a new query image. While text-based methods excel at semantic manipulations through textual prompts, they often struggle with precise geometric details (e.g., poses and viewpoint changes). Reference-based editing, on the other hand, typically focuses on style or appearance and fails at non-rigid transformations. By explicitly learning the editing transformation from a source-target pair, Edit Transfer mitigates the limitations of both text-only and appearance-centric references. Drawing inspiration from in-context learning in large language models, we propose a visual relation in-context learning paradigm, building upon a DiT-based text-to-image model. We arrange the edited example and the query image into a unified four-panel composite, then apply lightweight LoRA fine-tuning to capture complex spatial transformations from minimal examples. Despite using only 42 training samples, Edit Transfer substantially outperforms state-of-the-art TIE and RIE methods on diverse non-rigid scenarios, demonstrating the effectiveness of few-shot visual relation learning.

Recent advances in modeling 3D objects mostly rely on synthetic datasets due to the lack of large-scale realscanned 3D databases. To facilitate the development of 3D perception, reconstruction, and generation in the real world, we propose OmniObject3D, a large vocabulary 3D object dataset with massive high-quality real-scanned 3D objects. OmniObject3D has several appealing properties: 1) Large Vocabulary: It comprises 6,000 scanned objects in 190 daily categories, sharing common classes with popular 2D datasets (e.g., ImageNet and LVIS), benefiting the pursuit of generalizable 3D representations. 2) Rich Annotations: Each 3D object is captured with both 2D and 3D sensors, providing textured meshes, point clouds, multiview rendered images, and multiple real-captured videos. 3) Realistic Scans: The professional scanners support highquality object scans with precise shapes and realistic appearances. With the vast exploration space offered by OmniObject3D, we carefully set up four evaluation tracks: a) robust 3D perception, b) novel-view synthesis, c) neural surface reconstruction, and d) 3D object generation. Extensive studies are performed on these four benchmarks, revealing new observations, challenges, and opportunities for future research in realistic 3D vision.

How can a robot efficiently extract a desired object from a shelf when it is fully occluded by other objects? Prior works propose geometric approaches for this problem but do not consider object semantics. Shelves in pharmacies, restaurant kitchens, and grocery stores are often organized such that semantically similar objects are placed close to one another. Can large language models (LLMs) serve as semantic knowledge sources to accelerate robotic mechanical search in semantically arranged environments? With Semantic Spatial Search on Shelves (S^4), we use LLMs to generate affinity matrices, where entries correspond to semantic likelihood of physical proximity between objects. We derive semantic spatial distributions by synthesizing semantics with learned geometric constraints. S^4 incorporates Optical Character Recognition (OCR) and semantic refinement with predictions from ViLD, an open-vocabulary object detection model. Simulation experiments suggest that semantic spatial search reduces the search time relative to pure spatial search by an average of 24% across three domains: pharmacy, kitchen, and office shelves. A manually collected dataset of 100 semantic scenes suggests that OCR and semantic refinement improve object detection accuracy by 35%. Lastly, physical experiments in a pharmacy shelf suggest 47.1% improvement over pure spatial search. Supplementary material can be found at https://sites.google.com/view/s4-rss/home.

In recent years, neural implicit surface reconstruction has emerged as a popular paradigm for multi-view 3D reconstruction. Unlike traditional multi-view stereo approaches, the neural implicit surface-based methods leverage neural networks to represent 3D scenes as signed distance functions (SDFs). However, they tend to disregard the reconstruction of individual objects within the scene, which limits their performance and practical applications. To address this issue, previous work ObjectSDF introduced a nice framework of object-composition neural implicit surfaces, which utilizes 2D instance masks to supervise individual object SDFs. In this paper, we propose a new framework called ObjectSDF++ to overcome the limitations of ObjectSDF. First, in contrast to ObjectSDF whose performance is primarily restricted by its converted semantic field, the core component of our model is an occlusion-aware object opacity rendering formulation that directly volume-renders object opacity to be supervised with instance masks. Second, we design a novel regularization term for object distinction, which can effectively mitigate the issue that ObjectSDF may result in unexpected reconstruction in invisible regions due to the lack of constraint to prevent collisions. Our extensive experiments demonstrate that our novel framework not only produces superior object reconstruction results but also significantly improves the quality of scene reconstruction. Code and more resources can be found in https://qianyiwu.github.io/objectsdf++

Structural understanding of complex visual objects is an important unsolved component of artificial intelligence. To study this, we develop a new technique for the recently proposed Break-and-Make problem in LTRON where an agent must learn to build a previously unseen LEGO assembly using a single interactive session to gather information about its components and their structure. We attack this problem by building an agent that we call \ours that is able to make its own visual instruction book. By disassembling an unseen assembly and periodically saving images of it, the agent is able to create a set of instructions so that it has the information necessary to rebuild it. These instructions form an explicit memory that allows the model to reason about the assembly process one step at a time, avoiding the need for long-term implicit memory. This in turn allows us to train on much larger LEGO assemblies than has been possible in the past. To demonstrate the power of this model, we release a new dataset of procedurally built LEGO vehicles that contain an average of 31 bricks each and require over one hundred steps to disassemble and reassemble. We train these models using online imitation learning which allows the model to learn from its own mistakes. Finally, we also provide some small improvements to LTRON and the Break-and-Make problem that simplify the learning environment and improve usability.

