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Visual token pruning often degrades robotic control because it ignores language conditioning; steering token cache reuse via text-vision entropy differentials cuts VLA compute by 2.45x while boosting task success by up to 14.5%.
Current single-view mesh reconstruction methods falter under robot camera rotations, leading to critical errors in spatial reasoning.
Grasping performance can be dramatically improved with a single view adjustment that leverages affordance fields, bypassing the need for complex scene reconstruction.
