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Jingyan Jiang

Publications and source records attributed to Jingyan Jiang.

At least 19 recordsLinked to original sources

From Item Scores to Semantic Tokens: Test-Time Collaborative Adaptation for Generative Recommendation

Generative recommenders using semantic identifiers predict items through successive token decisions, but beam search may irreversibly prune promising item paths. This limitation is particularly consequential when a few recent interactions signal an emerging interest while earlier behavior favors established preferences. Yet an independently trained discriminative recommender may rank the same items highly from the same interaction history. Such complementary scores are available at test time, offering a way to adapt a frozen generator without retraining either model. The challenge is to use these scores before pruning: combining completed recommendation lists cannot alter earlier beam decisions, while scores over complete items cannot directly inform choices among semantic prefixes shared by multiple items. We propose \textbf{T}est-Time \textbf{C}ollaborative \textbf{B}eam \textbf{S}earch \textbf{A}daptation (\textbf{TCBSA}), a training-free method that incorporates collaborative information into semantic decoding. TCBSA transforms discriminative score margins into potentials over shared semantic edges and uses a confidence gate to regulate their contributions to cumulative path scores before beam selection. We establish a sufficient condition for target prefix survival under global beam competition and bound score perturbations under low discriminative confidence. Full-catalog experiments show consistent improvements over strong baselines across datasets and different generative and discriminative recommenders. Analyses of emerging interests and decoding behavior demonstrate gains in recommendation accuracy and target path survival, while targeted interventions support the contribution of shared prefix corrections. TCBSA also offers a favorable balance between recommendation accuracy and inference latency compared with simply widening the native beam.

cs.IR↗

SenseAlign: Understanding Vision and Touch through Language at Test Time

Tactile-visual-language models combine vision and touch through a shared language space to recognize objects and materials. In real-world deployment, changes in lighting, contact quality or sensor hardware can shift visual or tactile inputs and degrade recognition performance. When both modalities contribute to a prediction, an unreliable modality can override correct evidence from the other. Since labeled data are generally unavailable during deployment, test-time adaptation offers a way to recover recognition performance from unlabeled observations. In this setting, we find that comparing accumulated observations with the text embeddings of candidate classes reveals modality reliability differences that confidence can miss. Refining features against competing classes also improves recognition beyond geometric alignment alone. These findings motivate SenseAlign, which uses a common semantic reference for test-time modality weighting and feature correction. Alignment Trust weights each modality according to its support for shared predicted classes. Anchor Realignment uses the same class text embeddings to fit a shared feature correction that separates predicted classes from alternatives. Both modules use the same unlabeled history while keeping all encoders frozen. Extensive experiments across diverse datasets demonstrate strong recognition performance under both natural shifts and controlled corruptions.

cs.CV↗

What Drives Test-Time Adaptation for CLIP? A Controlled Empirical Study from an Update Perspective

Vision-Language Models (VLMs) such as CLIP have become a standard backbone for open-vocabulary recognition, yet their zero-shot predictions remain vulnerable to distribution shifts encountered at deployment. Test-Time Adaptation (TTA) has recently been extended to CLIP as a lightweight solution, leading to a rapidly growing body of TTA4CLIP methods. However, empirical progress in this area has largely outpaced our understanding of what truly drives adaptation, where their gains originate, and under which shifts they remain reliable. In this paper, we take a step back from the pursuit of state-of-the-art accuracy and conduct a systematic controlled study of TTA4CLIP. We first organize existing methods into three unified paradigms according to what is updated at test time. We then introduce TTABC, an open-source TTA Benchmark for CLIP, which standardizes evaluation protocols and integrates more than 20 representative methods. Our controlled empirical analysis focuses on three key areas. First, we determine the driving factors in parameter-based methods, revealing that adaptation gains are primarily driven by test-time evidence and reliable proxies rather than heavy optimization. Second, we explore evidence utilization beyond heavy parameter tuning, showing that competitive and efficient performance can be achieved through cross- or current-sample evidence and lightweight prototype updates. Finally, we demonstrate that there is no silver bullet for TTA: no single adaptation paradigm is universally optimal, and the preferred paradigm depends on the nature of shift. We hope our benchmark and study provide a clearer understanding of the current TTA4CLIP landscape and establish a foundation for further research. Benchmark and codes are available at https://github.com/walawalagoose/TTABC.

