10 papers
Jetson-PI: Towards Onboard Real-Time Robot Control via Foresight-Aligned Asynchronous Inference
Zebin Yang, Qi Wang, Yunhe Wang +6
The paper introduces Jetson-PI, a system that enables real-time deployment of vision-language-action models on low-power edge devices like the Jetson Orin by using foresight-aligne…
StateLinFormer: Stateful Training Enhancing Long-term Memory in Navigation
Zhiyuan Chen, Yuxuan Zhong, Fan Wang +4
Effective navigation intelligence relies on long-term memory to support both immediate generalization and sustained adaptation. However, existing approaches face a dilemma: modular…
Data Standards for Humanoid Robotics: The Missing Infrastructure for Physical AI
Shaoshan Liu, Xiugong Qin, Xuan Wu +4
The scalability of humanoid robots will depend not only on models and hardware, but also on whether physical experience can accumulate across robots, tasks, organizations, and time…
KEEP: A KV-Cache-Centric Memory Management System for Efficient Embodied Planning
Zebin Yang, Tong Xie, Baotong Lu +3
Memory-augmented Large Language Models (LLMs) have demonstrated remarkable capability for complex and long-horizon embodied planning. By keeping track of past experiences and envir…
DySL-VLA: Efficient Vision-Language-Action Model Inference via Dynamic-Static Layer-Skipping for Robot Manipulation
Zebin Yang, Yijiahao Qi, Tong Xie +3
Vision-Language-Action (VLA) models have shown remarkable success in robotic tasks like manipulation by fusing a language model's reasoning with a vision model's 3D understanding.…
EfficientNav: Towards On-Device Object-Goal Navigation with Navigation Map Caching and Retrieval
Zebin Yang, Sunjian Zheng, Tong Xie +6
Object-goal navigation (ObjNav) tasks an agent with navigating to the location of a specific object in an unseen environment. Embodied agents equipped with large language models (L…