arXiv subjects

Xiaoming Liu

Publications and source records attributed to Xiaoming Liu.

At least 37 records · Page 2Linked to original sources

arXiv2026

Rascene: High-Fidelity 3D Scene Imaging with mmWave Communication Signals

Robust 3D environmental perception is critical for applications such as autonomous driving and robot navigation. However, optical sensors such as cameras and LiDAR often fail under adverse conditions, including smoke, fog, and non-ideal lighting. Although specialized radar systems can operate in these environments, their reliance on bespoke hardware and licensed spectrum limits scalability and cost-effectiveness. This paper introduces Rascene, an integrated sensing and communication (ISAC) framework that leverages ubiquitous mmWave OFDM communication signals for 3D scene imaging. To overcome the sparse and multipath-ambiguous nature of individual radio frames, Rascene performs multi-frame, spatially adaptive fusion with confidence-weighted forward projection, enabling the recovery of geometric consensus across arbitrary poses. Experimental results demonstrate that our method reconstructs 3D scenes with high precision, offering a new pathway toward low-cost, scalable, and robust 3D perception.

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arXiv2026

Unleashing the Power of Chain-of-Prediction for Monocular 3D Object Detection

Monocular 3D detection (Mono3D) aims to infer 3D bounding boxes from a single RGB image. Without auxiliary sensors such as LiDAR, this task is inherently ill-posed since the 3D-to-2D projection introduces depth ambiguity. Previous works often predict 3D attributes (e.g., depth, size, and orientation) in parallel, overlooking that these attributes are inherently correlated through the 3D-to-2D projection. However, simply enforcing such correlations through sequential prediction can propagate errors across attributes, especially when objects are occluded or truncated, where inaccurate size or orientation predictions can further amplify depth errors. Therefore, neither parallel nor sequential prediction is optimal. In this paper, we propose MonoCoP, an adaptive framework that learns when and how to leverage inter-attribute correlations with two complementary designs. A Chain-of-Prediction (CoP) explores inter-attribute correlations through feature-level learning, propagation, and aggregation, while an Uncertainty-Guided Selector (GS) dynamically switches between CoP and parallel paradigms for each object based on the predicted uncertainty. By combining their strengths, MonoCoP achieves state-of-the-art (SOTA) performance on KITTI, nuScenes, and Waymo, significantly improving depth accuracy, particularly for distant objects.

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arXiv2026

EmoTaG: Emotion-Aware Talking Head Synthesis on Gaussian Splatting with Few-Shot Personalization

Audio-driven 3D talking head synthesis has advanced rapidly with Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS). By leveraging rich pre-trained priors, few-shot methods enable instant personalization from just a few seconds of video. However, under expressive facial motion, existing few-shot approaches often suffer from geometric instability and audio-emotion mismatch, highlighting the need for more effective emotion-aware motion modeling. In this work, we present EmoTaG, a few-shot emotion-aware 3D talking head synthesis framework built on the Pretrain-and-Adapt paradigm. Our key insight is to reformulate motion prediction in a structured FLAME parameter space rather than directly deforming 3D Gaussians, thereby introducing explicit geometric priors that improve motion stability. Building upon this, we propose a Gated Residual Motion Network (GRMN), which captures emotional prosody from audio while supplementing head pose and upper-face cues absent from audio, enabling expressive and coherent motion generation. Extensive experiments demonstrate that EmoTaG achieves state-of-the-art performance in emotional expressiveness, lip synchronization, visual realism, and motion stability.

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arXiv2026

Towards Intrinsic-Aware Monocular 3D Object Detection

Monocular 3D object detection (Mono3D) aims to infer object locations and dimensions in 3D space from a single RGB image. Despite recent progress, existing methods remain highly sensitive to camera intrinsics and struggle to generalize across diverse settings, since intrinsics govern how 3D scenes are projected onto the image plane. We propose MonoIA, a unified intrinsic-aware framework that models and adapts to intrinsic variation through a language-grounded representation. The key insight is that intrinsic variation is not a numeric difference but a perceptual transformation that alters apparent scale, perspective, and spatial geometry. To capture this effect, MonoIA employs large language models and vision-language models to generate intrinsic embeddings that encode the visual and geometric implications of camera parameters. These embeddings are hierarchically integrated into the detection network via an Intrinsic Adaptation Module, allowing the model to modulate its feature representations according to camera-specific configurations and maintain consistent 3D detection across intrinsics. This shifts intrinsic modeling from numeric conditioning to semantic representation, enabling robust and unified perception across cameras. Extensive experiments show that MonoIA achieves new state-of-the-art results on standard benchmarks including KITTI, Waymo, and nuScenes (e.g., +1.18% on the KITTI leaderboard), and further improves performance under multi-dataset training (e.g., +4.46% on KITTI Val).

