Author

Giwon Lee

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Preprint Oct 2026

Triggering Generalist Reasoning via Predictive Uncertainty for Dual-System VLA

Dual-system Vision-Language-Action (VLA) models improve real-time robotic control by pairing a slow, reasoning-capable generalist with a fast specialist action expert. However, existing methods invoke the generalist at a fixed frequency, ignoring the fact that decision-making complexity varies throughout a rollout. Thi...

Hyemin Yang, Wooseong Jeong, Giwon Lee et al. · 1 citation · ⚡1

Preprint Sep 2026

VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulation

End-to-end autonomous driving in urban environments requires robust decision-making under partial observability and complex multi-agent interactions. Severe occlusions and dense traffic at intersections limit the perception capability of single-agent systems, motivating recent efforts on Vehicle-to-Infrastructure (V2I)...

Hoonhee Cho, Jae-Young Kang, Giwon Lee et al. · 0 citations