9 papers
RoboStream: Weaving Spatio-Temporal Reasoning with Memory in Vision-Language Models for Robotics
Yuzhi Huang, Jie Wu, Weijue Bu +9
Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observatio…
Atomic Task Graph: A Unified Framework for Agentic Planning and Execution
Yue Zhang, Sihan Chen, Ziwen Huang +3
LLM-based agents have shown strong potential for solving complex multi-step tasks, yet existing performance improvements often rely on either scaling to larger backbone models or t…
ElegantVLA: Learning When to Think for Efficient Vision-Language-Action Models
Ye Li, Huanan Liu, Kangye Ji +7
Vision-Language-Action (VLA) models are a powerful paradigm for generalist robotic control. However, their high computational cost and limited control frequency hinder real-time ro…
Sparse ActionGen: Accelerating Diffusion Policy with Real-time Pruning
Kangye Ji, Jianbo Zhou, Yuan Meng +3
Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it imprac…
Test-time Sparsity for Extreme Fast Action Diffusion
Kangye Ji, Yuan Meng, Jianbo Zhou +3
Action diffusion excels at high-fidelity action generation but incurs heavy computational costs owing to its iterative denoising nature. Despite current technologies showing promis…
Block-wise Adaptive Caching for Accelerating Diffusion Policy
Kangye Ji, Yuan Meng, Hanyun Cui +5
Diffusion Policy has demonstrated strong visuomotor modeling capabilities, but its high computational cost renders it impractical for real-time robotic control. Despite huge redund…