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Ruike Song

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Preprint Aug 2026

When Vision Becomes Text: Visual Token Pruning via Cross-Modal Residual Guidance in VLMs

Abundant visual information strengthens vision-language model (VLM) perception, yet massive visual tokens raise inference costs. Existing visual token pruning methods rely on similarity-based guidance, which exploits pairwise text-vision and vision-vision token correlations for compression. However, such methods only capture local layer-level signals and overlook the whole inference process in VLM. In this paper, we revisit VLM inference and present a new efficient guidance scheme that complements similarity-based guidance. In particular, we identify a key observation: as LLM layers deepen, text tokens continuously aggregate visual information via self-attention and progressively absorb partial visual content into textual representations. To quantify this phenomenon, we propose Cross Modal Absorption (CMA) from a geometric representation perspective to measure how much visual information is absorbed by text, revealing that more visual tokens in deeper layers can be approximately explained by the text subspace. We accordingly propose Cross Modal Residual (CMR). It projects visual tokens onto the text subspace via Tikhonov regularized least squares and exploits reconstruction residuals to quantify visual information that cannot be explained by text. Finally, based on CMR, we present SIEVE, a training-free visual token compression method that combines CMR, text-attention relevance, and residual-space diversity to retain task-relevant and complementary tokens. Experiments on diverse VLM architectures verify the effectiveness of SIEVE. For instance, on LLaVA-NeXT-7B, SIEVE keeps only $11.1\%$ of visual tokens while preserving $97.5\%$ of the original average performance, achieving $3.62\times$ prefill speedup, $2.49\times$ end-to-end speedup, and a $6.02\times$ KV-cache reduction.

Congyang Ou, Ruike Song, Yang Zhou et al. · 0 citations
Preprint Aug 2026

PACE: Phase-Progress-Aware Credit for Long-Horizon Embodied Manipulation

Post-training of vision-language-action (VLA) models typically relies on expert demonstrations and policy interaction trajectories. However, in long-horizon manipulation, a single episode often spans hundreds of control steps and multiple phases, while success or failure is only revealed at episode termination. Policy improvement therefore requires step-level credit signals to distinguish behaviors that advance the task from those that stall or regress. We present PACE, a credit-assignment framework for post-training on long-horizon manipulation, centered on a phase-progress-aware critic. PACE consists of two key modules: (1) the Global-Local Cooperative Value-Correction Critic (GLC-Critic) aggregates visual and motion-difference features within local temporal windows to infer the phase and intra-phase progress of each step, and applies residual correction to a discretized remaining-cost distribution accordingly, enabling step-level credit assignment; (2) Progressive Policy Distillation (PPD) converts credit into positive and negative conditions via task-wise thresholds and trains a credit-conditioned action generation policy: it first protects the pretrained policy with high-credit positive samples, then incorporates all positive and negative credits to learn the quality boundary, and at inference amplifies high-credit behaviors through the difference between conditional outputs. Extensive simulation experiments and diverse real-world robotic-arm experiments demonstrate that PACE consistently achieves significant improvements over the strongest baseline.

Chengye Song, Jiawei Zhang, Ruike Song et al. · 0 citations