arXiv:2503.09820v2 Announce Type: replace-cross Abstract: We introduce ViLAM, a novel method for distilling vision-language reasoning from large Vision-Language Models (VLMs) into spatial attention maps for socially compliant robot navigation. Unlike traditional methods that rely on expert demonstrations or human-annotated datasets, ViLAM performs knowledge distillation and fine-tuning at the intermediate layer representation (attention) level by aligning attention maps from a pretrained vision-action model with socially guided attention maps derived from a large VLM. These distilled attention maps highlight key navigational regions in a scene and serve as socially informed spatial cost maps for motion planning. To achieve this, we introduce a novel attention-level distillation loss that fuses knowledge from both sources, generating augmented attention maps with enhanced social awareness. These refined attention maps are then used as a traversability costmap within a socially aware local planner for navigation. We validate our approach through real-world experiments on a Husky wheeled robot, and demonstrate 14.2% - 50% improvements in success rate over existing methods.

arXiv:2505.13109v5 Announce Type: replace-cross Abstract: Large language models (LLMs) are widely deployed with rapidly expanding context windows to support increasingly demanding applications. However, long contexts pose significant deployment challenges, primarily due to the KV cache whose size grows proportionally with context length. While KV cache compression methods have been proposed to address this issue, KV dropping methods incur considerable accuracy loss, and KV retrieval methods suffer from significant efficiency bottlenecks. We propose FreeKV, a training-free algorithm-system co-optimization framework to enhance KV retrieval efficiency while preserving accuracy. On the algorithm side, FreeKV introduces speculative retrieval to shift the KV selection and recall processes out of the critical path, combined with fine-grained correction to ensure accuracy. On the system side, FreeKV employs hybrid KV layouts across CPU and GPU memory to eliminate fragmented data transfers, and leverages double-buffered streamed recall to further improve efficiency, enabling effective overlap with computation, full latency hiding, and practical speedups from speculative recall. Experiments demonstrate that FreeKV achieves near-lossless accuracy across various scenarios and models, delivering up to a 13$\times$ speedup compared to SOTA KV retrieval methods. Code is available at https://github.com/sjtu-zhao-lab/FreeKV.