Localized subject-driven image editing aims to seamlessly integrate user-specified objects into target scenes. As generative models continue to scale, training becomes increasingly costly in terms of memory and computation, highlighting the need for training-free and scalable editing frameworks.To this end, we propose PosBridge an efficient and flexible framework for inserting custom objects. A key component of our method is positional embedding transplant, which guides the diffusion model to faithfully replicate the structural characteristics of reference objects.Meanwhile, we introduce the Corner Centered Layout, which concatenates reference images and the background image as input to the FLUX.1-Fill model. During progressive denoising, positional embedding transplant is applied to guide the noise distribution in the target region toward that of the reference object. In this way, Corner Centered Layout effectively directs the FLUX.1-Fill model to synthesize identity-consistent content at the desired location. Extensive experiments demonstrate that PosBridge outperforms mainstream baselines in structural consistency, appearance fidelity, and computational efficiency, showcasing its practical value and potential for broad adoption.

Recognizing and generating object-state compositions has been a challenging task, especially when generalizing to unseen compositions. In this paper, we study the task of cutting objects in different styles and the resulting object state changes. We propose a new benchmark suite Chop & Learn, to accommodate the needs of learning objects and different cut styles using multiple viewpoints. We also propose a new task of Compositional Image Generation, which can transfer learned cut styles to different objects, by generating novel object-state images. Moreover, we also use the videos for Compositional Action Recognition, and show valuable uses of this dataset for multiple video tasks. Project website: https://chopnlearn.github.io.

Object appearances change dramatically with pose variations. This creates a challenge for embedding schemes that seek to map instances with the same object ID to locations that are as close as possible. This issue becomes significantly heightened in complex computer vision tasks such as re-identification(reID). In this paper, we suggest that these dramatic appearance changes are indications that an object ID is composed of multiple natural groups, and it is counterproductive to forcefully map instances from different groups to a common location. This leads us to introduce Relation Preserving Triplet Mining (RPTM), a feature-matching guided triplet mining scheme, that ensures that triplets will respect the natural subgroupings within an object ID. We use this triplet mining mechanism to establish a pose-aware, well-conditioned triplet loss by implicitly enforcing view consistency. This allows a single network to be trained with fixed parameters across datasets while providing state-of-the-art results. Code is available at https://github.com/adhirajghosh/RPTM_reid.

Object-centric learning (OCL) seeks to learn representations that only encode an object, isolated from other objects or background cues in a scene. This approach underpins various aims, including out-of-distribution (OOD) generalization, sample-efficient composition, and modeling of structured environments. Most research has focused on developing unsupervised mechanisms that separate objects into discrete slots in the representation space, evaluated using unsupervised object discovery. However, with recent sample-efficient segmentation models, we can separate objects in the pixel space and encode them independently. This achieves remarkable zero-shot performance on OOD object discovery benchmarks, is scalable to foundation models, and can handle a variable number of slots out-of-the-box. Hence, the goal of OCL methods to obtain object-centric representations has been largely achieved. Despite this progress, a key question remains: How does the ability to separate objects within a scene contribute to broader OCL objectives, such as OOD generalization? We address this by investigating the OOD generalization challenge caused by spurious background cues through the lens of OCL. We propose a novel, training-free probe called Object-Centric Classification with Applied Masks (OCCAM), demonstrating that segmentation-based encoding of individual objects significantly outperforms slot-based OCL methods. However, challenges in real-world applications remain. We provide the toolbox for the OCL community to use scalable object-centric representations, and focus on practical applications and fundamental questions, such as understanding object perception in human cognition. Our code is available https://github.com/AlexanderRubinstein/OCCAM{here}.

Recent advancements in robotic grasping have led to its integration as a core module in many manipulation systems. For instance, language-driven semantic segmentation enables the grasping of any designated object or object part. However, existing methods often struggle to generate feasible grasp poses for small objects or delicate components, potentially causing the entire pipeline to fail. To address this issue, we propose a novel grasping method, FineGrasp, which introduces improvements in three key aspects. First, we introduce multiple network modifications to enhance the ability of to handle delicate regions. Second, we address the issue of label imbalance and propose a refined graspness label normalization strategy. Third, we introduce a new simulated grasp dataset and show that mixed sim-to-real training further improves grasp performance. Experimental results show significant improvements, especially in grasping small objects, and confirm the effectiveness of our system in semantic grasping.

Diffusion models has underpinned much recent advances of dataset augmentation in various computer vision tasks. However, when involving generating multi-object images as real scenarios, most existing methods either rely entirely on text condition, resulting in a deviation between the generated objects and the original data, or rely too much on the original images, resulting in a lack of diversity in the generated images, which is of limited help to downstream tasks. To mitigate both problems with one stone, we propose a prompt-free conditional diffusion framework for multi-object image augmentation. Specifically, we introduce a local-global semantic fusion strategy to extract semantics from images to replace text, and inject knowledge into the diffusion model through LoRA to alleviate the category deviation between the original model and the target dataset. In addition, we design a reward model based counting loss to assist the traditional reconstruction loss for model training. By constraining the object counts of each category instead of pixel-by-pixel constraints, bridging the quantity deviation between the generated data and the original data while improving the diversity of the generated data. Experimental results demonstrate the superiority of the proposed method over several representative state-of-the-art baselines and showcase strong downstream task gain and out-of-domain generalization capabilities. Code is available at https://github.com/00why00/PFCD{here}.