cs.CV↗

ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence

Robot foundation policies predict action chunks, but how many actions to execute before replanning depends on the current task phase. We introduce ChunkTrust, which treats the execution horizon as a latent variable inferred from action-expert evidence rather than a fixed hyperparameter. Its training-free Action-aware Horizon Selector (AHS) combines intra-chunk spectral stability of generation traces with inter-chunk continuity between executed history and predicted actions. An online Beta posterior with kernel forgetting tracks horizon preferences across replans. A lightweight Query-based Horizon Adapter (QHA) optionally learns a context-conditioned dense prior from complementary evidence, fused with current evidence and episode-local Beta memory while the base policy remains frozen. Across RoboTwin2.0 and RoboCasa GR1 Tabletop, AHS improves overall task-averaged success for each evaluated base-policy configuration, including gains of +6.80 percentage points on $π_{0.5}$ over all 50 RoboTwin2.0 tasks and +9.67 percentage points on Qwen3GR00T in RoboCasa. AHS+QHA raises the gain over Base to +9.44 percentage points on the eight-task $π_{0.5}$ evaluation. On four real-world household tasks, AHS improves the equal-task mean normalized process score from 50.4% to 57.5%. Ablations examine the contributions of both evidence terms, temporal memory, and the learned prior. Project page is https://hf618.github.io/ChunkTrust.github.io/

cs.RO↗

GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions

Generalist robot policies exhibit strong capabilities, but their robustness in complex and unseen environments remains limited. Scaling robot learning and evaluation in diverse real-world environments remains costly and challenging. Action-conditioned world models offer a promising alternative, but they often suffer from limited action controllability and poor generalization to out-of-distribution (OOD) scenarios. To this end, we present GeniWorld, an interactive world model for robots that generalizes robustly across unseen scenarios. Building on pretrained video generative models, we use URDF-based rendering to transform numerical actions into visual action representations, enabling spatially grounded action control. By explicitly decoupling embodiment kinematics from environmental dynamics, our model mitigates scene overfitting and facilitates modeling of robot-environment interactions. To achieve closed-loop control, we construct an autoregressive video prediction model integrated with high-frequency robot kinematic control, enabling interaction with both robot policies and human teleoperators. In our experiments, even when trained solely on limited fixed-scene data, our model achieves superior in-domain performance and robust zero-shot generalization to highly randomized, unseen environments. For downstream applications, GeniWorld serves as a scalable policy evaluator that remains reliable under environmental perturbations. Furthermore, even with limited real-world demonstrations, GeniWorld generates diverse manipulation trajectories within the world model, improving downstream policy performance and robustness in complex environments.

cs.RO↗

RealtimeWAM: How Fast Can I Run My World Action Model?

World Action Models (WAMs) combine visual dynamics modeling with action generation, but their high inference latency limits responsive robot control. Recent efforts accelerate inference by removing explicit future-video generation at test time, as in FastWAM, an approach that requires a specially tailored architectural design. More general caching strategies exploit feature redundancy, but redundancy alone does not capture the changing computational demands of closed-loop control. To address these challenges, we present RealtimeWAM, a general, training-free framework that coordinates parallel execution with adaptive computation for low-latency inference across diverse WAM architectures. We exploit layerwise dependencies to overlap observation processing with prediction. However, concurrent branches still compete for GPU resources, limiting the benefit of parallel execution. We therefore adapt computation throughout the pipeline through selective reuse, caching observation features in visually stable regions and reusing Transformer residuals while reserving additional refinement for small predicted adjustments. We evaluate RealtimeWAM on FastWAM and OpenWAM across RoboTwin, LIBERO, and LIBERO-Plus. On an RTX 4090, measured mean inference latencies are 24.09 and 63.09 ms, corresponding to average speedups of 8.90$\times$ and 10.67$\times$. Average success rates are 82.75% and 87.41%, respectively, within 0.02 and 0.53 percentage points of native inference. Across five real-world tasks, RealtimeWAM improves average success rates over native inference by 17.2 and 37.2 percentage points on FastWAM and OpenWAM, respectively.

cs.RO↗

Seek Before You Move: Evidence Seeking for Progress Grounding in Vision-Language Navigation

