While Vision-Language-Action (VLA) models generalize well to generic instructions, they struggle with personalized commands such as "bring cup," where the robot must act on one specific instance among visually similar objects. We study this setting of manipulating personal objects, in which a VLA must identify and control a user-specific object unseen during training using only a few reference images. To address this challenge, we propose , a simple-yet-effective training-free perceptual adapter that equips frozen VLAs with top-down selective attention. VAP treats the reference images as a non-parametric visual memory, grounds the personal object in the scene through open-vocabulary detection and embedding-based matching, and then injects this grounding as a visual prompt by highlighting the object and rewriting the instruction. We construct two simulation benchmarks, Personalized-SIMPLER and Personalized-VLABench, and a real-world tabletop benchmark to evaluate personalized manipulation across multiple robots and tasks. Experiments show that VAP consistently outperforms generic policies and token-learning baselines in both success rate and correct-object manipulation, helping to bridge the gap between semantic understanding and instance-level control.
Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain impractically slow, memory-intensive, and overly complex due to iterative optimization and dense feature assignments for every Gaussian. To address these limitations, we propose LightSplat, a fast and memory-efficient training-free framework that injects compact 2-byte semantic indices into 3D representations from multi-view images. By assigning semantics only to salient regions and managing them with a lightweight index-feature mapping, LightSplat eliminates costly feature optimization and storage overhead. To further streamline inference and ensure semantic consistency, we cluster Gaussians in a single step by linking geometrically and semantically related masks in 3D. In evaluation, we assess our method on diverse benchmarks, including DL3DV-OVS with large and complex indoor-outdoor scenes. As a result, LightSplat achieves state-of-the-art performance with up to 50× faster speed and 64× lower memory, offering a scalable foundation for real-time language-driven 3D understanding.
Uncertainty quantification is crucial in safety-critical systems, where decisions must be made under uncertainty. In particular, we consider the problem of online uncertainty quantification, where data points arrive sequentially. Online conformal prediction is a principled online uncertainty quantification method that dynamically constructs a prediction set at each time step. While existing methods for online conformal prediction provide long-run coverage guarantees without any distributional assumptions, they typically assume a full feedback setting in which the true label is always observed. In this paper, we propose a novel learning method for online conformal prediction with partial feedback from an adaptive adversary-a more challenging setup where the true label is revealed only when it lies inside the constructed prediction set. Specifically, we formulate online conformal prediction as an adversarial bandit problem by treating each candidate prediction set as an arm. Building on an existing algorithm for adversarial bandits, our method achieves a long-run coverage guarantee by explicitly establishing its connection to the regret of the learner. Finally, we empirically demonstrate the effectiveness of our method in both independent and identically distributed (i.i.d.) and non-i.i.d. settings, showing that it successfully controls the miscoverage rate while maintaining a reasonable size of the prediction set.
Semantic query processing engines (SQPEs) extend relational query processing with semantic operators that are executed via model inference over unstructured data. Optimizing such queries is inherently multi-objective: model inference dominates latency and monetary cost, and outputs are stochastic and backend-dependent, so quality must be optimized alongside efficiency. Existing SQPE optimizers do not expose each semantic operator instance's intermediate task outputs as a relational optimization object, leaving optimization unable to filter, reorder, route, threshold, or jointly tune them. We present CADENZA, which compiles each semantic operator instance–a template bound to a natural-language intent–into an intent-specific plan space of typed task DAGs and selects an executable plan under user-specified quality-latency-cost trade-offs. CADENZA introduces task-extended relational algebra (TxRA), a conservative extension of relational algebra with task-specific operators. The logical planner synthesizes seed TxRA plans, applies structural rewrites whose safety conditions are checked from operator dependencies, and enumerates semantics-guided alternatives from alternative-generation templates. The physical planner compiles each task-specific operator into a router over heterogeneous backends and jointly tunes routing cutpoints, backend parameters, and relational thresholds with Bayesian optimization. On SemBench, CADENZA improves the scenario-level averages of quality, latency, and cost by up to +0.49, 165.7x, and 310.3x, respectively, relative to state-of-the-art.
Vision-Language-Action (VLA) models can turn multimodal context into robot actions, but their action decoders are still trained largely by behavior cloning. This supervises which motor command was demonstrated while leaving implicit the local objective served by the behavior under the instruction. Future-based supervision enriches action learning with frames, latent observations, trajectories, or motion representations, but these signals capture particular realizations of what may happen rather than the shared semantic objective of the forthcoming behavior. We propose Intention Distillation (INDI), which distills behavior-level intent into the action decoder. During training, a frozen teacher VLM interprets a demonstrated segment from the current observation, instruction, coarse action summary, and corresponding execution video. From its standard inputs, the deployed VLA recovers the resulting multimodal intent representation at an intermediate decoder layer and uses it to organize action prediction together with representations of how the behavior unfolds and what it achieves. On SimplerEnv-Bridge, INDI improves GR00T-N1.7 from 64.3
