5 papers
RoboChrono: A Real Robot Benchmark for Streaming Task Understanding
Yuzhou Wu, Longteng Fan, Zimeng Li +22
Understanding ongoing robot manipulation requires models to interpret visual observations in relation to interaction history and task progress. We introduce RoboChrono, a benchmark…
Dense to MoE Adaptation for Compact Vision Language Action Policies
Muchun Niu, Shuang Chen, Yuzhou Wu +5
Vision language action (VLA) policies continue to grow in parameter count, making deployment on resource-constrained robot platforms difficult. The central goal is to reduce the nu…
EgoGenesis: Egocentric World-Action Modeling with Online Anchored Projective Memory and Action-3D RoPE
Zexuan Yan, Yuzhou Wu, Yue Ma +9
Egocentric video offers rich manipulation experience for embodied AI, yet collecting diverse egocentric data across scenes, objects, motions, and embodiments remains costly. We pre…
Reducing Temporal Redundancy for Efficient Vision-Language-Action Inference
Yuzhou Wu, Yuxin Zheng, Muchun Niu +6
Vision-Language-Action (VLA) models exhibit strong generalization for robotic manipulation, yet their high inference latency limits real time deployment. We identify two primary so…
IPCV: Information-Preserving Compression for MLLM Visual Encoders
Yuan Chen, Zichen Wen, Yuzhou Wu +6
Multimodal Large Language Models (MLLMs) deliver strong vision-language performance but at high computational cost, driven by numerous visual tokens processed by the Vision Transfo…