#01Aug 7, 2026
cs.RO
Depth-Wise Probing and Pruning of the Planning Token in a Driving Vision-Language-Action Model
Harisankar Babu, Benjamin Coors, Christopher Lang and 3 more
Vision-language-action (VLA) models route driving decisions through a deep language model, but it is unclear how much of that depth the action itself requires. We study a representative driving VLA whose entire plan is carried by a single planning token that a generative planner decodes into a trajectory. Borrowing the planner as a trajectory-space logit lens, we decode the planning token from every one of the 32 decoder layers and measure two signals: the linear decodability of the navigation command and trajectory compatibility with the frozen native planner. Our diagnostic shows that semantic intent is linearly decodable early: command-probe accuracy reaches 97.7\% after the first decoder layer, compared with 16.7\% chance. In contrast, compatibility with the frozen native planner improves gradually across depth, with open-loop Avg-L2 reaching its minimum of 2.11\,m only at the final layer. Learned readouts from the first layer recover much of this gap, indicating that planning information is already present early but is not yet represented in the format expected by the deployed planner. Ranking decoder layers by the angular deviation they induce in the planning token permits removal of 8 of 32 layers within an approximately 5\% relative open-loop error increase and yields a measured 1.33$\times$ decoder speedup. At the evaluated sample size, no family-specific degradation is statistically resolved. These findings are limited to the evaluated ORION checkpoint and Bench2Drive setup.
#02Aug 7, 2026
cs.AI
WNM-3D: A World Navigation Model with 3D Scene Conditioning for Closed-Loop VLN
Yuehao Huang, Yunzi Wu, Xiaotao Zhang and 7 more
Recent vision-language navigation (VLN) systems increasingly adapt pretrained vision-language models (VLMs) into vision-language-action (VLA) policies that map egocentric observations and language instructions directly to navigation actions. Although semantically capable, such action-centric training does not explicitly model how the agent's visual observations should evolve under its predicted motion. Generative world-action models (WAMs) jointly predict future observations and actions, yet existing WAMs for continuous VLN do not condition joint future-view and action generation on geometry-aware representations inferred from the observed history. We present WNM-3D, a generative World Navigation Model with 3D scene conditioning for continuous VLN. To consolidate past observations into persistent scene context, a frozen feed-forward geometry encoder extracts geometry-aware representations from the monocular egocentric RGB history, and a trainable 3D Scene-to-Token Adapter converts them into a fixed-length prefix in the token space of the world-action Diffusion Transformer. Through block-causal attention, this prefix conditions every future video-action block, providing a shared geometric context for both future-view and action generation. We train WNM-3D through supervised world-action fine-tuning on A*-generated demonstrations, DAgger-style adaptation on policy-visited states, and DanceGRPO-based closed-loop policy optimization. Experiments on GN-Bench show that WNM-3D outperforms strong VLM-based navigation policies and its 2D-conditioned counterpart in closed-loop navigation. On a fixed near-goal evaluation set, WNM-3D also achieves higher flow-action consistency and lower visual-motion error.
#03Aug 7, 2026
cs.CV
Beyond Fluency: A Clinical Benchmark and Anomaly-Enhanced Baseline for Spine MRI Report Generation
Bruno Palau, Franziska Vogt, Daria Laslo and 4 more
Radiology reporting is time-consuming and subject to inter-rater variability, making automated report generation an attractive clinical application for Vision-Language Models (VLMs). We benchmark state-of-the-art VLMs on lumbar spine MRI with a focus on diagnostic accuracy and demonstrate that standard lexical and semantic metrics poorly reflect clinical correctness: fluent, well-structured reports can score highly while containing clinically meaningful diagnostic errors. To address this failure mode, we propose an architecture-agnostic framework that augments VLM inputs with spatially localized, disc-level anomaly heatmaps generated by a semi-supervised U-Net++ model. These heatmaps both improve anatomical sensitivity through explicit visual grounding and provide an independent interpretability output for clinical oversight, moving us closer to diagnostically reliable, visually grounded VLMs for lumbar spine MRI interpretation.
#04Aug 7, 2026
cs.LG
An AI4AI Framework for Visual Token Pruning
Zhen Liu, Wenli Huang, Wei Song and 3 more
Visual-token pruning can substantially reduce the inference cost of multimodal large language models (MLLMs), yet existing methods largely rely on fixed, handcrafted heuristics and costly expert trial and error. As pruning objectives, budgets, and model architectures diversify, manually navigating the expanding design space becomes increasingly difficult. This paper aims to build an AI4AI framework for visual-token pruning by addressing a natural question: Can large language models automatically design effective visual-token reduction algorithms? Although LLMs possess broad algorithmic knowledge and strong reasoning capabilities, translating such general knowledge into effective solutions for a specialized task remains nontrivial. We argue that the key lies in designing an appropriate search-state representation that connects the internal knowledge of LLMs with the structural requirements and constraints of visual-token pruning. Based on this insight, we propose AutoPrune, a training-free framework for LLM-driven visual-token pruning policy design. At its core, AutoPrune introduces a Token Pruning Domain-Specific Language (TPDSL) comprising 131 reusable atoms for budget control, token scoring, selection constraints, and token reassembly. A key property of TPDSL is that it represents each search state as a residual modification of a strong base policy. This residual formulation narrows the search space and directs the LLM's attention toward the policy components that are most consequential for performance. Experiments on 14 multimodal benchmarks and three MLLM backbones demonstrate the effectiveness, efficiency, and transferability of AutoPrune. Even when removing 94.4% of visual tokens, AutoPrune preserves more than 99% of full-token performance while reducing FLOPs by 9.9x and prefill latency by 6.4x.
#05Aug 7, 2026
cs.CV
RoRA: Role-Oriented Regional Allocation for Visual Token Pruning in MLLMs
Qiyanhui Lu, Han Wu, Rongjian Xu and 6 more
Multimodal large language models (MLLMs) encode images as long visual token sequences, making prefilling and KV-cache storage expensive. Existing training-free pruning methods select tokens by importance, diversity, or spatial coverage, but treat retained tokens as interchangeable and do not explicitly track which object-related regions are already covered. We present RoRA, a training-free framework that casts visual token pruning as role-oriented regional evidence allocation. Given a fixed budget, RoRA partitions tokens into a protected semantic core, complementary context, and fine-grained detail. It first calibrates text-conditioned attention with a positional prior and a prompt-calibrated object prior, then builds Attention-Anchored Regions (AARs) from high-confidence anchors as lightweight proxies for covered object support. Context is explored mainly outside AARs, while a small AAR-guided budget restores local detail; pairwise similarity is used only for context-stage redundancy filtering. Under matched budgets, RoRA consistently outperforms strong training-free baselines across LLaVA and Qwen-VL families, retaining most of the unpruned accuracy even at aggressive pruning ratios, e.g., 96.5% of full performance at 88.9% pruning on LLaVA-1.5, and improving over D2Pruner by about 5% on Qwen3-VL at 75-90% pruning. At a 66.7% pruning ratio, RoRA requires only 0.7 ms for token selection and reduces end-to-end inference time by 24.6%, corresponding to a 1.33x speedup over unpruned inference on an NVIDIA H800.