#01Jul 23, 2026
cs.CV
UnDA: Unpaired Domain Alignment for Cross-Modal Knowledge Transfer in Medical Imaging
Rafsan Jany, Shadab Tanjeed Ahmad, Ahsan Bulbul and 3 more
Multimodal based approaches often outperform single modality approaches in downstream tasks as the different modalities provide complementary information, yet acquiring paired clinical data remains a significant challenge in real world scenarios. While cross-modal knowledge distillation addresses this, existing methods often struggle with large modality gaps and the propagation of noise from uncertain source-domain predictions. To overcome these challenges, we propose UnDA, an anchor-guided framework for unpaired cross-modal distillation. Our approach introduces a backbone-agnostic Alignment Module that extracts semantically structured class tokens via an attention based pooling mechanism. To ensure robust knowledge transfer, we propose Uncertainty-Weighted Optimal Transport (UCT-OT), which dynamically weights feature-level alignment based on prediction confidence, effectively suppressing noisy supervision. Furthermore, a per-class ProtoNCE objective maintains stable prototype memories to enforce global discriminability across unpaired batches. Evaluations on representative segmentation tasks under strictly unpaired settings show consistent improvements in accuracy and boundary precision in the target modality, demonstrating that meaningful structural knowledge can be transferred across heterogeneous data sources without paired datasets.
#02Jul 23, 2026
cs.CV
Self-Supervised Learning of Structured Dynamics from Videos
Lukas Knobel, Andrew Zisserman, Yuki M. Asano
Understanding motion in video is a fundamental challenge for visual learning, as frame-to-frame change entangles two sources of dynamics: camera motion and object motion. This decomposition has remained underexplored in representation learning, partly because these factors are tightly coupled in natural videos and difficult to supervise separately. Yet recovering it is important for learning robust motion representations that separate meaningful object dynamics from camera-induced variation. We study whether such structured motion representations can be recovered from frozen features of a pretrained image vision transformer. We propose the Structured Dynamics Model (SDM), which explicitly separates the dominant source of temporal change from residual dynamics through future-feature prediction, rather than representing video change with a single entangled latent or with unstructured, spatially dense transition tokens. Training combines self-supervised learning on real video with weak supervision of scene dynamics on synthetic Kubric data. We evaluate SDM on ProbeMotion, a new evaluation suite spanning synthetic and real videos with camera motion, object motion, and combined dynamics. SDM outperforms backbone baselines using global CLS or average-pooled features, and compares favorably to strongly supervised representations such as VGGT on several probes, despite using substantially weaker supervision. These results suggest that pretrained image models can be readily repurposed into structured video-dynamics representations, providing a useful inductive bias for learning and analyzing latent video dynamics.
#03Jul 23, 2026
cs.RO
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Yu Qi, Zhang Ye, Xinyi Xu and 6 more
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \textit{instruction factors}, \textit{e.g.,} reusable semantic components such as color, verb, object, size, and spatial attribute. Our framework formalizes instruction factor bias, the tendency of fine-tuned policies to over-rely on dominant factors as shortcuts, and quantifies it through two metrics: Factor Dominance Rate (FDR), capturing pairwise bias between factors, and Factor Dominance Hierarchy (FDH), aggregating these into a global ranking. Evaluation on six foundation policies reveals broadly consistent ordering, \textit{i.e.}, color $\geq$ object $\geq$ spatial $\geq$ verb $\geq$ size, with color dominant, and verb and size most under-grounded. We further show the diagnosis is actionable: a bias-aware data collection strategy that reallocates a fixed budget toward under-grounded factors outperforms baselines in simulation and on a real robot using half the demonstrations, thereby enabling more sample-efficient and generalizable policy learning.
#04Jul 23, 2026
cs.CV
Scene Parameter Saliency via Differentiable Light Transport
Linas Beresna, Eugene Fiume
Gradient-based saliency methods reveal which input features most influence a neural network's output, and are a standard tool for model interpretability. We observe that differentiable renderers, which are conventionally used for parameter optimisation, produce an analogous form of saliency: given any scalar metric evaluated on a rendered image, a single reverse-mode differentiation pass yields per-parameter gradients that identify which scene elements most influence the metric. We call these gradient fields metric saliency maps. Unlike neural saliency, which propagates attribution through learned weights, metric saliency propagates through the image formation process itself, including multi-bounce light transport, capturing parameter dependencies that are semi-opaque to manual inspection. We compute metric saliency maps for qualitatively different objectives: psychovisual glare indices, mean scene luminance, and neural perceptual scores. The saliency rankings differ substantially across metrics for the same scene, with parameters that dominate one objective being negligible for another. The saliency map is specific to the metric, not an intrinsic property of the scene. Our results suggest that differentiable renderers produce derivative images that are as informative for scene understanding as the primal images they were designed to generate.
#05Jul 23, 2026
cs.CV
GraphVid: Interactive Graph-Controllable Video Generation
Vedant Shah, Onkar Susladkar, Tushar Prakash and 5 more
Controllable video generation remains challenging due to the difficulty of specifying precise multi-object interactions using text prompts or motion-control inputs that primarily constrain pixel movement. In practice, trajectory-based control often requires users to draw accurate tracks for multiple objects, which scales poorly with scene complexity and becomes ambiguous under occlusion or overlap. To enable flexible yet precise multi-subject control, we introduce $\textbf{GraphVid}$, a graph-conditioned image-to-video generation model that enables interactive control through structured interaction graphs. We further curate $\textbf{GraphVid-Bench}$, a large-scale interaction-centric video dataset with structured relational annotations to enable training of interaction-aware video generation models. Despite using substantially less training data and fewer trainable parameters than prior motion-control methods, GraphVid delivers strong controllability and video quality. Compared with Motion-I2V, GraphVid reduces FID by up to 39.9% and FVD by 37.6%, while improving PSNR (9.87=>15.98) and SSIM (0.38=>0.61). Our results highlight the potential of structured semantic interfaces as a powerful paradigm for controllable video generation.