#01Jul 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.
#02Jul 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.
#03Jul 30, 2026
cs.CV
VisualRouter: Query-Grounded Visual Sampling for Long Video Understanding
Haiyue Zhang, Yi Bin, Xun Jiang and 5 more
Large vision-language models (LVLMs) have achieved significant progress in video understanding, yet understanding long videos remains challenging due to the large number of visual tokens and limited context windows. Visual sampling provides a practical solution by selecting an informative subset of frames. However, existing methods typically either rely on relevance-aware sampling, leading to redundant frame selection and insufficient temporal coverage, or adopt a fixed sampling strategy regardless of query type. In this paper, we propose VisualRouter, a training-free and plug-and-play framework for query-grounded visual sampling. VisualRouter first classifies each query as either global or local and then applies the corresponding sampling strategy. For global queries, it employs a relevance-coverage hybrid strategy that preserves temporal coverage while retaining query-relevant visual evidence. For local queries, it adopts an event-aware frame selection strategy that performs event partitioning, segment-level frame allocation, and intra-event frame selection, jointly balancing relevance, coverage, and diversity with a limited number of input frames. Experiments show that VisualRouter consistently improves multiple LVLMs over uniform sampling, achieving gains of 5.2%, 7.7%, and 11.6% on Video-MME, LongVideoBench, and MLVU with Qwen2.5-VL-7B, and outperforming existing training-free visual sampling methods under the same setting.
#04Jul 30, 2026
cs.CV
ScaFE: Data-Efficient Scar Classification with LLM-Generated Clinical Feature Programs
Ruman Wang, Hangting Ye
Classifying pathological scars from clinical photographs requires distinguishing keloids from hypertrophic scars despite limited expert-labeled data and substantial acquisition variation across hospitals. End-to-end image models remain data-dependent, whereas sending photographs to a hosted vision-language model (VLM) may conflict with local data-governance requirements and yields decisions that are difficult to reproduce and audit. We introduce ScaFE (Scar Feature Engineering), which transfers clinical knowledge from a large language model (LLM) into deterministic, executable feature programs instead of asking the model to diagnose images. A web-enabled LLM retrieves clinical evidence and synthesizes programs that measure visually assessable scar attributes. Candidate programs execute in a restricted local environment, and only aggregate validation statistics and feature-level SHAP summaries are returned for iterative repair and refinement; raw images and patient-level outputs remain local. A lightweight Random Forest then operates on the resulting structured representation. On 600 photographs from three hospitals under leave-one-site-out evaluation, ScaFE achieves 81.0% site-macro balanced accuracy, exceeding the strongest baseline, BiomedCLIP, by 10.0 percentage points. With only 10% of the development data, ScaFE retains 72.0% balanced accuracy and an 11.8-point lead. Iterative refinement also raises the executable-program rate from 66.7% to 95.0%, with verified evidence for 91.7% of the final features. These results show that LLM knowledge can support data-efficient, cross-site medical image classification through local and auditable feature programs rather than direct VLM decisions.
#05Jul 30, 2026
cs.CV
VAD: Attributing Visual Evidence for Target Reconstruction in Multimodal On-Policy Distillation
Kangning Zhang, Yixing Li, Shuai Shao and 9 more
Multimodal on-policy distillation (OPD) transfers fine-grained visual knowledge by supervising student-generated trajectories with a privileged-view teacher. Yet its next-token corrections are source-mixed, combining visual signals with linguistic priors and teacher-specific effects. The key challenge is to estimate which corrections are supported by visual evidence, not merely where or how strongly to distill. We introduce Visual Attribution Distillation (VAD), a counterfactual target-reconstruction algorithm that estimates the visually attributable part of a teacher correction. At each student-generated prefix, VAD evaluates the same fixed teacher with the relevant evidence present and removed. The corresponding change in centered log-probabilities defines ut, a signed proxy for the visual evidence direction that estimates how revealing the evidence supports or refutes candidate tokens. VAD projects the original correction onto this proxy to obtain an intervention-aligned component and a proxy-unexplained residual, then reconstructs a student-anchored target from the former. During training, this reconstructed target supplies the primary supervision signal, while the privileged teacher contributes a weak regularizer. Across six fine-grained visual benchmarks at 4B and 9B scales, VAD outperforms direct privileged-view distillation and visual-advantage weighting. Token- level and controlled-target analyses show that the proxy-aligned component is enriched in task-relevant visual corrections and yields stronger target shifts, especially when evidence refutes a mistaken answer. These results support counterfactual target reconstruction as an effective alternative to source-mixed supervision.