GeoPurify: A Data-Efficient Geometric Distillation Framework for Open-Vocabulary 3D Segmentation

Recent attempts to transfer features from 2D Vision-Language Models (VLMs) to 3D semantic segmentation expose a persistent trade-off. Directly projecting 2D features into 3D yields noisy and fragmented predictions, whereas enforcing geometric coherence necessitates costly training pipelines and large-scale annotated 3D data. We argue that this limitation stems from the dominant segmentation-and-matching paradigm, which fails to reconcile 2D semantics with 3D geometric structure. The geometric cues are not eliminated during the 2D-to-3D transfer but remain latent within the noisy and view-aggregated features. To exploit this property, we propose GeoPurify that applies a small Student Affinity Network to purify 2D VLM-generated 3D point features using geometric priors distilled from a 3D self-supervised teacher model. During inference, we devise a Geometry-Guided Pooling module to further denoise the point cloud and ensure the semantic and structural consistency. Benefiting from latent geometric information and the learned affinity network, GeoPurify effectively mitigates the trade-off and achieves superior data efficiency. Extensive experiments on major 3D benchmarks demonstrate that GeoPurify achieves or surpasses state-of-the-art performance while utilizing only about 1.5% of the training data. Our codes and checkpoints are available at [https://github.com/tj12323/GeoPurify](https://github.com/tj12323/GeoPurify).

Unified modality separation: A vision-language framework for unsupervised domain adaptation

Unsupervised domain adaptation (UDA) enables models trained on a labeled source domain to handle new unlabeled domains. Recently, pre-trained vision-language models (VLMs) have demonstrated promising zero-shot performance by leveraging semantic information to facilitate target tasks. By aligning vision and text embeddings, VLMs have shown notable success in bridging domain gaps. However, inherent differences naturally exist between modalities, which is known as modality gap. Our findings reveal that direct UDA with the presence of modality gap only transfers modality-invariant knowledge, leading to suboptimal target performance. To address this limitation, we propose a unified modality separation framework that accommodates both modality-specific and modality-invariant components. During training, different modality components are disentangled from VLM features then handled separately in a unified manner. At test time, modality-adaptive ensemble weights are automatically determined to maximize the synergy of different components. To evaluate instance-level modality characteristics, we design a modality discrepancy metric to categorize samples into modality-invariant, modality-specific, and uncertain ones. The modality-invariant samples are exploited to facilitate cross-modal alignment, while uncertain ones are annotated to enhance model capabilities. Building upon prompt tuning techniques, our methods achieve up to 9% performance gain with 9 times of computational efficiencies. Extensive experiments and analysis across various backbones, baselines, datasets and adaptation settings demonstrate the efficacy of our design.

Implicit Counterfactual Learning for Audio-Visual Segmentation

Audio-visual segmentation (AVS) aims to segment objects in videos based on audio cues. Existing AVS methods are primarily designed to enhance interaction efficiency but pay limited attention to modality representation discrepancies and imbalances. To overcome this, we propose the implicit counterfactual framework (ICF) to achieve unbiased cross-modal understanding. Due to the lack of semantics, heterogeneous representations may lead to erroneous matches, especially in complex scenes with ambiguous visual content or interference from multiple audio sources. We introduce the multi-granularity implicit text (MIT) involving video-, segment- and frame-level as the bridge to establish the modality-shared space, reducing modality gaps and providing prior guidance. Visual content carries more information and typically dominates, thereby marginalizing audio features in the decision-making. To mitigate knowledge preference, we propose the semantic counterfactual (SC) to learn orthogonal representations in the latent space, generating diverse counterfactual samples, thus avoiding biases introduced by complex functional designs and explicit modifications of text structures or attributes. We further formulate the collaborative distribution-aware contrastive learning (CDCL), incorporating factual-counterfactual and inter-modality contrasts to align representations, promoting cohesion and decoupling. Extensive experiments on three public datasets validate that the proposed method achieves state-of-the-art performance.