This paper addresses an important problem of object addition for images with only text guidance. It is challenging because the new object must be integrated seamlessly into the image with consistent visual context, such as lighting, texture, and spatial location. While existing text-guided image inpainting methods can add objects, they either fail to preserve the background consistency or involve cumbersome human intervention in specifying bounding boxes or user-scribbled masks. To tackle this challenge, we introduce Diffree, a Text-to-Image (T2I) model that facilitates text-guided object addition with only text control. To this end, we curate OABench, an exquisite synthetic dataset by removing objects with advanced image inpainting techniques. OABench comprises 74K real-world tuples of an original image, an inpainted image with the object removed, an object mask, and object descriptions. Trained on OABench using the Stable Diffusion model with an additional mask prediction module, Diffree uniquely predicts the position of the new object and achieves object addition with guidance from only text. Extensive experiments demonstrate that Diffree excels in adding new objects with a high success rate while maintaining background consistency, spatial appropriateness, and object relevance and quality.

The extraction of modular object-centric representations for downstream tasks is an emerging area of research. Learning grounded representations of objects that are guaranteed to be stable and invariant promises robust performance across different tasks and environments. Slot Attention (SA) learns object-centric representations by assigning objects to slots, but presupposes a single distribution from which all slots are randomly initialised. This results in an inability to learn specialized slots which bind to specific object types and remain invariant to identity-preserving changes in object appearance. To address this, we present \textsc{Conditional Slot Attention} (CoSA) using a novel concept of Grounded Slot Dictionary (GSD) inspired by vector quantization. Our proposed GSD comprises (i) canonical object-level property vectors and (ii) parametric Gaussian distributions, which define a prior over the slots. We demonstrate the benefits of our method in multiple downstream tasks such as scene generation, composition, and task adaptation, whilst remaining competitive with SA in popular object discovery benchmarks.

In this paper, we systematically analyze unsupervised domain adaptation pipelines for object classification in a challenging industrial setting. In contrast to standard natural object benchmarks existing in the field, our results highlight the most important design choices when only category-labeled CAD models are available but classification needs to be done with real-world images. Our domain adaptation pipeline achieves SoTA performance on the VisDA benchmark, but more importantly, drastically improves recognition performance on our new open industrial dataset comprised of 102 mechanical parts. We conclude with a set of guidelines that are relevant for practitioners needing to apply state-of-the-art unsupervised domain adaptation in practice. Our code is available at https://github.com/dritter-bht/synthnet-transfer-learning.

Pre-trained language models (PLMs) have become a prevalent technique in deep learning for code, utilizing a two-stage pre-training and fine-tuning procedure to acquire general knowledge about code and specialize in a variety of downstream tasks. However, the dynamic nature of software codebases poses a challenge to the effectiveness and robustness of PLMs. In particular, world-realistic scenarios potentially lead to significant differences between the distribution of the pre-training and test data, i.e., distribution shift, resulting in a degradation of the PLM's performance on downstream tasks. In this paper, we stress the need for adapting PLMs of code to software data whose distribution changes over time, a crucial problem that has been overlooked in previous works. The motivation of this work is to consider the PLM in a non-stationary environment, where fine-tuning data evolves over time according to a software evolution scenario. Specifically, we design a scenario where the model needs to learn from a stream of programs containing new, unseen APIs over time. We study two widely used PLM architectures, i.e., a GPT2 decoder and a RoBERTa encoder, on two downstream tasks, API call and API usage prediction. We demonstrate that the most commonly used fine-tuning technique from prior work is not robust enough to handle the dynamic nature of APIs, leading to the loss of previously acquired knowledge i.e., catastrophic forgetting. To address these issues, we implement five continual learning approaches, including replay-based and regularization-based methods. Our findings demonstrate that utilizing these straightforward methods effectively mitigates catastrophic forgetting in PLMs across both downstream tasks while achieving comparable or superior performance.

Self-supervised learning (SSL) has revolutionized visual representation learning, but has not achieved the robustness of human vision. A reason for this could be that SSL does not leverage all the data available to humans during learning. When learning about an object, humans often purposefully turn or move around objects and research suggests that these interactions can substantially enhance their learning. Here we explore whether such object-related actions can boost SSL. For this, we extract the actions performed to change from one ego-centric view of an object to another in four video datasets. We then introduce a new loss function to learn visual and action embeddings by aligning the performed action with the representations of two images extracted from the same clip. This permits the performed actions to structure the latent visual representation. Our experiments show that our method consistently outperforms previous methods on downstream category recognition. In our analysis, we find that the observed improvement is associated with a better viewpoint-wise alignment of different objects from the same category. Overall, our work demonstrates that embodied interactions with objects can improve SSL of object categories.

Current vision-language-action (VLA) models, pre-trained on large-scale robotic data, exhibit strong multi-task capabilities and generalize well to variations in visual and language instructions for manipulation. However, their success rate drops significantly when faced with object concepts outside the training data, such as unseen object descriptions and textures in the dataset. To address this, we propose a novel agentic framework, VLA^2, which leverages OpenVLA as the execution backbone and effectively leverages external modules such as web retrieval and object detection to provide visual and textual knowledge about target objects to the VLA. This approach mitigates generalization failure when handling out-of-distribution objects. Based on the LIBERO simulation environment, we introduced novel objects and object descriptions to construct a new evaluation benchmark with three difficulty levels to test the effectiveness of our method. Our framework successfully outperformed the current state-of-the-art models on our designed hard-level generalization benchmark. Compared to the standalone OpenVLA baseline, VLA^2 achieves a 44.2% improvement in the success rate in the hard-level benchmark and an average improvement of 20.2% in all customized environments without any performance degradation on in-domain tasks. Project website: https://vla-2.github.io.