Vision-Language Navigation (VLN) requires agents to continuously ground task progress from long-horizon instructions and partial egocentric observations. Existing VLM-based navigation agents typically reason only over available observations and may remain confident even when task-relevant evidence is missing. For example, an agent may confidently proceed forward and get lost even though the landmark indicating the next turn lies outside its current field of view. We term this failure mode Progress Myopia: the agent fails to recognize unreliable progress grounding and continues acting on insufficient evidence. To address it, we propose SeekVLN, an evidence-seeking framework that couples semantic progress reasoning with active acquisition of task-relevant observations. SeekVLN is trained in two stages: First, Future-guided Reverse Generation (FRG) uses future expert actions to augment offline expert trajectories with supplementary views and evidence annotations. Supervised fine-tuning on these trajectories establishes a prior for evidence seeking and progress reasoning without additional expert interaction. However, imitation alone does not reveal whether seeking improves subsequent navigation. We therefore introduce Counterfactual Contrastive Policy Optimization (C2PO) for reinforcement fine-tuning. By comparing each evidence-seeking branch with a counterfactual direct-navigation branch from the same state, C2PO uses a contrastive reward to assign credit to seeking decisions based on subsequent navigation benefit. Experiments on simulated benchmarks show that SeekVLN achieves state-of-the-art performance, improving success rate by 12.7% and 7.5% over the base model on R2R-CE and RxR-CE, respectively. Both simulated and real-world evaluations exhibit human-like evidence-seeking behaviors for more reliable progress grounding.

cs.AI↗

CurvSpec: Adaptive Multi-Curvature Learning for Partial Relevant Video Retrieval

Partially Relevant Video Retrieval (PRVR) seeks to retrieve untrim-med videos containing a moment that matches a text query, without temporal annotations. The relevant moment may last only seconds within a video spanning several minutes, creating an extremely low signal-to-noise ratio that makes PRVR more challenging than standard full-video retrieval. This task presents two intertwined challenges: (1) signal dilution, where coarse global representations blur the brief relevant signal into the dominant irrelevant surroundings;(2) curvature rigidity, where embedding all videos in the same fixed-geometry space distorts representations for videos that range from flat atomic events to deep compositional hierarchies. Existing PRVR methods have improved moment selection and cross-modal matching, but they still typically encode all videos in a single fixed-curvature retrieval space, limiting their ability to model diverse video structures. To address both challenges, we propose CurvSpec, a framework that learns content-adaptive curvature for video retrieval representations rather than imposing a fixed geometric prior. CurvSpec processes features through parallel Euclidean and hyperbolic attention layers, with independently learned curvatures assigned to the hyperbolic layers, and a content-aware fusion mechanism routes each input to its most suitable geometric regime. To further suppress signal dilution, CurvSpec represents each video with semantic centroids whose number is determined by the video's content complexity, projects them onto the learned manifold, and matches each query against its nearest centroid by geodesic distance. Experiments on ActivityNet Captions, TVR, and Charades-STA demonstrate state-of-the-art retrieval performance.

cs.CV↗

FutureDuet: Decoupling Observation Access from Future Supervision in World Action Models

World Action Models (WAMs) augment robot action generation with future visual supervision. Existing WAMs commonly fuse main and wrist observations into one visual stream and train both with the same future-video objective, despite their different visual dynamics. A stable main camera reveals scene-level task evolution, whereas wrist cameras move with the end effector, mixing local interaction changes with viewpoint shifts and self-occlusion. These contrasting predictive demands suggest that the two views may benefit from different future objectives. We introduce FutureDuet, which retains both views for control, while allowing each visual stream to receive a different future objective. For the main view, future RGB models task evolution, while interaction masks and robot skeletons focus supervision on task objects and robot motion. For the wrist stream, future latent prediction models short-horizon interaction changes without requiring pixel-level reconstruction. ActionDiT jointly reads the resulting Task State and Interaction State, combining scene-level progress with close-range interaction evidence. All auxiliary prediction modules are training-only, adding no inference overhead. FutureDuet achieves 94.2% clean and 94.1% randomized success on RoboTwin50 and 99.2% average success on LIBERO. The improvements are most pronounced on six RoboTwin50 tasks that require precise interaction, averaging gains of 9.2% and 12.8% over Fast-WAM in clean and randomized settings. Controlled studies further show complementary gains from separating the wrist pathway and designing future supervision separately for the two views.

cs.RO↗

What Confidence Routing Is Actually Doing: Auditing Routing, Calibration, and Commitment in Multi-Agent Deliberation

