SaiVLA-0: Cerebrum--Pons--Cerebellum Tripartite Architecture for Compute-Aware Vision-Language-Action
We revisit Vision-Language-Action through a neuroscience-inspired triad. Biologically, the Cerebrum provides stable high-level multimodal priors and remains frozen; the Pons Adapter integrates these cortical features with real-time proprioceptive inputs and compiles intent into execution-ready tokens; and the Cerebellum (ParaCAT) performs fast, parallel categorical decoding for online control, with hysteresis/EMA/temperature/entropy for stability. A fixed-ratio schedule and two-stage feature caching make the system compute-aware and reproducible. Inspired by active, foveated vision, our wrist ROIs are geometrically tied to the end-effector via calibrated projection, providing a movement-s...
| Authors | Xiang Shi, Wenlong Huang, Menglin Zou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 9 March 2026 |
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