We introduce Reprompting, an iterative sampling algorithm that searches for the Chain-of-Thought (CoT) recipes for a given task without human intervention. Through Gibbs sampling, we infer CoT recipes that work consistently well for a set of training samples. Our method iteratively samples new recipes using previously sampled solutions as parent prompts to solve other training problems. On five Big-Bench Hard tasks that require multi-step reasoning, Reprompting achieves consistently better performance than the zero-shot, few-shot, and human-written CoT baselines. Reprompting can also facilitate transfer of knowledge from a stronger model to a weaker model leading to substantially improved performance of the weaker model. Overall, Reprompting brings up to +17 point improvements over the previous state-of-the-art method that uses human-written CoT prompts.

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly supplanted conventional algorithms reliant on engineered point pair features. Nevertheless, several challenges persist in contemporary methods, including their dependency on labeled training data, model compactness, robustness under challenging conditions, and their ability to generalize to novel unseen objects. A recent survey discussing the progress made on different aspects of this area, outstanding challenges, and promising future directions, is missing. To fill this gap, we discuss the recent advances in deep learning-based object pose estimation, covering all three formulations of the problem, i.e., instance-level, category-level, and unseen object pose estimation. Our survey also covers multiple input data modalities, degrees-of-freedom of output poses, object properties, and downstream tasks, providing the readers with a holistic understanding of this field. Additionally, it discusses training paradigms of different domains, inference modes, application areas, evaluation metrics, and benchmark datasets, as well as reports the performance of current state-of-the-art methods on these benchmarks, thereby facilitating the readers in selecting the most suitable method for their application. Finally, the survey identifies key challenges, reviews the prevailing trends along with their pros and cons, and identifies promising directions for future research. We also keep tracing the latest works at https://github.com/CNJianLiu/Awesome-Object-Pose-Estimation.

Recently large-scale language-image models (e.g., text-guided diffusion models) have considerably improved the image generation capabilities to generate photorealistic images in various domains. Based on this success, current image editing methods use texts to achieve intuitive and versatile modification of images. To edit a real image using diffusion models, one must first invert the image to a noisy latent from which an edited image is sampled with a target text prompt. However, most methods lack one of the following: user-friendliness (e.g., additional masks or precise descriptions of the input image are required), generalization to larger domains, or high fidelity to the input image. In this paper, we design an accurate and quick inversion technique, Prompt Tuning Inversion, for text-driven image editing. Specifically, our proposed editing method consists of a reconstruction stage and an editing stage. In the first stage, we encode the information of the input image into a learnable conditional embedding via Prompt Tuning Inversion. In the second stage, we apply classifier-free guidance to sample the edited image, where the conditional embedding is calculated by linearly interpolating between the target embedding and the optimized one obtained in the first stage. This technique ensures a superior trade-off between editability and high fidelity to the input image of our method. For example, we can change the color of a specific object while preserving its original shape and background under the guidance of only a target text prompt. Extensive experiments on ImageNet demonstrate the superior editing performance of our method compared to the state-of-the-art baselines.

Articulated objects are prevalent in daily life. Understanding their kinematic structure and reconstructing them have numerous applications in embodied AI and robotics. However, current methods require carefully captured data for training or inference, preventing practical, scalable, and generalizable reconstruction of articulated objects. We focus on reconstruction of an articulated object from a casually captured RGBD video shot with a hand-held camera. A casually captured video of an interaction with an articulated object is easy to acquire at scale using smartphones. However, this setting is quite challenging, as the object and camera move simultaneously and there are significant occlusions as the person interacts with the object. To tackle these challenges, we introduce a coarse-to-fine framework that infers joint parameters and segments movable parts of the object from a dynamic RGBD video. To evaluate our method under this new setting, we build a 20times larger synthetic dataset of 784 videos containing 284 objects across 11 categories. We compare our approach with existing methods that also take video as input. Experiments show that our method can reconstruct synthetic and real articulated objects across different categories from dynamic RGBD videos, outperforming existing methods significantly.

We study open-world part segmentation in 3D: segmenting any part in any object based on any text query. Prior methods are limited in object categories and part vocabularies. Recent advances in AI have demonstrated effective open-world recognition capabilities in 2D. Inspired by this progress, we propose an open-world, direct-prediction model for 3D part segmentation that can be applied zero-shot to any object. Our approach, called Find3D, trains a general-category point embedding model on large-scale 3D assets from the internet without any human annotation. It combines a data engine, powered by foundation models for annotating data, with a contrastive training method. We achieve strong performance and generalization across multiple datasets, with up to a 3x improvement in mIoU over the next best method. Our model is 6x to over 300x faster than existing baselines. To encourage research in general-category open-world 3D part segmentation, we also release a benchmark for general objects and parts. Project website: https://ziqi-ma.github.io/find3dsite/

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of predicting a wide range of feasible placement poses for real-world tasks. Our key insight is that by leveraging a Vision-Language Model (VLM) to identify rough placement locations, we focus only on the relevant regions for local placement, which enables us to train the low-level placement-pose-prediction model to capture diverse placements efficiently. For training, we generate a fully synthetic dataset of randomly generated objects in different placement configurations (insertion, stacking, hanging) and train local placement-prediction models. We conduct extensive evaluations in simulation, demonstrating that our method outperforms baselines in terms of success rate, coverage of possible placement modes, and precision. In real-world experiments, we show how our approach directly transfers models trained purely on synthetic data to the real world, where it successfully performs placements in scenarios where other models struggle -- such as with varying object geometries, diverse placement modes, and achieving high precision for fine placement. More at: https://any-place.github.io.

