active-perception

Co-GLANCE is a real-time onboard perception and decision-making system for heterogeneous robot teams that distills vision-language model capabilities into efficient models and uses conformal prediction with selective abstention to quantify and resolve perceptual uncertainty, outperforming cloud-based VLM baselines by 25-36% while achieving 350x lower latency.

ActiveMimic is a pretraining framework that recovers camera and wrist trajectories from egocentric human video to model active perception as a viewpoint action, enabling robot pretraining that matches the performance of models trained directly on robot data.