arXiv subjects

Edgar Simo-Serra

Publications and source records attributed to Edgar Simo-Serra.

At least 19 recordsLinked to original sources

arXiv2026

Evidence-Gated Task and Motion Planning with Vision-Language Models

Robots executing long-horizon manipulation tasks from natural-language instructions must reason about both semantic task structure and geometric feasibility. However, under partial observability, the availability of goal-relevant objects may be uncertain. In such cases, approaches that combine Vision-Language Models (VLMs) with Task and Motion Planning (TAMP) may generate subgoals that rely on the VLM's prior knowledge without observational support, leading to execution failures or unintended outcomes. We propose Evidence Acquisition and Feasibility Gating (EAFG), a framework that acquires visual evidence through VLM-generated exploratory subgoals and TAMP-based execution. EAFG then applies a feasibility gate to decide whether to proceed with task planning, acquire further evidence, or halt. Our experiments show that, in cooking tasks with ambiguous object use, EAFG improves recipe completion by discovering task-relevant objects before planning. For instructions requiring an absent object, EAFG promotes appropriate halt decisions and reduces repeated attempts to manipulate that object.

cs.RO↗

arXiv2026

ProjFlow: Projection Sampling with Flow Matching for Zero-Shot Exact Spatial Motion Control

Generating human motion with precise spatial control is a challenging problem. Existing approaches often require task-specific training or slow optimization, and enforcing hard constraints frequently disrupts motion naturalness. Building on the observation that many animation tasks can be formulated as a linear inverse problem, we introduce ProjFlow, a training-free sampler that achieves zero-shot, exact satisfaction of linear spatial constraints while preserving motion realism. Our key advance is a novel kinematics-aware metric that encodes skeletal topology. This metric allows the sampler to enforce hard constraints by distributing corrections coherently across the entire skeleton, avoiding the unnatural artifacts of naive projection. Furthermore, for sparse inputs, such as filling in long gaps between a few keyframes, we introduce a time-varying formulation using pseudo-observations that fade during sampling. Extensive experiments on representative applications, motion inpainting, and 2D-to-3D lifting, demonstrate that ProjFlow achieves exact constraint satisfaction and matches or improves realism over zero-shot baselines, while remaining competitive with training-based controllers.

cs.CV↗

arXiv2025

Geodiffussr: Generative Terrain Texturing with Elevation Fidelity

Large-scale terrain generation remains a labor-intensive task in computer graphics. We introduce Geodiffussr, a flow-matching pipeline that synthesizes text-guided texture maps while strictly adhering to a supplied Digital Elevation Map (DEM). The core mechanism is multi-scale content aggregation (MCA): DEM features from a pretrained encoder are injected into UNet blocks at multiple resolutions to enforce global-to-local elevation consistency. Compared with a non-MCA baseline, MCA markedly improves visual fidelity and strengthens height-appearance coupling (FID $\downarrow$ 49.16%, LPIPS $\downarrow$ 32.33%, $\Delta$dCor $\downarrow$ to 0.0016). To train and evaluate Geodiffussr, we assemble a globally distributed, biome- and climate-stratified corpus of triplets pairing SRTM-derived DEMs with Sentinel-2 imagery and vision-grounded natural-language captions that describe visible land cover. We position Geodiffussr as a strong baseline and step toward controllable 2.5D landscape generation for coarse-scale ideation and previz, complementary to physically based terrain and ecosystem simulators.

cs.GR↗

arXiv2025

SimDiff: Simulator-constrained Diffusion Model for Physically Plausible Motion Generation