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arXiv2026

120 Minutes and a Laptop: Minimalist Image-goal Navigation via Unsupervised Exploration and Offline RL

The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this work, we challenge this assumption. We show that we can collect a dataset, train an in-domain policy, and deploy it to the real world (1) in less than 120 minutes, (2) on a consumer laptop, (3) without any human intervention. Our method, MINav, formulates image-goal navigation as an offline goal-conditioned reinforcement learning problem, combining unsupervised data collection with hindsight goal relabeling and offline policy learning. Experiments in simulation and the real world show that MINav improves exploration efficiency, outperforms zero-shot navigation baselines in target environments, and scales favorably with dataset size. These results suggest that effective real-world robotic learning can be achieved with high computational efficiency, lowering the barrier to rapid policy prototyping and deployment.

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arXiv2026

FusionAgent: A Multimodal Agent with Dynamic Model Selection for Human Recognition

Model fusion is a key strategy for robust recognition in unconstrained scenarios, as different models provide complementary strengths. This is especially important for whole-body human recognition, where biometric cues such as face, gait, and body shape vary across samples and are typically integrated via score-fusion. However, existing score-fusion strategies are usually static, invoking all models for every test sample regardless of sample quality or modality reliability. To overcome these limitations, we propose \textbf{FusionAgent}, a novel agentic framework that leverages a Multimodal Large Language Model (MLLM) to perform dynamic, sample-specific model selection. Each expert model is treated as a tool, and through Reinforcement Fine-Tuning (RFT) with a metric-based reward, the agent learns to adaptively determine the optimal model combination for each test input. To address the model score misalignment and embedding heterogeneity, we introduce Anchor-based Confidence Top-k (ACT) score-fusion, which anchors on the most confident model and integrates complementary predictions in a confidence-aware manner. Extensive experiments on multiple whole-body biometric benchmarks demonstrate that FusionAgent significantly outperforms SoTA methods while achieving higher efficiency through fewer model invocations, underscoring the critical role of dynamic, explainable, and robust model fusion in real-world recognition systems. Project page: \href{https://fusionagent.github.io/}{FusionAgent}.

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arXiv2026

Interpretable Perception and Reasoning for Audiovisual Geolocation

While recent advances in Multimodal Large Language Models (MLLMs) have improved image-based localization, precise global geolocation remains a formidable challenge due to the inherent ambiguity of visual landscapes and the largely untapped potential of auditory cues. In this paper, we introduce Audiovisual Geolocation, a framework designed to resolve geographic ambiguity through interpretable perception and reasoning. We present AVG, a high-quality global-scale video benchmark for geolocation, comprising 20,000 curated clips across 1,000 distinct locations. To address the complexity of audiovisual geolocation, we propose a three-stage framework: (1) a Perception stage that utilizes a mixture-autoregressive sparse autoencoder to decompose noisy audio into semantically grounded "acoustic atoms"; (2) a Multimodal Reasoning stage that employs an MLLM finetuned via Group Relative Policy Optimization (GRPO) to synthesize these atoms with visual features; and (3) a Precision Prediction stage using Riemannian Flow Matching on the $S^2$ manifold. Our experiments demonstrate that our framework significantly outperforms unimodal baselines. These results entail that interpretable perception of the soundscape provides a critical, orthogonal signal that, when coupled with multimodal reasoning, enables high-precision global localization.