A common multi-agent design asks agents to report confidence and lets the highest-scoring agent speak next, implicitly using one scalar both to route the conversation and to estimate uncertainty. We audit this confidence-routed broadcast protocol by separating three trace-level questions: whether it selects the right candidate (routing), whether reported confidence behaves like a probability (calibration), and whether the selected agent publicly states the answer that won the turn (commitment). Our primary study covers 4,181 gpt-oss-120b olympiad-math traces; we repeat the audit on a 2-by-2 actor-by-benchmark grid that adds gemma-4-31B-it and a biology multiple-choice benchmark. In the primary cell, confidence discriminates correct from wrong candidates (AUROC 0.72) but is strongly overconfident (79% mean stated confidence versus 52% accuracy). A cross-fitted, tier-stratified isotonic procedure reduces Expected Calibration Error from 0.278 to 0.008 on held-out candidates, but it does not recover missing discrimination: raw AUROC is only 0.537 and 0.440 in the two Gemma cells. Routing is likewise setting-dependent. Fixed routers differ by at most 1.1 percentage points on gpt-oss/math, whereas raw-confidence argmax performs 5.6 and 11.2 points below random-valid selection in the Gemma cells. Commitment is distinct again: in the primary cell, poll and spoken answers diverge in 20.4% of valid pairs, 62.4% of those revisions are fresh generations, and the unconditional correctness shift is -1.7 points; the other three cells instead range from +0.9 to +12.2 points. The transferable lesson is procedural: routing discrimination, probability calibration, and public commitment must be measured separately before raw confidence is used for deployment decisions.

cs.MA↗

Retrieve-then-Adapt: Retrieval-Augmented Test-Time Adaptation for Sequential Recommendation

The sequential recommendation (SR) task aims to predict the next item based on users' historical interaction sequences. Typically trained on historical data, SR models often struggle to adapt to real-time preference shifts during inference due to challenges posed by distributional divergence and parameterized constraints. Existing approaches to address this issue include test-time training, test-time augmentation, and retrieval-augmented fine-tuning. However, these methods either introduce significant computational overhead, rely on random augmentation strategies, or require a carefully designed two-stage training paradigm. In this paper, we argue that the key to effective test-time adaptation lies in achieving both effective augmentation and efficient adaptation. To this end, we propose Retrieve-then-Adapt (ReAd), a novel framework that dynamically adapts a deployed SR model to the test distribution through retrieved user preference signals. Specifically, given a trained SR model, ReAd first retrieves collaboratively similar items for a test user from a constructed collaborative memory database. A lightweight retrieval learning module then integrates these items into an informative augmentation embedding that captures both collaborative signals and prediction-refinement cues. Finally, the initial SR prediction is refined via a fusion mechanism that incorporates this embedding. Extensive experiments across five benchmark datasets demonstrate that ReAd consistently outperforms existing SR methods.

cs.IR↗

LLMs Can Predict Failure Risk, But Struggle to Predict Which Collaboration Protocol Pays Off: Cost-Aware Protocol Routing Across Reasoning Tasks

Multi-agent large language model (LLM) systems can improve reasoning by spending more computation, but deployment requires deciding when extra collaboration is worth its cost. We isolate this decision by running every problem under four protocols while holding the solver fixed within each setting: direct solving (Baseline), iterative self-correction (Single), planner-executor-reviewer collaboration (PER), and multi-agent deliberation (Broadcast). The primary benchmark comprises 4,181 competition-level math problems; paired robustness checks cover four benchmarks spanning competition math, biology, and broader science with two solver families. Across fixed policies, trained routers, and frozen LLM routers, conservative policies under-escalate, whereas higher-solve frozen routers often over-escalate. A post-answer, pre-collaboration gpt-oss-120b probe ranks Baseline failures with 0.8847 AUROC (4,151 parseable cases; 95% CI [0.8732, 0.8955]). The same score remains informative for predicting whether any collaboration helps (0.7683 AUPRC), but is much weaker for identifying PER- or Broadcast-specific value (0.1674 and 0.1041 AUPRC). Separately, the pre-answer self-confidence gate reaches 78.0% solve at 45K tokens, compared with 73.8% at 71.3K for a frozen gpt-oss-120b router and 92.4% for a retrospective fixed-order oracle. Across 10 paired model-condition settings, the oracle adds 23.2-58.3 points of retrospective coverage over Baseline, but protocol profiles vary by task. In the six settings with held-out router evaluations, oracle gaps remain 18.5-28.9 points. Confidence can therefore support initial escalation, while protocol-specific cost-aware routing remains unresolved.