Generating physically plausible human motion is crucial for applications such as character animation and virtual reality. Existing approaches often incorporate a simulator-based motion projection layer to the diffusion process to enforce physical plausibility. However, such methods are computationally expensive due to the sequential nature of the simulator, which prevents parallelization. We show that simulator-based motion projection can be interpreted as a form of guidance, either classifier-based or classifier-free, within the diffusion process. Building on this insight, we propose SimDiff, a Simulator-constrained Diffusion Model that integrates environment parameters (e.g., gravity, wind) directly into the denoising process. By conditioning on these parameters, SimDiff generates physically plausible motions efficiently, without repeated simulator calls at inference, and also provides fine-grained control over different physical coefficients. Moreover, SimDiff successfully generalizes to unseen combinations of environmental parameters, demonstrating compositional generalization.

cs.CV↗

arXiv2025

Grammar and Gameplay-aligned RL for Game Description Generation with LLMs

Game Description Generation (GDG) is the task of generating a game description written in a Game Description Language (GDL) from natural language text. Previous studies have explored generation methods leveraging the contextual understanding capabilities of Large Language Models (LLMs); however, accurately reproducing the game features of the game descriptions remains a challenge. In this paper, we propose reinforcement learning-based fine-tuning of LLMs for GDG (RLGDG). Our training method simultaneously improves grammatical correctness and fidelity to game concepts by introducing both grammar rewards and concept rewards. Furthermore, we adopt a two-stage training strategy where Reinforcement Learning (RL) is applied following Supervised Fine-Tuning (SFT). Experimental results demonstrate that our proposed method significantly outperforms baseline methods using SFT alone. Our code is available at https://github.com/tsunehiko/rlgdg

cs.CL↗

arXiv2024

Fashionability-Enhancing Outfit Image Editing with Conditional Diffusion Models

Image generation in the fashion domain has predominantly focused on preserving body characteristics or following input prompts, but little attention has been paid to improving the inherent fashionability of the output images. This paper presents a novel diffusion model-based approach that generates fashion images with improved fashionability while maintaining control over key attributes. Key components of our method include: 1) fashionability enhancement, which ensures that the generated images are more fashionable than the input; 2) preservation of body characteristics, encouraging the generated images to maintain the original shape and proportions of the input; and 3) automatic fashion optimization, which does not rely on manual input or external prompts. We also employ two methods to collect training data for guidance while generating and evaluating the images. In particular, we rate outfit images using fashionability scores annotated by multiple fashion experts through OpenSkill-based and five critical aspect-based pairwise comparisons. These methods provide complementary perspectives for assessing and improving the fashionability of the generated images. The experimental results show that our approach outperforms the baseline Fashion++ in generating images with superior fashionability, demonstrating its effectiveness in producing more stylish and appealing fashion images.

cs.CV↗

arXiv2024

Multimodal Markup Document Models for Graphic Design Completion

We introduce MarkupDM, a multimodal markup document model that represents graphic design as an interleaved multimodal document consisting of both markup language and images. Unlike existing holistic approaches that rely on an element-by-attribute grid representation, our representation accommodates variable-length elements, type-dependent attributes, and text content. Inspired by fill-in-the-middle training in code generation, we train the model to complete the missing part of a design document from its surrounding context, allowing it to treat various design tasks in a unified manner. Our model also supports image generation by predicting discrete image tokens through a specialized tokenizer with support for image transparency. We evaluate MarkupDM on three tasks, attribute value, image, and text completion, and demonstrate that it can produce plausible designs consistent with the given context. To further illustrate the flexibility of our approach, we evaluate our approach on a new instruction-guided design completion task where our instruction-tuned MarkupDM compares favorably to state-of-the-art image editing models, especially in textual completion. These findings suggest that multimodal language models with our document representation can serve as a versatile foundation for broad design automation.

