arXiv subjects

Xiaowei Cai

Publications and source records attributed to Xiaowei Cai.

3 recordsLinked to original sources

arXiv2026

$\tau_0$-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation

Long-horizon robot manipulation requires a robot to both execute individual skills reliably and sequence them coherently over extended tasks. Most hierarchical vision-language-action (VLA) models make each such decision with a single forward pass, leaving no mechanism to allocate additional computation to difficult or consequential choices. We introduce $\tau_0$-VLA, a hierarchical robot foundation model that formulates high-level subtask generation as a compute-scalable inference problem through world-model-guided test-time computation. At each inference step, the high-level policy uses execution memory to generate a subtask and, when needed, searches over alternatives before committing to its output. A low-level policy then executes the generated subtask across multiple robot embodiments. The policy is trained on 40,115 hours of heterogeneous real-world data with multimodal co-training. Across in-domain and distribution-shifted settings, allocating additional test-time computation substantially improves next-subtask prediction accuracy, and these gains translate into higher closed-loop success on long-horizon robot manipulation tasks.

cs.RO↗

arXiv2025

Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training

General-purpose robotic systems operating in open-world environments must achieve both broad generalization and high-precision action execution, a combination that remains challenging for existing Vision-Language-Action (VLA) models. While large Vision-Language Models (VLMs) improve semantic generalization, insufficient embodied reasoning leads to brittle behavior, and conversely, strong reasoning alone is inadequate without precise control. To provide a decoupled and quantitative assessment of this bottleneck, we introduce Embodied Reasoning Intelligence Quotient (ERIQ), a large-scale embodied reasoning benchmark in robotic manipulation, comprising 6K+ question-answer pairs across four reasoning dimensions. By decoupling reasoning from execution, ERIQ enables systematic evaluation and reveals a strong positive correlation between embodied reasoning capability and end-to-end VLA generalization. To bridge the gap from reasoning to precise execution, we propose FACT, a flow-matching-based action tokenizer that converts continuous control into discrete sequences while preserving high-fidelity trajectory reconstruction. The resulting GenieReasoner jointly optimizes reasoning and action in a unified space, outperforming both continuous-action and prior discrete-action baselines in real-world tasks. Together, ERIQ and FACT provide a principled framework for diagnosing and overcoming the reasoning-precision trade-off, advancing robust, general-purpose robotic manipulation. Project page: https://geniereasoner.github.io/GenieReasoner/

cs.RO↗

arXiv2024

Research on Heterogeneous Computation Resource Allocation based on Data-driven Method

The rapid development of the mobile Internet and the Internet of Things is leading to a diversification of user devices and the emergence of new mobile applications on a regular basis. Such applications include those that are computationally intensive, such as pattern recognition, interactive gaming, virtual reality, and augmented reality. However, the computing and energy resources available on the user's equipment are limited, which presents a challenge in effectively supporting such demanding applications. In this work, we propose a heterogeneous computing resource allocation model based on a data-driven approach. The model first collects and analyzes historical workload data at scale, extracts key features, and builds a detailed data set. Then, a data-driven deep neural network is used to predict future resource requirements. Based on the prediction results, the model adopts a dynamic adjustment and optimization resource allocation strategy. This strategy not only fully considers the characteristics of different computing resources, but also accurately matches the requirements of various tasks, and realizes dynamic and flexible resource allocation, thereby greatly improving the overall performance and resource utilization of the system. Experimental results show that the proposed method is significantly better than the traditional resource allocation method in a variety of scenarios, demonstrating its excellent accuracy and adaptability.

cs.CE↗