With the recent development of generative models, Text-to-3D generations have also seen significant growth. Nonetheless, achieving precise control over 3D generation continues to be an arduous task, as using text to control often leads to missing objects and imprecise locations. Contemporary strategies for enhancing controllability in 3D generation often entail the introduction of additional parameters, such as customized diffusion models. This often induces hardness in adapting to different diffusion models or creating distinct objects. In this paper, we present LucidDreaming as an effective pipeline capable of fine-grained control over 3D generation. It requires only minimal input of 3D bounding boxes, which can be deduced from a simple text prompt using a Large Language Model. Specifically, we propose clipped ray sampling to separately render and optimize objects with user specifications. We also introduce object-centric density blob bias, fostering the separation of generated objects. With individual rendering and optimizing of objects, our method excels not only in controlled content generation from scratch but also within the pre-trained NeRF scenes. In such scenarios, existing generative approaches often disrupt the integrity of the original scene, and current editing methods struggle to synthesize new content in empty spaces. We show that our method exhibits remarkable adaptability across a spectrum of mainstream Score Distillation Sampling-based 3D generation frameworks, and achieves superior alignment of 3D content when compared to baseline approaches. We also provide a dataset of prompts with 3D bounding boxes, benchmarking 3D spatial controllability.

In this work, we address the challenging and emergent problem of novel object detection (NOD), focusing on the accurate detection of both known and novel object categories during inference. Traditional object detection algorithms are inherently closed-set, limiting their capability to handle NOD. We present a novel approach to transform existing closed-set detectors into open-set detectors. This transformation is achieved by leveraging the complementary strengths of pre-trained foundational models, specifically CLIP and SAM, through our cooperative mechanism. Furthermore, by integrating this mechanism with state-of-the-art open-set detectors such as GDINO, we establish new benchmarks in object detection performance. Our method achieves 17.42 mAP in novel object detection and 42.08 mAP for known objects on the challenging LVIS dataset. Adapting our approach to the COCO OVD split, we surpass the current state-of-the-art by a margin of 7.2 AP_{50} for novel classes. Our code is available at https://github.com/rohit901/cooperative-foundational-models .

This work presents Insert Anything, a unified framework for reference-based image insertion that seamlessly integrates objects from reference images into target scenes under flexible, user-specified control guidance. Instead of training separate models for individual tasks, our approach is trained once on our new AnyInsertion dataset--comprising 120K prompt-image pairs covering diverse tasks such as person, object, and garment insertion--and effortlessly generalizes to a wide range of insertion scenarios. Such a challenging setting requires capturing both identity features and fine-grained details, while allowing versatile local adaptations in style, color, and texture. To this end, we propose to leverage the multimodal attention of the Diffusion Transformer (DiT) to support both mask- and text-guided editing. Furthermore, we introduce an in-context editing mechanism that treats the reference image as contextual information, employing two prompting strategies to harmonize the inserted elements with the target scene while faithfully preserving their distinctive features. Extensive experiments on AnyInsertion, DreamBooth, and VTON-HD benchmarks demonstrate that our method consistently outperforms existing alternatives, underscoring its great potential in real-world applications such as creative content generation, virtual try-on, and scene composition.

Category-specific models are provenly valuable methods in 3D single object tracking (SOT) regardless of Siamese or motion-centric paradigms. However, such over-specialized model designs incur redundant parameters, thus limiting the broader applicability of 3D SOT task. This paper first introduces unified models that can simultaneously track objects across all categories using a single network with shared model parameters. Specifically, we propose to explicitly encode distinct attributes associated to different object categories, enabling the model to adapt to cross-category data. We find that the attribute variances of point cloud objects primarily occur from the varying size and shape (e.g., large and square vehicles v.s. small and slender humans). Based on this observation, we design a novel point set representation learning network inheriting transformer architecture, termed AdaFormer, which adaptively encodes the dynamically varying shape and size information from cross-category data in a unified manner. We further incorporate the size and shape prior derived from the known template targets into the model's inputs and learning objective, facilitating the learning of unified representation. Equipped with such designs, we construct two category-unified models SiamCUT and MoCUT.Extensive experiments demonstrate that SiamCUT and MoCUT exhibit strong generalization and training stability. Furthermore, our category-unified models outperform the category-specific counterparts by a significant margin (e.g., on KITTI dataset, 12% and 3% performance gains on the Siamese and motion paradigms). Our code will be available.

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level identification a challenging task. Recent advancements in Open-Vocabulary scene understanding have made significant strides in this area by employing class-agnostic 3D instance proposal networks for object localization and learning queryable features for each 3D mask. While these methods produce high-quality instance proposals, they struggle with identifying small-scale and geometrically ambiguous objects. The key idea of our method is a new module that aggregates 2D instance masks across frames and maps them to geometrically coherent point cloud regions as high-quality object proposals addressing the above limitations. These are then combined with 3D class-agnostic instance proposals to include a wide range of objects in the real world. To validate our approach, we conducted experiments on three prominent datasets, including ScanNet200, S3DIS, and Replica, demonstrating significant performance gains in segmenting objects with diverse categories over the state-of-the-art approaches.

We introduce Dream2Real, a robotics framework which integrates vision-language models (VLMs) trained on 2D data into a 3D object rearrangement pipeline. This is achieved by the robot autonomously constructing a 3D representation of the scene, where objects can be rearranged virtually and an image of the resulting arrangement rendered. These renders are evaluated by a VLM, so that the arrangement which best satisfies the user instruction is selected and recreated in the real world with pick-and-place. This enables language-conditioned rearrangement to be performed zero-shot, without needing to collect a training dataset of example arrangements. Results on a series of real-world tasks show that this framework is robust to distractors, controllable by language, capable of understanding complex multi-object relations, and readily applicable to both tabletop and 6-DoF rearrangement tasks.