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arXiv2026

Marginalized Bundle Adjustment: Multi-View Camera Pose from Monocular Depth Estimates

Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images without depending on camera motion, integrating MDE into SfM remains a challenge. Unlike conventional triangulated sparse point clouds, MDE produces dense depth maps with significantly higher error variance. Inspired by modern RANSAC estimators, we propose Marginalized Bundle Adjustment (MBA) to mitigate MDE error variance leveraging its density. With MBA, we show that MDE depth maps are sufficiently accurate to yield SoTA or competitive results in SfM and camera relocalization tasks. Through extensive evaluations, we demonstrate consistently robust performance across varying scales, ranging from few-frame setups to large multi-view systems with thousands of images. Our method highlights the significant potential of MDE in multi-view 3D vision.

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arXiv2026

LocalScore: Local Density-Aware Similarity Scoring for Biometrics

Open-set biometrics faces challenges with probe subjects who may not be enrolled in the gallery, as traditional biometric systems struggle to detect these non-mated probes. Despite the growing prevalence of multi-sample galleries in real-world deployments, most existing methods collapse intra-subject variability into a single global representation, leading to suboptimal decision boundaries and poor open-set robustness. To address this issue, we propose LocalScore, a simple yet effective scoring algorithm that explicitly incorporates the local density of the gallery feature distribution using the k-th nearest neighbors. LocalScore is architecture-agnostic, loss-independent, and incurs negligible computational overhead, making it a plug-and-play solution for existing biometric systems. Extensive experiments across multiple modalities demonstrate that LocalScore consistently achieves substantial gains in open-set retrieval (FNIR@FPIR reduced from 53% to 40%) and verification (TAR@FAR improved from 51% to 74%). We further provide theoretical analysis and empirical validation explaining when and why the method achieves the most significant gains based on dataset characteristics.

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arXiv2026

TalkingHeadBench: A Multi-Modal Benchmark & Analysis of Talking-Head DeepFake Detection

The rapid advancement of talking-head deepfake generation fueled by advanced generative models has elevated the realism of synthetic videos to a level that poses substantial risks in domains such as media, politics, and finance. However, current benchmarks for deepfake talking-head detection fail to reflect this progress, relying on outdated generators and offering limited insight into model robustness and generalization. We introduce TalkingHeadBench, a comprehensive multi-model multi-generator benchmark and curated dataset designed to evaluate the performance of state-of-the-art detectors on the most advanced generators. Our dataset includes deepfakes synthesized by leading academic and commercial models and features carefully constructed protocols to assess generalization under distribution shifts in identity and generator characteristics. We benchmark a diverse set of existing detection methods, including CNNs, vision transformers, and temporal models, and analyze their robustness and generalization capabilities. In addition, we provide error analysis using Grad-CAM visualizations to expose common failure modes and detector biases. TalkingHeadBench is hosted on https://huggingface.co/datasets/luchaoqi/TalkingHeadBench with open access to all data splits and protocols. Our benchmark aims to accelerate research towards more robust and generalizable detection models in the face of rapidly evolving generative techniques.

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arXiv2026

MoGen: A Unified Collaborative Framework for Controllable Multi-Object Image Generation

Existing multi-object image generation methods face difficulties in achieving precise alignment between localized image generation regions and their corresponding semantics based on language descriptions, frequently resulting in inconsistent object quantities and attribute aliasing. To mitigate this limitation, mainstream approaches typically rely on external control signals to explicitly constrain the spatial layout, local semantic and visual attributes of images. However, this strong dependency makes the input format rigid, rendering it incompatible with the heterogeneous resource conditions of users and diverse constraint requirements. To address these challenges, we propose MoGen, a user-friendly multi-object image generation method. First, we design a Regional Semantic Anchor (RSA) module that precisely anchors phrase units in language descriptions to their corresponding image regions during the generation process, enabling text-to-image generation that follows quantity specifications for multiple objects. Building upon this foundation, we further introduce an Adaptive Multi-modal Guidance (AMG) module, which adaptively parses and integrates various combinations of multi-source control signals to formulate corresponding structured intent. This intent subsequently guides selective constraints on scene layouts and object attributes, achieving dynamic fine-grained control. Experimental results demonstrate that MoGen significantly outperforms existing methods in generation quality, quantity consistency, and fine-grained control, while exhibiting superior accessibility and control flexibility. Code is available at: https://github.com/Tear-kitty/MoGen/tree/master.