Multimodal Mathematical Reasoning with Diverse Solving Perspective

Recent progress in large-scale reinforcement learning (RL) has notably enhanced the reasoning capabilities of large language models (LLMs), especially in mathematical domains. However, current multimodal LLMs (MLLMs) for mathematical reasoning often rely on one-to-one image-text pairs and single-solution supervision, overlooking the diversity of valid reasoning perspectives and internal reflections. In this work, we introduce MathV-DP, a novel dataset that captures multiple diverse solution trajectories for each image-question pair, fostering richer reasoning supervision. We further propose Qwen-VL-DP, a model built upon Qwen-VL, fine-tuned with supervised learning and enhanced via group relative policy optimization (GRPO), a rule-based RL approach that integrates correctness discrimination and diversity-aware reward functions. Our method emphasizes learning from varied reasoning perspectives and distinguishing between correct yet distinct solutions. Extensive experiments on the MathVista's minitest and Math-V benchmarks demonstrate that Qwen-VL-DP significantly outperforms prior base MLLMs in both accuracy and generative diversity, highlighting the importance of incorporating diverse perspectives and reflective reasoning in multimodal mathematical reasoning.

SafePTR: Token-Level Jailbreak Defense in Multimodal LLMs via Prune-then-Restore Mechanism

By incorporating visual inputs, Multimodal Large Language Models (MLLMs) extend LLMs to support visual reasoning. However, this integration also introduces new vulnerabilities, making MLLMs susceptible to multimodal jailbreak attacks and hindering their safe deployment.Existing defense methods, including Image-to-Text Translation, Safe Prompting, and Multimodal Safety Tuning, attempt to address this by aligning multimodal inputs with LLMs' built-in safeguards.Yet, they fall short in uncovering root causes of multimodal vulnerabilities, particularly how harmful multimodal tokens trigger jailbreak in MLLMs? Consequently, they remain vulnerable to text-driven multimodal jailbreaks, often exhibiting overdefensive behaviors and imposing heavy training overhead.To bridge this gap, we present an comprehensive analysis of where, how and which harmful multimodal tokens bypass safeguards in MLLMs. Surprisingly, we find that less than 1% tokens in early-middle layers are responsible for inducing unsafe behaviors, highlighting the potential of precisely removing a small subset of harmful tokens, without requiring safety tuning, can still effectively improve safety against jailbreaks. Motivated by this, we propose Safe Prune-then-Restore (SafePTR), an training-free defense framework that selectively prunes harmful tokens at vulnerable layers while restoring benign features at subsequent layers.Without incurring additional computational overhead, SafePTR significantly enhances the safety of MLLMs while preserving efficiency. Extensive evaluations across three MLLMs and five benchmarks demonstrate SafePTR's state-of-the-art performance in mitigating jailbreak risks without compromising utility.

Rethinking Range-View LiDAR Segmentation in Adverse Weather

LiDAR segmentation has emerged as an important task to enrich multimedia experiences and analysis. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment. However, their generalized performance under adverse weather conditions remains underexplored, limiting their reliability in real-world environments. In this work, we identify and analyze the unique challenges that affect the generalization of range-view LiDAR segmentation in severe weather. To address these challenges, we propose a modular and lightweight framework that enhances robustness without altering the core architecture of existing models. Our method reformulates the initial stem block of standard range-view networks into two branches to process geometric attributes and reflectance intensity separately. Specifically, a Geometric Abnormality Suppression (GAS) module reduces the influence of weather-induced spatial noise, and a Reflectance Distortion Calibration (RDC) module corrects reflectance distortions through memory-guided adaptive instance normalization. The processed features are then fused and passed to the original segmentation pipeline. Extensive experiments on different benchmarks and baseline models demonstrate that our approach significantly improves generalization to adverse weather with minimal inference overhead, offering a practical and effective solution for real-world LiDAR segmentation.