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to real-world scenes by utilizing pre-trained self-supervised features. However, so far, object-centric methods have mostly been applied in-distribution, with models trained and evaluated on the same dataset. This is in contrast to the wider trend in machine learning towards general-purpose models directly applicable to unseen data and tasks. Thus, in this work, we study current object-centric methods through the lens of zero-shot generalization by introducing a benchmark comprising eight different synthetic and real-world datasets. We analyze the factors influencing zero-shot performance and find that training on diverse real-world images improves transferability to unseen scenarios. Furthermore, inspired by the success of task-specific fine-tuning in foundation models, we introduce a novel fine-tuning strategy to adapt pre-trained vision encoders for the task of object discovery. We find that the proposed approach results in state-of-the-art performance for unsupervised object discovery, exhibiting strong zero-shot transfer to unseen datasets.

The goal of this work is to establish a scalable pipeline for expanding an object detector towards novel/unseen categories, using zero manual annotations. To achieve that, we make the following four contributions: (i) in pursuit of generalisation, we propose a two-stage open-vocabulary object detector, where the class-agnostic object proposals are classified with a text encoder from pre-trained visual-language model; (ii) To pair the visual latent space (of RPN box proposals) with that of the pre-trained text encoder, we propose the idea of regional prompt learning to align the textual embedding space with regional visual object features; (iii) To scale up the learning procedure towards detecting a wider spectrum of objects, we exploit the available online resource via a novel self-training framework, which allows to train the proposed detector on a large corpus of noisy uncurated web images. Lastly, (iv) to evaluate our proposed detector, termed as PromptDet, we conduct extensive experiments on the challenging LVIS and MS-COCO dataset. PromptDet shows superior performance over existing approaches with fewer additional training images and zero manual annotations whatsoever. Project page with code: https://fcjian.github.io/promptdet.

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by language descriptions in 3D scenes. We propose Controllable Human-Object Interaction Synthesis (CHOIS), an approach that generates object motion and human motion simultaneously using a conditional diffusion model given a language description, initial object and human states, and sparse object waypoints. While language descriptions inform style and intent, waypoints ground the motion in the scene and can be effectively extracted using high-level planning methods. Naively applying a diffusion model fails to predict object motion aligned with the input waypoints and cannot ensure the realism of interactions that require precise hand-object contact and appropriate contact grounded by the floor. To overcome these problems, we introduce an object geometry loss as additional supervision to improve the matching between generated object motion and input object waypoints. In addition, we design guidance terms to enforce contact constraints during the sampling process of the trained diffusion model.

Towards intelligent image editing, object removal should eliminate both the target object and its causal visual artifacts, such as shadows and reflections. However, existing image appearance-based methods either follow strictly mask-aligned training and fail to remove these causal effects which are not explicitly masked, or adopt loosely mask-aligned strategies that lack controllability and may unintentionally over-erase other objects. We identify that these limitations stem from ignoring the causal relationship between an object's geometry presence and its visual effects. To address this limitation, we propose a geometry-aware two-stage framework that decouples object removal into (1) geometry removal and (2) appearance rendering. In the first stage, we remove the object directly from the geometry (e.g., depth) using strictly mask-aligned supervision, enabling structure-aware editing with strong geometric constraints. In the second stage, we render a photorealistic RGB image conditioned on the updated geometry, where causal visual effects are considered implicitly as a result of the modified 3D geometry. To guide learning in the geometry removal stage, we introduce a preference-driven objective based on positive and negative sample pairs, encouraging the model to remove objects as well as their causal visual artifacts while avoiding new structural insertions. Extensive experiments demonstrate that our method achieves state-of-the-art performance in removing both objects and their associated artifacts on two popular benchmarks. The code is available at https://github.com/buxiangzhiren/GeoRemover.

Existing subject-driven text-to-image generation models suffer from tedious fine-tuning steps and struggle to maintain both text-image alignment and subject fidelity. For generating compositional subjects, it often encounters problems such as object missing and attribute mixing, where some subjects in the input prompt are not generated or their attributes are incorrectly combined. To address these limitations, we propose a subject-driven generation framework and introduce training-free guidance to intervene in the generative process during inference time. This approach strengthens the attention map, allowing for precise attribute binding and feature injection for each subject. Notably, our method exhibits exceptional zero-shot generation ability, especially in the challenging task of compositional generation. Furthermore, we propose a novel metric GroundingScore to evaluate subject alignment thoroughly. The obtained quantitative results serve as compelling evidence showcasing the effectiveness of our proposed method. The code will be released soon.

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do not generalize well to articulated objects in the wild. We treat an articulated object as an unknown, semi-rigid skeletal structure surrounded by nonrigid material (e.g., skin). Our method simultaneously estimates the visible (explicit) representation (3D shapes, colors, camera parameters) and the implicit skeletal representation, from motion cues in the object video without 3D supervision. Our implicit representation consists of four parts. (1) Skeleton, which specifies how semi-rigid parts are connected. (2) black{Skinning Weights}, which associates each surface vertex with semi-rigid parts with probability. (3) Rigidity Coefficients, specifying the articulation of the local surface. (4) Time-Varying Transformations, which specify the skeletal motion and surface deformation parameters. We introduce an algorithm that uses physical constraints as regularization terms and iteratively estimates both implicit and explicit representations. Our method is category-agnostic, thus eliminating the need for category-specific skeletons, we show that our method outperforms state-of-the-art across standard video datasets.