cs.CV↗

arXiv2024

Grammar-based Game Description Generation using Large Language Models

Game Description Language (GDL) provides a standardized way to express diverse games in a machine-readable format, enabling automated game simulation, and evaluation. While previous research has explored game description generation using search-based methods, generating GDL descriptions from natural language remains a challenging task. This paper presents a novel framework that leverages Large Language Models (LLMs) to generate grammatically accurate game descriptions from natural language. Our approach consists of two stages: first, we gradually generate a minimal grammar based on GDL specifications; second, we iteratively improve the game description through grammar-guided generation. Our framework employs a specialized parser that identifies valid subsequences and candidate symbols from LLM responses, enabling gradual refinement of the output to ensure grammatical correctness. Experimental results demonstrate that our iterative improvement approach significantly outperforms baseline methods that directly use LLM outputs. Our code is available at https://github.com/tsunehiko/ggdg

cs.AI↗

arXiv2024

Neural Scene Baking for Permutation Invariant Transparency Rendering with Real-time Global Illumination

Neural rendering provides a fundamentally new way to render photorealistic images. Similar to traditional light-baking methods, neural rendering utilizes neural networks to bake representations of scenes, materials, and lights into latent vectors learned from path-tracing ground truths. However, existing neural rendering algorithms typically use G-buffers to provide position, normal, and texture information of scenes, which are prone to occlusion by transparent surfaces, leading to distortions and loss of detail in the rendered images. To address this limitation, we propose a novel neural rendering pipeline that accurately renders the scene behind transparent surfaces with global illumination and variable scenes. Our method separates the G-buffers of opaque and transparent objects, retaining G-buffer information behind transparent objects. Additionally, to render the transparent objects with permutation invariance, we designed a new permutation-invariant neural blending function. We integrate our algorithm into an efficient custom renderer to achieve real-time performance. Our results show that our method is capable of rendering photorealistic images with variable scenes and viewpoints, accurately capturing complex transparent structures along with global illumination. Our renderer can achieve real-time performance ($256\times 256$ at 63 FPS and $512\times 512$ at 32 FPS) on scenes with multiple variable transparent objects.

cs.GR↗

arXiv2024

Return-Aligned Decision Transformer

Traditional approaches in offline reinforcement learning aim to learn the optimal policy that maximizes the cumulative reward, also known as return. It is increasingly important to adjust the performance of AI agents to meet human requirements, for example, in applications like video games and education tools. Decision Transformer (DT) optimizes a policy that generates actions conditioned on the target return through supervised learning and includes a mechanism to control the agent's performance using the target return. However, the action generation is hardly influenced by the target return because DT's self-attention allocates scarce attention scores to the return tokens. In this paper, we propose Return-Aligned Decision Transformer (RADT), designed to more effectively align the actual return with the target return. RADT leverages features extracted by paying attention solely to the return, enabling action generation to consistently depend on the target return. Extensive experiments show that RADT significantly reduces the discrepancies between the actual return and the target return compared to DT-based methods. Our code is available at https://github.com/CyberAgentAILab/radt

cs.LG↗

arXiv2023

Image Synthesis-based Late Stage Cancer Augmentation and Semi-Supervised Segmentation for MRI Rectal Cancer Staging

Rectal cancer is one of the most common diseases and a major cause of mortality. For deciding rectal cancer treatment plans, T-staging is important. However, evaluating the index from preoperative MRI images requires high radiologists' skill and experience. Therefore, the aim of this study is to segment the mesorectum, rectum, and rectal cancer region so that the system can predict T-stage from segmentation results. Generally, shortage of large and diverse dataset and high quality annotation are known to be the bottlenecks in computer aided diagnostics development. Regarding rectal cancer, advanced cancer images are very rare, and per-pixel annotation requires high radiologists' skill and time. Therefore, it is not feasible to collect comprehensive disease patterns in a training dataset. To tackle this, we propose two kinds of approaches of image synthesis-based late stage cancer augmentation and semi-supervised learning which is designed for T-stage prediction. In the image synthesis data augmentation approach, we generated advanced cancer images from labels. The real cancer labels were deformed to resemble advanced cancer labels by artificial cancer progress simulation. Next, we introduce a T-staging loss which enables us to train segmentation models from per-image T-stage labels. The loss works to keep inclusion/invasion relationships between rectum and cancer region consistent to the ground truth T-stage. The verification tests show that the proposed method obtains the best sensitivity (0.76) and specificity (0.80) in distinguishing between over T3 stage and underT2. In the ablation studies, our semi-supervised learning approach with the T-staging loss improved specificity by 0.13. Adding the image synthesis-based data augmentation improved the DICE score of invasion cancer area by 0.08 from baseline.

