#01Nov 12, 2026
cs.CV
Learning the Missing Derivative: Neural Multiple-Scattering Operators for Inverse Volume Rendering
Sipeng Chen, Shibo Li
Reconstructing optically thick media from photographs requires modeling multiple scattering and its response to changes in extinction. Frozen-source tomography discards this derivative; differentiable path tracing estimates it through expensive, noisy sampling. We instead predict the multiple-scattering field with a neural operator and differentiate through it during inverse rendering, while computing transmittance and single scattering directly. A further challenge arises during optimization: an operator that predicts the field accurately on held-out media can still produce poor derivatives at the density states visited by the optimizer. We address this by fine-tuning on states generated during inversions driven by the operator, using Monte Carlo scattering-field supervision. On held-out optically thick clouds, our method improves relighting over frozen-source tomography at equal time and outperforms differentiable path tracing given substantially more time. Training on inversion trajectories also improves derivative alignment at visited states and reduces optimization drift.
#02Nov 12, 2026
cs.CV
Gravity and Flight: Learning to Navigate Fine-Grained Remote Sensing Scenes
Yuheng Zong, Minghua Wang, Xin Zhao and 3 more
Vision-language models are increasingly capable, yet their reasoning in complex remote sensing scenes can remain coarse-grained and insufficiently grounded in task-relevant visual evidence. We propose Gravity and Flight (G&F), a framework for scene specialization with limited supervision that separates visual and reasoning verification while coupling policy updates. It combines Evidence-of-Thought supervised fine-tuning (EoT-SFT) and Relational Transfer Policy Optimization (RTPO). EoT-SFT teaches fine-grained observation and faithful reasoning through description, analysis, and supported conclusions. RTPO independently samples responses to scene-matched image pairs with fine-grained visual differences under a shared task. Its rubric-based verification combines Gravity, which checks visual fidelity and description coverage, and Flight, which takes descriptions as premises to assess evidence use and relations between paired judgments. Their scores and task correctness yield a shared pair-level advantage that couples policy updates from both responses. Using 1,008 demonstrations and 500 training pairs for harbor specialization, G&F achieves a mean score of 69.12 across six evaluation sets, exceeding the backbone and supervised initialization by 9.76 and 4.56 points. Matched controls show gains over single-image and joint-input RL, and removing either verification view reduces performance. Applying G&F to urban specialization also improves on the base model and supervised initialization across three evaluation subsets. Project details and updates are available at https://github.com/Z0ngL1ng/Gravity-and-Flight.
#03Nov 12, 2026
cs.RO
I See What You Want: Decoding Hierarchical Operator Intent from Visual Teleoperation History
Xiangyi Jia, Kaixian Qu, Shengzhi Wang and 3 more
Vision-language models (VLMs) have become a powerful foundation for robotic scene understanding, task planning, and language-conditioned control. A natural question follows: can these models also decode what a human operator intends while teleoperating a robot, without any explicit instruction? We formulate this as hierarchical intent prediction, jointly inferring the ongoing atomic action and the broader mission it serves from a short visual teleoperation history. To study this, we introduce VI AMO (Vision Intention Action and Mission Ongoing), a dataset of 6,600 episodes from eleven robot sources with 13,653 temporally aligned action annotations and 9,702 mission annotations. Large proprietary models struggle with this problem: on held-out episodes, GPT-4o reaches Sentence-BERT similarities of only 0.563 and 0.470 for action and mission, and GPT-5.6 Luna achieves only 0.581 and 0.554. Fine-tuning a VLM on VI AMO yields our Vision-Intention Model (VIM), which raises these scores to 0.825 and 0.821 and still reaches 0.726 and 0.717 on the 35.4% of test actions with both labels absent from training. Finally, as a downstream application, VIM's predicted mission enables a vision-language-action (VLA) policy to take over from the operator mid-task in a real-world environment unseen during VIM fine-tuning, reducing human teleoperation time by 34.6% relative to GPT-4o and 39.8% relative to GPT-5.6 Luna, while cutting intent-prediction latency by roughly 70% on average.
#04Nov 12, 2026
cs.CV
VBot Exo2Ego Policy: Lightweight Data Collection and Exocentric-to-Egocentric Video Generation
Tong Rao, Zhihao Zhang, Yuntian Wang and 3 more
We present VBot Exo2Ego Policy, a video generation model that turns third-person videos into first-person observations of a selected actor, offering a practical way to expand first-person operation data from abundant real-world footage. To support this goal, we introduce a lightweight data collection pipeline and mobile app that support first-person recording, third-person recording, and synchronized capture of both views. This setup combines accessible single-view collection with paired RGB and camera geometry for learning cross-view correspondence. Building on a pretrained video diffusion transformer, our model incorporates geometric guidance and auxiliary supervision from semantic masks and hand keypoints to facilitate optimization and improve the fidelity of hand-object interactions. Camera geometry is injected stochastically during training and gradually removed, allowing inference without target-camera calibration. To accommodate the diversity of Internet videos, we combine source-video perception and reasoning, optional actor references, and multi-shot adaptation to identify the intended actor and follow an operation across camera cuts. The collection system and generation model provide a foundation for expanding first-person operation data across tasks, scenes, and participants.
#05Nov 12, 2026
cs.CV
Teach with Blinks: Breaking Linguistic Momentum in On-Policy Distillation for Fine-Grained Multimodal Perception
Tangzheng Lian, Hang Zhang, Guanyu Hu and 4 more
On-policy distillation (OPD) has emerged as an effective post-training approach to improving fine-grained perception in multimodal large language models by amortizing costly inference-time zooming operations into a single-pass recipe. However, vanilla OPD is inherently susceptible to linguistic momentum: the teacher can follow the student's erroneous prefixes, thus weakening corrective supervision. To address this, we propose Blink On-Policy Distillation (BlinkOPD), in which the teacher "blinks" at every token: it reads the same prefix once with its eyes open and once with its eyes closed. A first-glance gain further strengthens the correction on rollouts that conflict with the teacher. By extracting more effective supervision from each on-policy trajectory, BlinkOPD achieves state-of-the-art average performance across six fine-grained benchmarks using only 500 training images (12x less data) than existing OPD methods. Beyond fine-grained perception, BlinkOPD also demonstrates strong zero-shot improvements across ten held-out benchmarks spanning general visual perception, visual hallucination, and multimodal reasoning abilities. Code: https://github.com/Supltz/BlinkOPD