Yuansong Wang

Ye Li, Huanan Liu, Kangye Ji et al.

Vision-Language-Action (VLA) models are a powerful paradigm for generalist robotic control. However, their high computational cost and limited control frequency hinder real-time robotic manipulation, especially when large vision-language backbones and iterative action heads run at every control step. Existing VLA acceleration methods often optimize individual components or rely on fixed acceleration rules, treating different control steps with largely fixed computation and overlooking the non-uniform reasoning demands of sequential embodied control. Inspired by human motor control, where cognitive and feedback resources concentrate on goal-sensitive stages, we argue that VLA models should learn when to invest full computation and when to reuse prior computation. We propose ElegantVLA, a plug-in phase-adaptive inference framework that accelerates VLA models through intra-model dynamic compute scheduling. ElegantVLA introduces a lightweight scheduler that observes temporal representation similarity, robot-motion cues, and episode progress to jointly allocate computation across the vision encoder, LLM, and action head. For perception-language reasoning, the scheduler selects a five-level Vision-LLM compute mode, from full recomputation to multi-step temporal reuse, based on visual-language representation stability. For action generation, it selects a three-level denoising mode, reusing intermediate denoising states during stable motion while preserving full refinement for goal-sensitive stages. By coordinating these decisions, ElegantVLA offers a general acceleration framework for modern VLA pipelines with explicit action-generation modules, without modifying or retraining the base model. Experiments on GR00T and CogACT achieve up to 2.55x and 3.77x speedup, and on six real-world GR00T tasks ElegantVLA cuts computation by 2.18x while raising control frequency from 13.8 Hz to 26.3 Hz.

Yaohua Zha, Xue Yuerong, Chunlin Fan et al.

Deep learning-based 3D anomaly detection methods have demonstrated significant potential in industrial manufacturing. However, many approaches are specifically designed for anomaly detection tasks, which limits their generalizability to other 3D understanding tasks. In contrast, self-supervised point cloud models aim for general-purpose representation learning, yet our investigation reveals that these classical models are suboptimal at anomaly detection under the unified fine-tuning paradigm. This motivates us to develop a more generalizable 3D model that can effectively detect anomalies without relying on task-specific designs. Interestingly, we find that using only the curvature of each point as its anomaly score already outperforms several classical self-supervised and dedicated anomaly detection models, highlighting the critical role of curvature in 3D anomaly detection. In this paper, we propose a Curvature-Augmented Self-supervised Learning (CASL) framework based on a reconstruction paradigm. Built upon the classical U-Net architecture, our approach introduces multi-scale curvature prompts to guide the decoder in predicting the spatial coordinates of each point. Without relying on any dedicated anomaly detection mechanisms, it achieves leading detection performance through straightforward anomaly classification fine-tuning. Moreover, the learned representations generalize well to standard 3D understanding tasks such as point cloud classification. The code is available at https://github.com/zyh16143998882/CASL.

Wenwen Liao, Jianbo Yu, Yuansong Wang et al.

Vision In-Context Learning (VICL) enables inpainting models to quickly adapt to new visual tasks from only a few prompts. However, existing methods suffer from two key issues: (1) selecting only the most similar prompt discards complementary cues from other high-quality prompts; and (2) failing to exploit the structured information implied by different prompt arrangements. We propose an end-to-end VICL framework to overcome these limitations. Firstly, an adaptive Fusion Module aggregates critical patterns and annotations from multiple prompts to form more precise contextual prompts. Secondly, we introduce arrangement-specific lightweight MLPs to decouple layout priors from the core model, while minimally affecting the overall model. In addition, an bidirectional fine-tuning mechanism swaps the roles of query and prompt, encouraging the model to reconstruct the original prompt from fused context and thus enhancing collaboration between the fusion module and the inpainting model. Experiments on foreground segmentation, single-object detection, and image colorization demonstrate superior results and strong cross-task generalization of our method.

Wenwen Liao, Jianbo Yu, Yuansong Wang et al.

Visual In-Context Learning (VICL) has emerged as a powerful paradigm, enabling models to perform novel visual tasks by learning from in-context examples. The dominant "retrieve-then-prompt" approach typically relies on selecting the single best visual prompt, a practice that often discards valuable contextual information from other suitable candidates. While recent work has explored fusing the top-K prompts into a single, enhanced representation, this still simply collapses multiple rich signals into one, limiting the model's reasoning capability. We argue that a more multi-faceted, collaborative fusion is required to unlock the full potential of these diverse contexts. To address this limitation, we introduce a novel framework that moves beyond single-prompt fusion towards an multi-combination collaborative fusion. Instead of collapsing multiple prompts into one, our method generates three contextual representation branches, each formed by integrating information from different combinations of top-quality prompts. These complementary guidance signals are then fed into proposed MULTI-VQGAN architecture, which is designed to jointly interpret and utilize collaborative information from multiple sources. Extensive experiments on diverse tasks, including foreground segmentation, single-object detection, and image colorization, highlight its strong cross-task generalization, effective contextual fusion, and ability to produce more robust and accurate predictions than existing methods.

Wenwen Liao, Hang Ruan, Jianbo Yu et al.

Generalized Category Discovery (GCD) aims to classify instances from both known and novel categories within a large-scale unlabeled dataset, a critical yet challenging task for real-world, open-world applications. However, existing methods often rely on pseudo-labeling, or two-stage clustering, which lack a principled mechanism to explicitly disentangle essential, category-defining signals from instance-specific noise. In this paper, we address this fundamental limitation by re-framing GCD from an information-theoretic perspective, grounded in the Information Bottleneck (IB) principle. We introduce InfoSculpt, a novel framework that systematically sculpts the representation space by minimizing a dual Conditional Mutual Information (CMI) objective. InfoSculpt uniquely combines a Category-Level CMI on labeled data to learn compact and discriminative representations for known classes, and a complementary Instance-Level CMI on all data to distill invariant features by compressing augmentation-induced noise. These two objectives work synergistically at different scales to produce a disentangled and robust latent space where categorical information is preserved while noisy, instance-specific details are discarded. Extensive experiments on 8 benchmarks demonstrate that InfoSculpt validating the effectiveness of our information-theoretic approach.