eess.IV↗

arXiv2023

Visual Grounding of Whole Radiology Reports for 3D CT Images

Building a large-scale training dataset is an essential problem in the development of medical image recognition systems. Visual grounding techniques, which automatically associate objects in images with corresponding descriptions, can facilitate labeling of large number of images. However, visual grounding of radiology reports for CT images remains challenging, because so many kinds of anomalies are detectable via CT imaging, and resulting report descriptions are long and complex. In this paper, we present the first visual grounding framework designed for CT image and report pairs covering various body parts and diverse anomaly types. Our framework combines two components of 1) anatomical segmentation of images, and 2) report structuring. The anatomical segmentation provides multiple organ masks of given CT images, and helps the grounding model recognize detailed anatomies. The report structuring helps to accurately extract information regarding the presence, location, and type of each anomaly described in corresponding reports. Given the two additional image/report features, the grounding model can achieve better localization. In the verification process, we constructed a large-scale dataset with region-description correspondence annotations for 10,410 studies of 7,321 unique patients. We evaluated our framework using grounding accuracy, the percentage of correctly localized anomalies, as a metric and demonstrated that the combination of the anatomical segmentation and the report structuring improves the performance with a large margin over the baseline model (66.0% vs 77.8%). Comparison with the prior techniques also showed higher performance of our method.

cs.CV↗

arXiv2023

Diffusion-based Holistic Texture Rectification and Synthesis

We present a novel framework for rectifying occlusions and distortions in degraded texture samples from natural images. Traditional texture synthesis approaches focus on generating textures from pristine samples, which necessitate meticulous preparation by humans and are often unattainable in most natural images. These challenges stem from the frequent occlusions and distortions of texture samples in natural images due to obstructions and variations in object surface geometry. To address these issues, we propose a framework that synthesizes holistic textures from degraded samples in natural images, extending the applicability of exemplar-based texture synthesis techniques. Our framework utilizes a conditional Latent Diffusion Model (LDM) with a novel occlusion-aware latent transformer. This latent transformer not only effectively encodes texture features from partially-observed samples necessary for the generation process of the LDM, but also explicitly captures long-range dependencies in samples with large occlusions. To train our model, we introduce a method for generating synthetic data by applying geometric transformations and free-form mask generation to clean textures. Experimental results demonstrate that our framework significantly outperforms existing methods both quantitatively and quantitatively. Furthermore, we conduct comprehensive ablation studies to validate the different components of our proposed framework. Results are corroborated by a perceptual user study which highlights the efficiency of our proposed approach.

cs.GR↗

arXiv2023

Controllable Multi-domain Semantic Artwork Synthesis

We present a novel framework for multi-domain synthesis of artwork from semantic layouts. One of the main limitations of this challenging task is the lack of publicly available segmentation datasets for art synthesis. To address this problem, we propose a dataset, which we call ArtSem, that contains 40,000 images of artwork from 4 different domains with their corresponding semantic label maps. We generate the dataset by first extracting semantic maps from landscape photography and then propose a conditional Generative Adversarial Network (GAN)-based approach to generate high-quality artwork from the semantic maps without necessitating paired training data. Furthermore, we propose an artwork synthesis model that uses domain-dependent variational encoders for high-quality multi-domain synthesis. The model is improved and complemented with a simple but effective normalization method, based on normalizing both the semantic and style jointly, which we call Spatially STyle-Adaptive Normalization (SSTAN). In contrast to previous methods that only take semantic layout as input, our model is able to learn a joint representation of both style and semantic information, which leads to better generation quality for synthesizing artistic images. Results indicate that our model learns to separate the domains in the latent space, and thus, by identifying the hyperplanes that separate the different domains, we can also perform fine-grained control of the synthesized artwork. By combining our proposed dataset and approach, we are able to generate user-controllable artwork that is of higher quality than existing