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arXiv2026

On the Holistic Approach for Detecting Human Image Forgery

The rapid advancement of AI-generated content (AIGC) has escalated the threat of deepfakes, from facial manipulations to the synthesis of entire photorealistic human bodies. However, existing detection methods remain fragmented, specializing either in facial-region forgeries or full-body synthetic images, and consequently fail to generalize across the full spectrum of human image manipulations. We introduce HuForDet, a holistic framework for human image forgery detection, which features a dual-branch architecture comprising: (1) a face forgery detection branch that employs heterogeneous experts operating in both RGB and frequency domains, including an adaptive Laplacian-of-Gaussian (LoG) module designed to capture artifacts ranging from fine-grained blending boundaries to coarse-scale texture irregularities; and (2) a contextualized forgery detection branch that leverages a Multi-Modal Large Language Model (MLLM) to analyze full-body semantic consistency, enhanced with a confidence estimation mechanism that dynamically weights its contribution during feature fusion. We curate a human image forgery (HuFor) dataset that unifies existing face forgery data with a new corpus of full-body synthetic humans. Extensive experiments show that our HuForDet achieves state-of-the-art forgery detection performance and superior robustness across diverse human image forgeries.

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arXiv2025

Beyond Motion Pattern: An Empirical Study of Physical Forces for Human Motion Understanding

Human motion understanding has advanced rapidly through vision-based progress in recognition, tracking, and captioning. However, most existing methods overlook physical cues such as joint actuation forces that are fundamental in biomechanics. This gap motivates our study: if and when do physically inferred forces enhance motion understanding? By incorporating forces into established motion understanding pipelines, we systematically evaluate their impact across baseline models on 3 major tasks: gait recognition, action recognition, and fine-grained video captioning. Across 8 benchmarks, incorporating forces yields consistent performance gains; for example, on CASIA-B, Rank-1 gait recognition accuracy improved from 89.52% to 90.39% (+0.87), with larger gain observed under challenging conditions: +2.7% when wearing a coat and +3.0% at the side view. On Gait3D, performance also increases from 46.0% to 47.3% (+1.3). In action recognition, CTR-GCN achieved +2.00% on Penn Action, while high-exertion classes like punching/slapping improved by +6.96%. Even in video captioning, Qwen2.5-VL's ROUGE-L score rose from 0.310 to 0.339 (+0.029), indicating that physics-inferred forces enhance temporal grounding and semantic richness. These results demonstrate that force cues can substantially complement visual and kinematic features under dynamic, occluded, or appearance-varying conditions.

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arXiv2025

50 Years of Automated Face Recognition

Over the past five decades, automated face recognition (FR) has progressed from handcrafted geometric and statistical approaches to advanced deep learning architectures that now approach, and in many cases exceed, human performance. This paper traces the historical and technological evolution of FR, encompassing early algorithmic paradigms through to contemporary neural systems trained on extensive real and synthetically generated datasets. We examine pivotal innovations that have driven this progression, including advances in dataset construction, loss function formulation, network architecture design, and feature fusion strategies. Furthermore, we analyze the relationship between data scale, diversity, and model generalization, highlighting how dataset expansion correlates with benchmark performance gains. Recent systems have achieved near-perfect large-scale identification accuracy, with the leading algorithm in the latest NIST FRTE 1:N benchmark reporting a FNIR of 0.15 percent at FPIR of 0.001 on a gallery of over 10 million identities. We delineate key open problems and emerging directions, including scalable training, multi-modal fusion, synthetic data, and interpretable recognition frameworks.

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arXiv2025

Consolidating Diffusion-Generated Video Detection with Unified Multimodal Forgery Learning

The proliferation of videos generated by diffusion models has raised increasing concerns about information security, highlighting the urgent need for reliable detection of synthetic media. Existing methods primarily focus on image-level forgery detection, leaving generic video-level forgery detection largely underexplored. To advance video forensics, we propose a consolidated multimodal detection algorithm, named MM-Det++, specifically designed for detecting diffusion-generated videos. Our approach consists of two innovative branches and a Unified Multimodal Learning (UML) module. Specifically, the Spatio-Temporal (ST) branch employs a novel Frame-Centric Vision Transformer (FC-ViT) to aggregate spatio-temporal information for detecting diffusion-generated videos, where the FC-tokens enable the capture of holistic forgery traces from each video frame. In parallel, the Multimodal (MM) branch adopts a learnable reasoning paradigm to acquire Multimodal Forgery Representation (MFR) by harnessing the powerful comprehension and reasoning capabilities of Multimodal Large Language Models (MLLMs), which discerns the forgery traces from a flexible semantic perspective. To integrate multimodal representations into a coherent space, a UML module is introduced to consolidate the generalization ability of MM-Det++. In addition, we also establish a large-scale and comprehensive Diffusion Video Forensics (DVF) dataset to advance research in video forgery detection. Extensive experiments demonstrate the superiority of MM-Det++ and highlight the effectiveness of unified multimodal forgery learning in detecting diffusion-generated videos.