cs.AI↗

TAU-Bench: From Anomaly Instance Tracking to Fine-Grained Video Anomaly Understanding

Humans understand anomalous events through a coherent perceptual process in which they identify the focal instance, follow its behavior as the event unfolds, and interpret why it violates the expectations of the surrounding scene. Video anomaly understanding (VAU) seeks to endow models with a similar capability, moving beyond deciding whether a video is anomalous toward explaining how the event develops and why it matters. Although recent vision--language models (VLMs) can generate detailed and plausible anomaly descriptions, their semantic fluency does not ensure that these interpretations remain grounded in the correct anomaly instance over time. Existing benchmarks typically evaluate tracking and semantic understanding through separate protocols, leaving such instance--semantic inconsistency largely unmeasured. We therefore introduce TAU-Bench, a track-centric benchmark for jointly evaluating anomaly instance tracking and fine-grained anomaly understanding. TAU-Bench contains 1,118 videos, 1,454 tracks, and 202,438 pixel-level masks spanning 49 event and 45 scene categories, together with track-centric annotations that connect instance-level identification, event-level understanding, and scene-level reasoning. To build TAU-Bench at scale, we developed an automated data engine integrating anomaly suitability filtering, anomaly instance track construction, hierarchical caption annotation, and human quality control. Evaluations across representative VLM families show that models producing plausible anomaly interpretations may still fail to localize and track the correct instance reliably, revealing a persistent gap between semantic reasoning and visual grounding. These findings therefore highlight instance-grounded evaluation as an important step toward more faithful and reliable VAU systems.

cs.CV↗

Respect Your Zero-Shot Uncertainty: Conservative Calibration for Test-Time-Adapted Vision-Language Models

Test-time adaptation (TTA) can improve the recognition accuracy of vision-language models under distribution shift, but often degrades calibration, making predictive confidence unreliable for downstream decision-making. Many existing label-free calibration approaches are either coupled to prompt optimization or rely on logit-range statistics that provide only a coarse characterization of the predictive distribution. We show that TTA can increase confidence and reduce entropy even when the top-1 prediction and its correctness remain unchanged, a failure mode we term prediction-preserving sharpening. Across diverse TTA methods and benchmarks, larger entropy reductions relative to paired zero-shot predictions are associated with greater increases in Expected Calibration Error (ECE). On entropy-reduced samples, confidence gains also tend to exceed accuracy gains. Based on these findings, we propose Zero-Shot-Anchored Entropy Calibration (ZAEC), a label-free post-hoc method that uses zero-shot entropy as a sample-specific uncertainty reference. ZAEC selectively restores the zero-shot entropy of sharpened predictions through minimal temperature scaling while leaving all other predictions unchanged. It requires no labeled calibration data or learned parameters and preserves class rankings and classification accuracy. Across five TTA methods and 15 datasets, ZAEC achieves the lowest post-hoc macro-average ECE on ViT-B/16, with consistent gains on RN50.

cs.CV↗

ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation

Humans perform long-horizon manipulation by retaining knowledge of what earlier actions have established while continuously adapting the motion underway. By contrast, action-chunked vision-language-action (VLA) policies repeatedly replan from the current input at each query. Existing methods preserve either long-term task evidence through memory or short-term motion through action reuse and ensembling, leaving the cross-query handoff incomplete. We introduce ChainVLA, a 1.2B-parameter VLA policy that chains successive queries through a joint and revisable execution state. Progress Context combines a recurrent Working State with sparse event memory to carry observation-derived task progress, while Motion Tail feeds the preceding prediction's unexecuted continuation into state construction and action generation. Together, the two components condition a decoder that regenerates each action horizon under the latest observation, allowing the carried state to guide the next prediction without fixing it. ChainVLA reaches 62.8% average success on RMBench and 98.8% across four LIBERO suites, while removing Motion Tail or Progress Context reduces RMBench success to 11.2% and 3.0%, respectively. These asymmetric ablations are consistent with motion continuity helping preserve the observation stream from which task progress is inferred.

cs.RO↗

Precise but Uncoupled: Reviewer Precision Does Not Guarantee Critique Uptake in Multi-Agent Math Reasoning