cs.CV↗

arXiv2023

Towards Flexible Multi-modal Document Models

Creative workflows for generating graphical documents involve complex inter-related tasks, such as aligning elements, choosing appropriate fonts, or employing aesthetically harmonious colors. In this work, we attempt at building a holistic model that can jointly solve many different design tasks. Our model, which we denote by FlexDM, treats vector graphic documents as a set of multi-modal elements, and learns to predict masked fields such as element type, position, styling attributes, image, or text, using a unified architecture. Through the use of explicit multi-task learning and in-domain pre-training, our model can better capture the multi-modal relationships among the different document fields. Experimental results corroborate that our single FlexDM is able to successfully solve a multitude of different design tasks, while achieving performance that is competitive with task-specific and costly baselines.

cs.CV↗

arXiv2023

LayoutDM: Discrete Diffusion Model for Controllable Layout Generation

Controllable layout generation aims at synthesizing plausible arrangement of element bounding boxes with optional constraints, such as type or position of a specific element. In this work, we try to solve a broad range of layout generation tasks in a single model that is based on discrete state-space diffusion models. Our model, named LayoutDM, naturally handles the structured layout data in the discrete representation and learns to progressively infer a noiseless layout from the initial input, where we model the layout corruption process by modality-wise discrete diffusion. For conditional generation, we propose to inject layout constraints in the form of masking or logit adjustment during inference. We show in the experiments that our LayoutDM successfully generates high-quality layouts and outperforms both task-specific and task-agnostic baselines on several layout tasks.

cs.CV↗

arXiv2023

Generative Colorization of Structured Mobile Web Pages

Color is a critical design factor for web pages, affecting important factors such as viewer emotions and the overall trust and satisfaction of a website. Effective coloring requires design knowledge and expertise, but if this process could be automated through data-driven modeling, efficient exploration and alternative workflows would be possible. However, this direction remains underexplored due to the lack of a formalization of the web page colorization problem, datasets, and evaluation protocols. In this work, we propose a new dataset consisting of e-commerce mobile web pages in a tractable format, which are created by simplifying the pages and extracting canonical color styles with a common web browser. The web page colorization problem is then formalized as a task of estimating plausible color styles for a given web page content with a given hierarchical structure of the elements. We present several Transformer-based methods that are adapted to this task by prepending structural message passing to capture hierarchical relationships between elements. Experimental results, including a quantitative evaluation designed for this task, demonstrate the advantages of our methods over statistical and image colorization methods. The code is available at https://github.com/CyberAgentAILab/webcolor.

cs.CV↗

arXiv2022

P2Net: A Post-Processing Network for Refining Semantic Segmentation of LiDAR Point Cloud based on Consistency of Consecutive Frames

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a measurement in a single frame, labels are sometimes difficult to predict even for humans. To remedy this problem, we propose to explicitly train a network to refine these results predicted by an existing segmentation method. The network, which we call the P2Net, learns the consistency constraints between coincident points from consecutive frames after registration. We evaluate the proposed post-processing method both qualitatively and quantitatively on the SemanticKITTI dataset that consists of real outdoor scenes. The effectiveness of the proposed method is validated by comparing the results predicted by two representative networks with and without the refinement by the post-processing network. Specifically, qualitative visualization validates the key idea that labels of the points that are difficult to predict can be corrected with P2Net. Quantitatively, overall mIoU is improved from 10.5% to 11.7% for PointNet [1] and from 10.8% to 15.9% for PointNet++ [2].

cs.CV↗