#01Jul 30, 2026
cs.CV
Hand-Object Interaction in the Age of Large Foundation Models:Reconstruction, Generation, and Embodied Transfer
Weiquan Lin, Yu Deng, Shiyang Liu and 6 more
Hand-object interaction (HOI) modeling remains challenging because it requires joint reasoning about hand articulation, object geometry, contact, semantics, and dynamics under severe visual uncertainty. Foundation models introduce transferable prior knowledge learned from large-scale cross-domain data, offering new ways to address these challenges beyond task-specific data and models. However, the rapidly growing literature remains fragmented, and existing studies typically describe these methods simply as ``using large models'' without systematically characterizing what knowledge is introduced, where it enters the HOI pipeline, or which HOI uncertainty it helps reduce. This survey presents the first systematic review of foundation-model priors for HOI. We organize the literature into six HOI tasks spanning reconstruction and generation. More importantly, we establish a taxonomy of eight foundation-model sub-priors grouped into geometric, semantic, and visual families. Geometric priors encompass shape retrieval, shape reconstruction, and spatial reconstruction; semantic priors include semantic grounding and language reasoning; and visual priors cover visual representation, image generation, and video generation. Based on this taxonomy, we systematically analyze how different priors are represented, injected, and adapted across HOI pipelines and tasks. Beyond how foundation models empower HOI, we further examine how HOI-derived knowledge is used in robot learning, including human-data pretraining, human-to-robot skill transfer, and HOI-to-robot data generation. Finally, we summarize datasets and evaluation protocols, and discuss limitations and future directions toward more generalizable HOI systems. To support long-term progress, we curate a live repository that continuously aggregates emerging methods and benchmarks.
#02Jul 30, 2026
cs.CV
ReToken: One Token to Improve Vision-Language Models for Visual Retrieval
Yao Xiao, Reuben Tan, Zhen Zhu and 3 more
Long visual context poses a challenge for vision-language models: performance degrades as the number of distractors grows, and processing all tokens at once is computationally infeasible under GPU memory constraints. We present ReToken, a single learnable embedding trained as an explicit retrieval target that selects a sparse set of query-relevant visual tokens from a pre-filled visual KV cache. Trained on only a small image-QA dataset, ReToken yields consistent gains across image and video benchmarks: on Visual Haystacks it improves Qwen3VL-8B by 13.4 points and InternVL3.5 by 12.4 points (>20% relative), and on LVBench it transfers zero-shot to long video for an 8.0-point gain with Qwen3VL-8B. Thanks to its lightweight design, both training and long-video inference fit on a single H100. Code is available at: https://github.com/avaxiao/ReToken
#03Jul 30, 2026
cs.CV
Finding Change in Satellite Archives from Text: How to Combine Before-and-After Images Efficiently
Simon Roy, Mark Bong, Giovanni Beltrame
Operational Earth observation increasingly calls for answering queries such as ``find the image pairs where a new building appeared.'' This means searching an archive of before-and-after (bi-temporal) satellite image pairs and ranking each pair by how well it matches a natural-language description of the change. The component that performs this match, the fusion module that combines the ``before'' and ``after'' views, must be run at query time across many candidate pairs, so its speed largely sets the cost of every search. We present a controlled comparison of how to build that module. Using one fixed image encoder (a frozen CLIP model) and one training recipe for all variants, we evaluate eight designs drawn from three families: attention, state-space models (Mamba), and learned compression (our Temporal Bottleneck Fusion, TBF). Each design is tested on two benchmarks (LEVIR-CC and Dubai-CC) with ten random seeds, so the reported differences are statistically grounded. We outline three findings: first, a training-free two-stage search (a cheap difference model that shortlists candidates, followed by attention fusion that re-ranks them) matches or exceeds full-fusion recall on LEVIR-CC while cutting query cost $10$-$15\times$, with comparable R@1/R@5 on Dubai-CC; second, the linear-time scan of Mamba, attractive on paper, gives no speed benefit at the patch counts typical of vision transformers ($L{=}196$): the scan is limited by memory bandwidth, whereas attention maps cleanly onto parallel hardware; and third, compressing the fused representation (TBF) reduces parameters by $2.3\times$ and latency by $1.6\times$ for a change-only BLEU-1 cost of $0.007$, although more aggressive compression quietly discards change-relevant detail that aggregate metrics fail to reveal.
#04Jul 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.
#05Jul 30, 2026
cs.CV
Beyond Frame Selection: Generative Latent Evidence Aggregation for Long-Video Understanding
Bowen Liu, Shuning Wang, Xinpeng Ding and 3 more
Long-video understanding commonly compresses videos into a small set of frames or visual tokens for answer generation. Existing compact pipelines focus on retaining relevant visual content as explicit evidence. Yet making evidence available does not ensure that complementary cues across moments are integrated for answering. Our key idea is to organize selected frames into query-relevant cross-frame evidence before generation. We formulate this post-selection stage as a latent evidence interface and instantiate it with GenEvA ($\textbf{Gen}erative$ $Latent$ $\textbf{Ev}idence$ $\textbf{A}ggregation$), a distribution-guided latent evidence aggregation framework. Specifically, GenEvA uses a query-conditioned evidence distribution to focus aggregation on relevant frames, forming compact cross-frame latent evidence from their frame-specific information. Since cross-frame integration is not always needed, the same distribution determines whether to insert this latent complement. Across four benchmarks and two Video-MLLM backbones, GenEvA consistently improves matched-frame baselines. At 8 frames, it raises the four-benchmark LLaVA-Video average by $+5.2$ points and Qwen2.5-VL accuracy on LVBench by $+10.1$ points. These gains require only $0.11\%$--$0.40\%$ average video-token overhead; analyses further show task-aware allocation and benefits from Adaptive Evidence Invocation.