Semantic 3D Gaussian SLAM commonly fuses 2D semantic priors into a persistent 3D map using uniform optimization weights. However, such priors are not equally reliable in online mapping: occlusions, unsupported semantic boundaries, and ambiguous ray geometry introduce persistent semantic artifacts into the global Gaussian map. We propose VCS-SLAM, a visibility-consistent semantic fusion framework for RGB-D 3D Gaussian SLAM. Instead of treating all semantic priors as uniformly valid signals, VCS-SLAM evaluates their geometric reliability through visibility consistency, surface-supported boundary evidence, and ray-level conflict uncertainty. The resulting reliability-aware objective suppresses occluded semantic updates, reduces unsupported semantic bleeding, and delays premature label assignment in ambiguous regions. Experiments on Replica show improved semantic consistency, boundary preservation, and reconstruction quality, while ScanNet results confirm competitive tracking under real RGB-D input. Under structured corruption of the 2D priors, VCS-SLAM degrades at little more than half the rate of a comparable semantic Gaussian SLAM baseline and outperforms naive gating, smoothness, and entropy-weighting variants of its own modules, indicating that the gains follow from the specific formulation rather than from reweighting alone. Code is available at \textit{https://github.com/jhakrraman/VCS-SLAM}
The central bottleneck in visual generation and editing has migrated from achieving pixel-level fidelity to satisfying densely constrained user specifications through increasingly agentic workflows. Prevailing agentic generation pipelines remain shallow generate-verify-rewrite loops treating VLM judgments as coarse visual feedback, either discarding repair experience or admitting ungated updates that poison skill library. With memorize and govern periods left open, they degrade into ungoverned iterators of repeated trial-and-error rather than continual self-evolving harness. Towards this issue, we present \textbf{VEvo-Harness}, the first causally-guarded continual self-evolving harness system for agentic visual generation. VEvo-Harness introduces four coupled innovations: (1) \textit{a visual traceback} that densifies sparse judgments into root-cause attributions with a hierarchical verification tree; (2) \textit{a visual continual governance} that admits only causally valid skill patches through counterfactual dual-arm image generation replay; (3) \textit{a lifecycle-managed harness state} that hierarchically distills root-cause-anchored episodes across working, experience, and pattern tiers into a persistent skill library of routable and causally verified capabilities; (4) \textit{a heterogeneous sandbox policy} that orchestrates a diverse action space of repair primitives, dynamically routing cost-aware interventions based on root causes to select the most effective strategy. VEvo-Harness surpasses state-of-the-art agentic methods and rivals proprietary generators (\textit{e.g.}, GPT-Image, Nano-Pro) while maintaining the continual harness evolution and generalization.
Recovering articulated 3D animal meshes from monocular images is challenging due to the long-tailed distribution of species and limited large-scale 3D supervision. Existing methods rely on small annotated datasets and thus regress to average shapes and poses, leading to poor generalization to rare species and articulations. We present PRIMA (PRIors for Mesh Adaptation), a framework that tackles these limitations with two components: taxonomic shape priors and adaptation-driven data bootstrapping. First, we derive taxonomic shape priors from BioCLIP image features, which are learned under taxonomic supervision, to inject species-level knowledge into mesh reconstruction, improving shape estimation across diverse quadrupeds. Second, we propose an adaptation-driven bootstrapping scheme that turns abundant 2D animal annotations into reliable pseudo-3D supervision via lightweight instance-level mesh refinement and quality-aware filtering. This yields Quadruped3D, a large-scale pseudo-3D dataset constructed from real-world animal images, containing approximately 9K pseudo-3D annotations. Together, these components alleviate the long-tail problem: extensive experiments on Animal3D, CtrlAni3D, Quadruped2D, and Animal Kingdom demonstrate state-of-the-art performance for mesh reconstruction, with particularly strong gains on challenging poses and underrepresented species. The code is available at https://github.com/AdaptiveMotorControlLab/PRIMA.
Hanzhang Yuan, Mengxuan Hu, Wenhao Zhang, Tianlong Wang, Zhongliang Zhou MERCK & CO., INC., Jiasen Lu, Sheng Li Oracle and University of Virginia, Charlottesville
Large Vision-Language Models (LVLMs) excel at visual understanding but face severe computational bottlenecks when processing high-resolution images and long videos due to massive visual token counts. Token pruning mitigates this by selectively removing less informative tokens while maintaining performance. However, existing methods vary widely in pruning location (vision encoder vs. LLM decoder), importance criteria (attention vs. similarity vs. learned scores), and application strategy, lacking systematic comparison. This survey presents the first comprehensive review of token pruning for LVLMs. We propose a taxonomy categorizing methods into vision-side, LLM-side, and hybrid paradigms, systematically analyze token selection mechanisms and pruning strategy. We further discuss evaluation protocols and identify key challenges including prompt-adaptive pruning and hardware-aware design. Our survey provides a structured foundation for this rapidly growing research area.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表