Many math- and science-oriented agent systems use hierarchical designs with specialized reviewer roles, assuming that a dedicated review stage should help turn wrong candidates into correct ones. We test this assumption on 4,181 verifier-grounded Omni-MATH problems using matched gpt-oss-120b actors. Collaboration adds little on the easiest tiers, but from tier 4 onward the gains open sharply; in this harder regime, broadcast-style peer discussion reaches higher final accuracy than a planner-executor-reviewer pipeline (PER). We ask whether this gap is explained by reviewer quality or by whether critique changes the next answer the protocol carries forward. It is not explained by reviewer precision alone: PER's reviewer is more precise than broadcast's (0.861 vs. 0.644), yet evaluator-verified useful critique is much less likely to change the next candidate and produces lower reviewer-guided repair. These results show that reviewer detection quality and critique uptake are empirically separable. Within matched PER interventions, forcing explicit acknowledgment lowers final accuracy, while embedding reviewer guidance directly in the solver's working context partially improves follow-through without closing the gap. Overall, reviewer-centric evaluation can overstate system quality: a protocol may spot errors well yet still fail to solve more problems if it does not act on those critiques.

cs.AI↗

DynTrace: Tracking Dynamic Object Evidence for 4D Spatio-Temporal Reasoning in MLLMs

4D spatio-temporal reasoning, jointly modeling 3D spatial structure and temporal evolution, is essential for understanding dynamic worlds and enabling embodied interaction. While current Multimodal Large Language Models (MLLMs) show strong capabilities in static scene understanding and coarse-grained 4D tasks, they still have notable limitations in continuous dynamic scene perception, especially in tracking dynamic object evidence for coherent 4D spatio-temporal reasoning. This shortcoming stems mainly from relying on sparse frame-level observations, fragmenting continuous dynamic cues and leaving models unable to disentangle genuine object dynamics from camera-induced apparent motion. Inspired by humans tracking dynamic cues while compensating for viewpoint changes, we propose DynTrace, a training-free framework for 4D spatio-temporal reasoning with two complementary components. Dynamic Trajectory Visualization (DTV) reprojects world-coordinate trajectories onto the image plane, providing geometry-informed visual priors that disentangle genuine object dynamics from camera-induced apparent motion. Meanwhile, the Dynamic Trace Token (DT-Token), organized into a Dynamic Trace Graph (DTG), tracks object-level dynamic cues, trace evolution, and key moments, maintaining continuous dynamic object evidence for coherent 4D reasoning. Together, these two components equip MLLMs with continuously tracked dynamic object evidence, grounded in geometry-informed visual priors and structured spatio-temporal traces. DynTrace consistently improves open-source MLLMs, achieving state-of-the-art results on Dyn-Bench, VLM4D, and DSI-Bench, validating the importance of tracking dynamic object evidence for robust 4D spatio-temporal reasoning.

cs.CV↗

RoboStream: Weaving Spatio-Temporal Reasoning with Memory in Vision-Language Models for Robotics

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 observation-to-action mapping, forcing them to reinfer scene geometry from raw pixels at every decision point while remaining unaware of how prior actions have reshaped the environment. Despite strong short-horizon performance, these systems lack the spatio-temporal reasoning required for persistent geometric anchoring and memory of action-triggered state transitions. Without persistent state tracking, perceptual errors accumulate across the execution horizon, temporarily occluded objects are catastrophically forgotten, and these compounding failures lead to precondition violations that cascade through subsequent steps. In contrast, humans maintain a persistent mental model that continuously tracks spatial relations and action consequences across interactions rather than reconstructing them at each instant. Inspired by this human capacity for causal spatio-temporal reasoning with persistent memory, we propose RoboStream, a training-free framework that achieves geometric anchoring through Spatio-Temporal Fusion Tokens (STF-Tokens), which bind visual evidence to 3D geometric attributes for persistent object grounding, and maintains causal continuity via a Causal Spatio-Temporal Graph (CSTG) that records action-triggered state transitions across steps. This design enables the planner to trace causal chains and preserve object permanence under occlusion without additional training or fine-tuning. RoboStream achieves 90.5% on long-horizon RLBench and 44.4% on challenging real-world block-building tasks, where both SoFar and VoxPoser score 11.1%, demonstrating that spatio-temporal reasoning and causal memory are critical missing components for reliable long-horizon manipulation.

cs.RO↗