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首次观测 · 记录 #1CVF · CVPR 2026:cvf:a3ccd55e3cd4c300adef64b4983c280dCVF · CVPR 2026

MoDES: Accelerating Mixture-of-Experts Multimodal Large Language Models via Dynamic Expert Skipping

Huang, Yushi, Wang, Zining, Yuan, Zhihang, Ding, Yifu, Gong, Ruihao, Guo, Jinyang, Liu, Xianglong, Zhang, Jun

原文摘要

Mixture-of-Experts (MoE) Multimodal large language models (MLLMs) excel at vision-language tasks, but they suffer from high computational inefficiency. To reduce inference overhead, expert skipping methods have been proposed to deactivate redundant experts based on the current input tokens. However, we find that applying these methods--originally designed for unimodal large language models (LLMs)--to MLLMs results in considerable performance degradation. This is primarily because such methods fail to account for the heterogeneous contributions of experts across MoE layers and modality-specific behaviors of tokens within these layers. Motivated by these findings, we propose MoDES, the first training-free framework that adaptively skips experts to enable efficient and accurate MoE MLLM inference. It incorporates a globally-modulated local gating (GMLG) mechanism that integrates global layer-wise importance into local routing probabilities to accurately estimate per-token expert importance. A dual-modality thresholding (DMT) method is then applied, which processes tokens from each modality separately, to derive the skipping schedule. To set the optimal thresholds, we introduce a frontier search algorithm that exploits monotonicity properties, cutting convergence time from several days to a few hours. Extensive experiments for 3 model series across 13 benchmarks demonstrate that MoDES far outperforms previous approaches. For instance, when skipping 88% experts for Qwen3-VL-MoE-30B-A3B-Instruct, the performance boost is up to **10.67%** (97.33% vs. 86.66%). Furthermore, MoDES significantly enhances inference speed, improving the prefilling time by **2.16x** and the decoding time by **1.26x**.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:aa08df1c58cdf8c3dafad6d79abdb7a4CVF · CVPR 2026

DrivePI: Spatial-aware 4D MLLM for Unified Autonomous Driving Understanding, Perception, Prediction and Planning

Liu, Zhe, Huang, Runhui, Yang, Rui, Yan, Siming, Wang, Zining, Hou, Lu, Lin, Di, Bai, Xiang 等 9 位作者

原文摘要

Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this paper, we propose DrivePI, a novel spatial-aware 4D MLLM that serves as a unified Vision-Language-Action (VLA) framework that is also compatible with vision-action (VA) models. Our method jointly performs spatial understanding, 3D perception (i.e., 3D occupancy), prediction (i.e., occupancy flow), and planning (i.e., action outputs) in parallel through end-to-end optimization. To obtain both precise geometric information and rich visual appearance, our approach integrates point clouds, multi-view images, and language instructions within a unified MLLM architecture. We further develop a data engine to generate text-occupancy and text-flow QA pairs for 4D spatial understanding. Remarkably, with only a 0.5B Qwen2.5 model as MLLM backbone, DrivePI as a single unified model matches or exceeds both existing VLA models and specialized VA models. Specifically, compared to VLA models, DrivePI outperforms OpenDriveVLA-7B by 2.5% mean accuracy on nuScenes-QA and reduces collision rate by 70% over ORION (from 0.37% to 0.11%) on nuScenes. Against specialized VA models, DrivePI surpasses FB-OCC by 10.3 RayIoU for 3D occupancy on OpenOcc, reduces the mAVE from 0.591 to 0.509 for occupancy flow on OpenOcc, and achieves 32% lower L2 error than VAD (from 0.72m to 0.49m) for planning on nuScenes. Code will be available at https://github.com/happinesslz/DrivePI.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表