Generative models for 3D object synthesis have seen significant advancements with the incorporation of prior knowledge distilled from 2D diffusion models. Nevertheless, challenges persist in the form of multi-view geometric inconsistencies and slow generation speeds within the existing 3D synthesis frameworks. This can be attributed to two factors: firstly, the deficiency of abundant geometric a priori knowledge in optimization, and secondly, the entanglement issue between geometry and texture in conventional 3D generation methods.In response, we introduce MetaDreammer, a two-stage optimization approach that leverages rich 2D and 3D prior knowledge. In the first stage, our emphasis is on optimizing the geometric representation to ensure multi-view consistency and accuracy of 3D objects. In the second stage, we concentrate on fine-tuning the geometry and optimizing the texture, thereby achieving a more refined 3D object. Through leveraging 2D and 3D prior knowledge in two stages, respectively, we effectively mitigate the interdependence between geometry and texture. MetaDreamer establishes clear optimization objectives for each stage, resulting in significant time savings in the 3D generation process. Ultimately, MetaDreamer can generate high-quality 3D objects based on textual prompts within 20 minutes, and to the best of our knowledge, it is the most efficient text-to-3D generation method. Furthermore, we introduce image control into the process, enhancing the controllability of 3D generation. Extensive empirical evidence confirms that our method is not only highly efficient but also achieves a quality level that is at the forefront of current state-of-the-art 3D generation techniques.

Recent text-to-image generative models, e.g., Stable Diffusion V3 and Flux, have achieved notable progress. However, these models are strongly restricted to their limited knowledge, a.k.a., their own fixed parameters, that are trained with closed datasets. This leads to significant hallucinations or distortions when facing fine-grained and unseen novel real-world objects, e.g., the appearance of the Tesla Cybertruck. To this end, we present the first real-object-based retrieval-augmented generation framework (RealRAG), which augments fine-grained and unseen novel object generation by learning and retrieving real-world images to overcome the knowledge gaps of generative models. Specifically, to integrate missing memory for unseen novel object generation, we train a reflective retriever by self-reflective contrastive learning, which injects the generator's knowledge into the sef-reflective negatives, ensuring that the retrieved augmented images compensate for the model's missing knowledge. Furthermore, the real-object-based framework integrates fine-grained visual knowledge for the generative models, tackling the distortion problem and improving the realism for fine-grained object generation. Our Real-RAG is superior in its modular application to all types of state-of-the-art text-to-image generative models and also delivers remarkable performance boosts with all of them, such as a gain of 16.18% FID score with the auto-regressive model on the Stanford Car benchmark.

Open-vocabulary object detection models allow users to freely specify a class vocabulary in natural language at test time, guiding the detection of desired objects. However, vocabularies can be overly broad or even mis-specified, hampering the overall performance of the detector. In this work, we propose a plug-and-play Vocabulary Adapter (VocAda) to refine the user-defined vocabulary, automatically tailoring it to categories that are relevant for a given image. VocAda does not require any training, it operates at inference time in three steps: i) it uses an image captionner to describe visible objects, ii) it parses nouns from those captions, and iii) it selects relevant classes from the user-defined vocabulary, discarding irrelevant ones. Experiments on COCO and Objects365 with three state-of-the-art detectors show that VocAda consistently improves performance, proving its versatility. The code is open source.

Recent approaches to jointly reconstruct 3D humans and objects from a single RGB image represent 3D shapes with template-based or coarse models, which fail to capture details of loose clothing on human bodies. In this paper, we introduce a novel implicit approach for jointly reconstructing realistic 3D clothed humans and objects from a monocular view. For the first time, we model both the human and the object with an implicit representation, allowing to capture more realistic details such as clothing. This task is extremely challenging due to human-object occlusions and the lack of 3D information in 2D images, often leading to poor detail reconstruction and depth ambiguity. To address these problems, we propose a novel attention-based neural implicit model that leverages image pixel alignment from both the input human-object image for a global understanding of the human-object scene and from local separate views of the human and object images to improve realism with, for example, clothing details. Additionally, the network is conditioned on semantic features derived from an estimated human-object pose prior, which provides 3D spatial information about the shared space of humans and objects. To handle human occlusion caused by objects, we use a generative diffusion model that inpaints the occluded regions, recovering otherwise lost details. For training and evaluation, we introduce a synthetic dataset featuring rendered scenes of inter-occluded 3D human scans and diverse objects. Extensive evaluation on both synthetic and real-world datasets demonstrates the superior quality of the proposed human-object reconstructions over competitive methods.

Class-Incremental Learning (CIL) requires models to continually acquire knowledge of new classes without forgetting old ones. Despite Pre-trained Models (PTMs) have shown excellent performance in CIL, catastrophic forgetting still occurs as the model learns new concepts. Existing work seeks to utilize lightweight components to adjust the PTM, while the forgetting phenomenon still comes from {\em parameter and retrieval} levels. Specifically, iterative updates of the model result in parameter drift, while mistakenly retrieving irrelevant modules leads to the mismatch during inference. To this end, we propose MOdel Surgery (MOS) to rescue the model from forgetting previous knowledge. By training task-specific adapters, we continually adjust the PTM to downstream tasks. To mitigate parameter-level forgetting, we present an adapter merging approach to learn task-specific adapters, which aims to bridge the gap between different components while reserve task-specific information. Besides, to address retrieval-level forgetting, we introduce a training-free self-refined adapter retrieval mechanism during inference, which leverages the model's inherent ability for better adapter retrieval. By jointly rectifying the model with those steps, MOS can robustly resist catastrophic forgetting in the learning process. Extensive experiments on seven benchmark datasets validate MOS's state-of-the-art performance. Code is available at: https://github.com/sun-hailong/AAAI25-MOS

