Visual disruptions can arise while a robot is executing a task, leaving a vision-language-action (VLA) policy to respond without knowing the disruption type or timing. We introduce Self-supervised Adaptation from Leftover Trajectories (SALT), which uses the leftover trajectory, the unexecuted part of the previous actio...
Ahin Lee, Jinwoo Seo, Youngsoo Jang et al.· 0 citations
Long-form reasoning makes inference expensive, and speculative decoding mitigates this cost by verifying multiple draft tokens in parallel. Its speedup, however, can fade as context grows and draft acceptance declines. We focus on attention-mass dilution: as softmax normalizes over more visible Keys, the mass concentra...
Jeonghoon Park, Seo-An Jo, Jongwon Lee et al.· 0 citations
PastForward is presented, a system that accelerates GUI agents through validated, fine-grained reuse of computational experience accumulated during ordinary task execution and achieves action-step latency speedups of 1.63-2.36 while maintaining task success rates.
Taehwan Park, Chang-Min Lee, Hayeon Lee et al.· 0 citations
The proposed ACE (Adapter Consolidation across Experts), which groups redundant experts and replaces their expert-specific adapters with group-shared higher-rank LoRA modules under the same PEFT budget, achieves the highest observed mean accuracy among the parameter-matched PEFT methods on the three backbones with comp...
Ahin Lee, Sehyun Yun, Joonha Park et al.· 0 citations
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