On-Device Robotic Planning: Eliminating Inference Redundancy for Efficient Decision-Making
Joonhee Lee, Sungmin Lee, Hyunseung Shin, Hyunmi Kim, Pei Zhang, Jeonggil Ko
原文摘要
Reasoning-based robotic policies using large language and vision-language models achieve strong semantic planning capabilities but mostly suffer from a high inference latency that limits practical real-time deployment. In this work, we observe that robotic reasoning workloads contain substantial temporal redundancy, where consecutive observations frequently produce identical actions and subgoals. Based on this insight, we present REIS, a human cognition inspired robotic decision-making framework that minimizes unnecessary reasoning while preserving semantic adaptability. REIS combines lightweight scene gating, KV-steered affordance routing, and deliberative reasoning to accelerate robotic control under embodied constraints. Experiments on ALFRED, and real-world robotic tasks demonstrate that REIS significantly suppresses reasoning overhead while maintaining competitive task performance
cs.RO · eess.SY