Reconstructing 3D objects into editable programs is pivotal for applications like reverse engineering and shape editing. However, existing methods often rely on limited domain-specific languages (DSLs) and small-scale datasets, restricting their ability to model complex geometries and structures. To address these challenges, we introduce MeshCoder, a novel framework that reconstructs complex 3D objects from point clouds into editable Blender Python scripts. We develop a comprehensive set of expressive Blender Python APIs capable of synthesizing intricate geometries. Leveraging these APIs, we construct a large-scale paired object-code dataset, where the code for each object is decomposed into distinct semantic parts. Subsequently, we train a multimodal large language model (LLM) that translates 3D point cloud into executable Blender Python scripts. Our approach not only achieves superior performance in shape-to-code reconstruction tasks but also facilitates intuitive geometric and topological editing through convenient code modifications. Furthermore, our code-based representation enhances the reasoning capabilities of LLMs in 3D shape understanding tasks. Together, these contributions establish MeshCoder as a powerful and flexible solution for programmatic 3D shape reconstruction and understanding.

Despite the significant advancements, existing object removal methods struggle with incomplete removal, incorrect content synthesis and blurry synthesized regions, resulting in low success rates. Such issues are mainly caused by the lack of high-quality paired training data, as well as the self-supervised training paradigm adopted in these methods, which forces the model to in-paint the masked regions, leading to ambiguity between synthesizing the masked objects and restoring the background. To address these issues, we propose a semi-supervised learning strategy with human-in-the-loop to create high-quality paired training data, aiming to train a Robust Object Remover (RORem). We first collect 60K training pairs from open-source datasets to train an initial object removal model for generating removal samples, and then utilize human feedback to select a set of high-quality object removal pairs, with which we train a discriminator to automate the following training data generation process. By iterating this process for several rounds, we finally obtain a substantial object removal dataset with over 200K pairs. Fine-tuning the pre-trained stable diffusion model with this dataset, we obtain our RORem, which demonstrates state-of-the-art object removal performance in terms of both reliability and image quality. Particularly, RORem improves the object removal success rate over previous methods by more than 18\%. The dataset, source code and trained model are available at https://github.com/leeruibin/RORem.

Recent works in self-supervised learning have demonstrated strong performance on scene-level dense prediction tasks by pretraining with object-centric or region-based correspondence objectives. In this paper, we present Region-to-Object Representation Learning (R2O) which unifies region-based and object-centric pretraining. R2O operates by training an encoder to dynamically refine region-based segments into object-centric masks and then jointly learns representations of the contents within the mask. R2O uses a "region refinement module" to group small image regions, generated using a region-level prior, into larger regions which tend to correspond to objects by clustering region-level features. As pretraining progresses, R2O follows a region-to-object curriculum which encourages learning region-level features early on and gradually progresses to train object-centric representations. Representations learned using R2O lead to state-of-the art performance in semantic segmentation for PASCAL VOC (+0.7 mIOU) and Cityscapes (+0.4 mIOU) and instance segmentation on MS COCO (+0.3 mask AP). Further, after pretraining on ImageNet, R2O pretrained models are able to surpass existing state-of-the-art in unsupervised object segmentation on the Caltech-UCSD Birds 200-2011 dataset (+2.9 mIoU) without any further training. We provide the code/models from this work at https://github.com/KKallidromitis/r2o.

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained on limited household datasets with close-set objects. However, two key challenges are unsolved: understanding free-form natural language instructions that demand open-set objects, and generalizing to new environments in a zero-shot manner. Aiming to solve the two challenges, in this paper, we propose OpenFMNav, an Open-set Foundation Model based framework for zero-shot object Navigation. We first unleash the reasoning abilities of large language models (LLMs) to extract proposed objects from natural language instructions that meet the user's demand. We then leverage the generalizability of large vision language models (VLMs) to actively discover and detect candidate objects from the scene, building a Versatile Semantic Score Map (VSSM). Then, by conducting common sense reasoning on VSSM, our method can perform effective language-guided exploration and exploitation of the scene and finally reach the goal. By leveraging the reasoning and generalizing abilities of foundation models, our method can understand free-form human instructions and perform effective open-set zero-shot navigation in diverse environments. Extensive experiments on the HM3D ObjectNav benchmark show that our method surpasses all the strong baselines on all metrics, proving our method's effectiveness. Furthermore, we perform real robot demonstrations to validate our method's open-set-ness and generalizability to real-world environments.

The lifting of 3D structure and camera from 2D landmarks is at the cornerstone of the entire discipline of computer vision. Traditional methods have been confined to specific rigid objects, such as those in Perspective-n-Point (PnP) problems, but deep learning has expanded our capability to reconstruct a wide range of object classes (e.g. C3PDO and PAUL) with resilience to noise, occlusions, and perspective distortions. All these techniques, however, have been limited by the fundamental need to establish correspondences across the 3D training data -- significantly limiting their utility to applications where one has an abundance of "in-correspondence" 3D data. Our approach harnesses the inherent permutation equivariance of transformers to manage varying number of points per 3D data instance, withstands occlusions, and generalizes to unseen categories. We demonstrate state of the art performance across 2D-3D lifting task benchmarks. Since our approach can be trained across such a broad class of structures we refer to it simply as a 3D Lifting Foundation Model (3D-LFM) -- the first of its kind.