Truth in the Few: High-Value Data Selection for Efficient Multi-Modal Reasoning

While multi-modal large language models (MLLMs) have made significant progress in complex reasoning tasks via reinforcement learning, it is commonly believed that extensive training data is necessary for improving multi-modal reasoning ability, inevitably leading to data redundancy and substantial computational costs. However, can smaller high-value datasets match or outperform full corpora for multi-modal reasoning in MLLMs? In this work, we challenge this assumption through a key observation: meaningful multi-modal reasoning is triggered by only a sparse subset of training samples, termed cognitive samples, whereas the majority contribute marginally. Building on this insight, we propose a novel data selection paradigm termed Reasoning Activation Potential (RAP), which identifies cognitive samples by estimating each sample's potential to stimulate genuine multi-modal reasoning by two complementary estimators: 1) Causal Discrepancy Estimator (CDE) based on the potential outcome model principle, eliminates samples that overly rely on language priors by comparing outputs between multi-modal and text-only inputs; 2) Attention Confidence Estimator (ACE), which exploits token-level self-attention to discard samples dominated by irrelevant but over-emphasized tokens in intermediate reasoning stages. Moreover, we introduce a Difficulty-aware Replacement Module (DRM) to substitute trivial instances with cognitively challenging ones, thereby ensuring complexity for robust multi-modal reasoning. Experiments on six datasets show that our RAP method consistently achieves superior performance using only 9.3% of the training data, while reducing computational costs by over 43%. Our code is available at https://github.com/Leo-ssl/RAP.

InSpire: Vision-Language-Action Models with Intrinsic Spatial Reasoning

Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great promise for achieving general-purpose robotic systems. Despite their advancements, existing VLAs tend to spuriously correlate task-irrelevant visual features with actions, limiting their generalization capacity beyond the training data. To tackle this challenge, we propose Intrinsic Spatial Reasoning (InSpire), a simple yet effective approach that mitigates the adverse effects of spurious correlations by boosting the spatial reasoning ability of VLAs. Specifically, InSpire redirects the VLA's attention to task-relevant factors by prepending the question "In which direction is the [object] relative to the robot?" to the language instruction and aligning the answer "right/left/up/down/front/back/grasped" and predicted actions with the ground-truth. Notably, InSpire can be used as a plugin to enhance existing autoregressive VLAs, requiring no extra training data or interaction with other large models. Extensive experimental results in both simulation and real-world environments demonstrate the effectiveness and flexibility of our approach. Our code, pretrained models and demos are publicly available at: https://Koorye.github.io/proj/Inspire.

Policy Contrastive Decoding for Robotic Foundation Models

Robotic foundation models, or generalist robot policies, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our empirical experiments reveal that existing robot policies are prone to learning spurious correlations from pre-training trajectories, adversely affecting their generalization capabilities beyond the training data. To tackle this, we propose a novel Policy Contrastive Decoding (PCD) approach, which redirects the robot policy's focus toward object-relevant visual clues by contrasting action probability distributions derived from original and object-masked visual inputs. As a training-free method, our PCD can be used as a plugin to improve different types of robot policies without needing to finetune or access model weights. We conduct extensive experiments on top of three open-source robot policies, including the autoregressive policy OpenVLA and the diffusion-based policies Octo and $\pi_0$. The obtained results in both simulation and real-world environments prove PCD's flexibility and effectiveness, e.g., PCD enhances the state-of-the-art policy $\pi_0$ by 8% in the simulation environment and by 108% in the real-world environment. Code and demos are publicly available at: https://Koorye.github.io/proj/PCD.

Towards Generalized and Training-Free Text-Guided Semantic Manipulation

Text-guided semantic manipulation refers to semantically editing an image generated from a source prompt to match a target prompt, enabling the desired semantic changes (e.g., addition, removal, and style transfer) while preserving irrelevant contents. With the powerful generative capabilities of the diffusion model, the task has shown the potential to generate high-fidelity visual content. Nevertheless, existing methods either typically require time-consuming fine-tuning (inefficient), fail to accomplish multiple semantic manipulations (poorly extensible), and/or lack support for different modality tasks (limited generalizability). Upon further investigation, we find that the geometric properties of noises in the diffusion model are strongly correlated with the semantic changes. Motivated by this, we propose a novel $\textit{GTF}$ for text-guided semantic manipulation, which has the following attractive capabilities: 1) $\textbf{Generalized}$: our $\textit{GTF}$ supports multiple semantic manipulations (e.g., addition, removal, and style transfer) and can be seamlessly integrated into all diffusion-based methods (i.e., Plug-and-play) across different modalities (i.e., modality-agnostic); and 2) $\textbf{Training-free}$: $\textit{GTF}$ produces high-fidelity results via simply controlling the geometric relationship between noises without tuning or optimization. Our extensive experiments demonstrate the efficacy of our approach, highlighting its potential to advance the state-of-the-art in semantics manipulation.