arXiv subjects

Jizhihui Liu

Publications and source records attributed to Jizhihui Liu.

5 recordsLinked to original sources

arXiv2026

TGV-KV: Text-Grounded KV Eviction for Vision-Language Models

Vision-Language Models (VLMs) inherit the auto-regressive generation paradigm and cache the keys and values (KV) of all previous tokens to accelerate inference, resulting in memory consumption that scales linearly with context length. This issue is particularly pronounced in VLMs due to substantial redundancy in the visual modality. Although KV cache eviction approaches can effectively reduce inference memory, they often incur significant performance degradation in VLMs, as most are designed for language models and overlook the inherent gap between text and vision. By systematically analyzing the modality gap in VLMs in this work, we argue that the importance of visual information should be grounded in textual guidance and accordingly propose a Text-Grounded KV Eviction method for VLMs (TGV-KV). TGV-KV comprises three submodules: (1) Text-Vision Budgeting (TVB) assigns budget to each layer based on the mutual information interaction. (2) Text-Weighted Ranking (TWR) assesses the priority of text and ranks vision importance based on weighted text-image attention. (3) Text-Prioritised Retention (TPR) policy strategically preserves text KV to avoid acute information loss. We evaluate TGV-KV across five models with different sizes and architectures, showing that TGV-KV preserves 99.2% full-KV accuracy on the VizWiz-VQA task with LLaVA-NeXT and boosts end-to-end throughput by 52.6% with an extreme retention budget of 5%. Code is available at https://github.com/Danielement321/TGV-KV.

cs.CV↗

arXiv2026

ConsisVLA-4D: Advancing Spatiotemporal Consistency in Efficient 3D-Perception and 4D-Reasoning for Robotic Manipulation

Current Vision-Language-Action (VLA) models primarily focus on mapping 2D observations to actions, but exhibit notable limitations in spatiotemporal perception and reasoning: 1) spatial representations often rely on additional sensors, introducing substantial computational overhead; 2) visual reasoning is typically limited to future-frame prediction, lacking alignment with the instruction-grounded scene and thus compromising spatiotemporal consistency. To address these challenges, we propose ConsisVLA-4D, a unified and efficient framework that enhances spatiotemporal consistency in 3D perception and 4D reasoning. Specifically, we design: 1) CV-Aligner, which ensures cross-view object semantic consistency by filtering instruction-relevant regions and aligning object identities across multiple viewpoints; 2) CO-Fuser, which guarantees cross-object spatial geometric consistency by eliminating spatial relation ambiguities between objects across views using compact latent representations. Building upon these, we introduce 3) CS-Thinker to achieve cross-scene spatiotemporal consistency as actions unfold. It learns implicit knowledge of local dynamics from object-semantic tokens of CV-Aligner and global depth from geometric tokens of CO-Fuser, thereby enhancing efficient visual reasoning under scene variations. Extensive experiments demonstrate that, benefiting from its efficient spatiotemporal consistency design, ConsisVLA-4D achieves 21.6% and 41.5% performance improvements, along with 2.3-fold and 2.4-fold inference speedups compared to OpenVLA on the LIBERO benchmark and real-world platforms, respectively.ConsisVLA-4D is open-sourced and publicly available at

cs.RO↗

arXiv2026

HiPrune: Hierarchical Attention for Efficient Token Pruning in Vision-Language Models

Vision-Language Models (VLMs) encode images and videos into abundant tokens, which contain substantial redundancy and computation cost. While visual token pruning mitigates the issue, most existing methods lack insight into the intrinsic property of the vision encoder itself. In this work, we dive into the vision encoder and prove that the middle layers pay more attention to the main objects of the image qualitatively and quantitatively, while the deep layers to tokens with rich global information. Utilizing this Hierarchical attention pattern, we propose HiPrune, a training-free and model-agnostic token Pruning method. HiPrune identifies three types of visual tokens according to their attention in different phases of the vision encoder, which preserves different levels of information. By coupling with the similarity of text tokens, we propose a prompt-aware variance, HiPrune++, which further improves instruction following performance under a very low token budget. Extensive experiments across four representative VLMs show that HiPrune achieves up to 99.3% of task accuracy with only 1/3 of the tokens, while reducing inference FLOPs by 58.7%. HiPrune++ maintains up to 99.7% accuracy with 2/9 tokens, highlighting robustness under high-resolution. Our code is available at https://github.com/Danielement321/HiPrune.

cs.CV↗

arXiv2025

H-GAR: A Hierarchical Interaction Framework via Goal-Driven Observation-Action Refinement for Robotic Manipulation

Unified video and action prediction models hold great potential for robotic manipulation, as future observations offer contextual cues for planning, while actions reveal how interactions shape the environment. However, most existing approaches treat observation and action generation in a monolithic and goal-agnostic manner, often leading to semantically misaligned predictions and incoherent behaviors. To this end, we propose H-GAR, a Hierarchical interaction framework via Goal-driven observation-Action Refinement.To anchor prediction to the task objective, H-GAR first produces a goal observation and a coarse action sketch that outline a high-level route toward the goal. To enable explicit interaction between observation and action under the guidance of the goal observation for more coherent decision-making, we devise two synergistic modules. (1) Goal-Conditioned Observation Synthesizer (GOS) synthesizes intermediate observations based on the coarse-grained actions and the predicted goal observation. (2) Interaction-Aware Action Refiner (IAAR) refines coarse actions into fine-grained, goal-consistent actions by leveraging feedback from the intermediate observations and a Historical Action Memory Bank that encodes prior actions to ensure temporal consistency. By integrating goal grounding with explicit action-observation interaction in a coarse-to-fine manner, H-GAR enables more accurate manipulation. Extensive experiments on both simulation and real-world robotic manipulation tasks demonstrate that H-GAR achieves state-of-the-art performance.

cs.RO↗

arXiv2025

FM2S: Towards Spatially-Correlated Noise Modeling in Zero-Shot Fluorescence Microscopy Image Denoising

Fluorescence microscopy image (FMI) denoising faces critical challenges due to the compound mixed Poisson-Gaussian noise with strong spatial correlation and the impracticality of acquiring paired noisy/clean data in dynamic biomedical scenarios. While supervised methods trained on synthetic noise (e.g., Gaussian/Poisson) suffer from out-of-distribution generalization issues, existing self-supervised approaches degrade under real FMI noise due to oversimplified noise assumptions and computationally intensive deep architectures. In this paper, we propose Fluorescence Micrograph to Self (FM2S), a zero-shot denoiser that achieves efficient FMI denoising through three key innovations: 1) A noise injection module that ensures training data sufficiency through adaptive Poisson-Gaussian synthesis while preserving spatial correlation and global statistics of FMI noise for robust model generalization; 2) A two-stage progressive learning strategy that first recovers structural priors via pre-denoised targets then refines high-frequency details through noise distribution alignment; 3) An ultra-lightweight network (3.5k parameters) enabling rapid convergence with 270$\times$ faster training and inference than SOTAs. Extensive experiments across FMI datasets demonstrate FM2S's superiority: It outperforms CVF-SID by 1.4dB PSNR on average while requiring 0.1% parameters of AP-BSN. Notably, FM2S maintains stable performance across varying noise levels, proving its practicality for microscopy platforms with diverse sensor characteristics. Code and datasets will be released.

eess.IV↗