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arXiv2025

Person Recognition in Aerial Surveillance: A Decade Survey

The rapid emergence of airborne platforms and imaging sensors is enabling new forms of aerial surveillance due to their unprecedented advantages in scale, mobility, deployment, and covert observation capabilities. This paper provides a comprehensive overview of 150+ papers over the last 10 years of human-centric aerial surveillance tasks from a computer vision and machine learning perspective. It aims to provide readers with an in-depth systematic review and technical analysis of the current state of aerial surveillance tasks using drones, UAVs, and other airborne platforms. The object of interest is humans, where human subjects are to be detected, identified, and re-identified. More specifically, for each of these tasks, we first identify unique challenges in performing these tasks in an aerial setting compared to the popular ground-based setting and subsequently compile and analyze aerial datasets publicly available for each task. Most importantly, we delve deep into the approaches in the aerial surveillance literature with a focus on investigating how they presently address aerial challenges and techniques for improvement. We conclude the paper by discussing the gaps and open research questions to inform future research avenues.

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arXiv2025

TRIM: Scalable 3D Gaussian Diffusion Inference with Temporal and Spatial Trimming

Recent advances in 3D Gaussian diffusion models suffer from time-intensive denoising and post-denoising processing due to the massive number of Gaussian primitives, resulting in slow generation and limited scalability along sampling trajectories. To improve the efficiency of 3D diffusion models, we propose $\textbf{TRIM}$ ($\textbf{T}$rajectory $\textbf{R}$eduction and $\textbf{I}$nstance $\textbf{M}$ask denoising), a post-training approach that incorporates both temporal and spatial trimming strategies, to accelerate inference without compromising output quality while supporting the inference-time scaling for Gaussian diffusion models. Instead of scaling denoising trajectories in a costly end-to-end manner, we develop a lightweight selector model to evaluate latent Gaussian primitives derived from multiple sampled noises, enabling early trajectory reduction by selecting candidates with high-quality potential. Furthermore, we introduce instance mask denoising to prune learnable Gaussian primitives by filtering out redundant background regions, reducing inference computation at each denoising step. Extensive experiments and analysis demonstrate that TRIM significantly improves both the efficiency and quality of 3D generation. Source code is available at $\href{https://github.com/zeyuanyin/TRIM}{link}$.

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arXiv2025

EditCast3D: Single-Frame-Guided 3D Editing with Video Propagation and View Selection

Recent advances in foundation models have driven remarkable progress in image editing, yet their extension to 3D editing remains underexplored. A natural approach is to replace the image editing modules in existing workflows with foundation models. However, their heavy computational demands and the restrictions and costs of closed-source APIs make plugging these models into existing iterative editing strategies impractical. To address this limitation, we propose EditCast3D, a pipeline that employs video generation foundation models to propagate edits from a single first frame across the entire dataset prior to reconstruction. While editing propagation enables dataset-level editing via video models, its consistency remains suboptimal for 3D reconstruction, where multi-view alignment is essential. To overcome this, EditCast3D introduces a view selection strategy that explicitly identifies consistent and reconstruction-friendly views and adopts feedforward reconstruction without requiring costly refinement. In combination, the pipeline both minimizes reliance on expensive image editing and mitigates prompt ambiguities that arise when applying foundation models independently across images. We evaluate EditCast3D on commonly used 3D editing datasets and compare it against state-of-the-art 3D editing baselines, demonstrating superior editing quality and high efficiency. These results establish EditCast3D as a scalable and general paradigm for integrating foundation models into 3D editing pipelines. The code is available at https://github.com/UNITES-Lab/EditCast3D

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