#01Jul 30, 2026
cs.CV
What to Remove, What to Preserve: Dual-Ambiguity Rectification for All-in-One Image Restoration
Cencen Liu, Wen Yin, Dongyang Zhang and 6 more
All-in-one image restoration aims to handle diverse degradations within a unified framework. Existing methods commonly encode heterogeneous degradation conditions in a shared latent space, where degradation-related cues and scene content can remain entangled. We characterize the resulting challenge as dual ambiguity: semantic ambiguity in channel-wise modulation and spatial ambiguity in restoration responses, which can lead to content corruption and residual artifacts. To mitigate this issue, we propose DAR-Net, a Dual-Ambiguity Rectification Network for all-in-one image restoration. DAR-Net first introduces a Degradation Archetype Representation (DAR) module to construct a structured degradation state through simplex-constrained archetype mixture modeling. Based on this state, a Semantic Ambiguity Rectification (SeAR) module generates degradation-aware prompts to improve channel-wise conditioning in the decoder. A Spatial Ambiguity Rectification (SpAR) module further regularizes degradation-aware and complementary features toward orthogonal response subspaces, reducing spatial interference between removal and preservation cues. Extensive experiments on standard all-in-one restoration benchmarks show that DAR-Net achieves the best overall performance under both three-degradation and five-degradation settings, improving the average PSNR over the strongest competitor by 0.14 dB and 0.34 dB, respectively; it additionally shows superior performance on CDD-11 and WeatherBench.
#02Jul 30, 2026
cs.LG
QQWorld: Quantile-Quantile Matching for World Model Regularization
Zhoushun Yu, Xiaoyu Hu, Xiangyu Xu
Latent world models enable efficient planning by predicting future states in a compact representation space, but their performance depends critically on the quality of the learned latent distribution. LeWorldModel (LeWM) regularizes its latents toward an isotropic Gaussian using the Epps-Pulley (EP) objective. We show that the corrective gradients of EP rapidly vanish for isolated tail samples, leaving heavy-tailed deviations insufficiently controlled. To address this limitation, we propose QQWorld, which replaces EP with a quantile-quantile matching objective that directly aligns projected latent samples with rank-matched Gaussian quantiles, thereby maintaining effective corrective gradients in the tails. We further develop cross-batch QQ, which enlarges the effective ranking pool using detached samples from previous batches, and characterize its bias-variance trade-off. Across four control environments, QQWorld effectively improves the average planning success rate of LeWM, while consistently yielding better Gaussian alignment and thinner latent tails.
#03Jul 30, 2026
cs.CV
Capturing Token Tendencies for Training-Free Token Pruning in Multimodal Large Language Models
Jie Ma, Zhike Qiu, Jie Gao and 4 more
While visual token pruning is essential for efficient Multimodal Large Language Models (MLLMs), existing training-free methods suffer from a critical limitation: they rely on static, instantaneous heuristics to perform irreversible filtering. This approach ignores the hierarchical nature of MLLMs, where token importance often evolves dynamically rather than remaining fixed across layers. Consequently, tokens essential for deep-layer reasoning are often prematurely discarded by shallow-layer estimates. To address this, we propose Trend-aware Pruning, a novel framework that elevates pruning from a local snapshot decision to a temporal trajectory modeling problem. Instead of relying on isolated scores, our method captures the momentum of attention flow. This enables a dynamic rectification mechanism that selectively reactivates "late-blooming" tokens, those initially undervalued but exhibiting rising semantic importance, thereby preventing the loss of critical visual cues. Extensive experiments demonstrate that our approach achieves a superior efficiency-performance trade-off across diverse multimodal tasks. Notably, it reduces visual tokens by over 77.8%, retaining only approximately 23 tokens in the final layer while maintaining competitive performance, offering a robust and reversible solution for high-efficiency multimodal inference.
#04Jul 30, 2026
cs.CV
ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine
Yukang Cao, Haozhe Xie, Beichen Wen and 13 more
Embodied intelligence faces a fundamental data bottleneck. Models must capture how first-person perception, whole-body motion, dexterous manipulation, object state, sound, and touch evolve together as humans pursue goals over time. Existing datasets fragment this experience across viewpoints, modalities, or spatial scales, leaving the full perception-action loop only partially observed. We introduce the Ambient Capture Engine (ACE), a human-centric data engine that transforms real home environments into spatially calibrated, temporally synchronized recording studios. ACE operates at two complementary scales: a table-scale configuration resolves hand-object manipulation, while a room-scale configuration captures whole-body motion, locomotion, and interactions across a furnished home. ACE records egocentric and multi-view exocentric video, full-body and articulated hand motion, object geometry and 6-DoF trajectories, audio, and tactile signals as a unified multisensory stream. Using ACE, we build ACE-Data-0, comprising 150 hours and 17M video frames across 200 task categories, performed by 50 participants in 2 environments, for a total of 75,000 interaction episodes. The dataset spans atomic manipulation, long-horizon chains of household activities, and human-scene interaction, while preserving natural behavioral variation through goal-level rather than step-by-step instructions. We further introduce a hierarchical benchmark that progresses from signals to scene components and then to interactions. Evaluations of state-of-the-art methods expose substantial gaps under contact, occlusion, egomotion, and long temporal horizons. ACE-Data-0 provides synchronized human demonstrations with aligned perceptual, kinematic, and contact supervision, offering a scalable foundation for imitation learning, world models, vision-language-action systems, and embodied AI.
#05Jul 30, 2026
cs.CV
ViewMind3D: Modular View-Aware Inference for Training-Free 3D-QA
Ping-Kun Chiang, Kun-Ru Wu, Po-han Li and 3 more
Recent advances in large language models (LLMs) and vision-language models (VLMs) have enabled new possibilities for 3D question answering (3D-QA), a key capability for embodied AI and robotic perception. However, most existing methods rely on 3D-specific training or fine-tuning with costly annotations, limiting their scalability and real-world applicability. We present \textbf{ViewMind3D}, a fully training-free and modular framework for 3D spatial reasoning over multi-view observations of a scene without requiring complete 3D reconstruction. The framework decomposes the 3D-QA task into four interpretable components: (1) question-driven multi-view selection, (2) guided visual grounding with language-conditioned object cues, (3) spatial context encoding via a bird's-eye-view (BEV) viewpoint indicator, and (4) structured answer generation through role-based reasoning. This design enables structured, robust, and interpretable reasoning without requiring model tuning. Experimental results on ScanQA and SQA3D show that ViewMind3D achieves competitive performance compared to prior training-free and fine-tuned 3D-LLMs. In particular, our method improves performance on spatially grounded question types, such as ``What'' questions in SQA3D, while maintaining strong overall accuracy (50.8\%) and achieving 73.4 CIDEr on ScanQA. These results demonstrate that effective 3D reasoning can be achieved through modular orchestration of general-purpose LLMs and VLMs for robotic perception in real-world environments.