DIRECT is a multimodal-context router that allocates test-time compute across chain-of-thought depth, model size, and memory history for VLM embodied planners, improving the success-cost Pareto frontier and matching stronger models at up to 65% lower latency on benchmarks and a physical Franka arm.
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DIRECT: When and Where Should You Allocate Test-Time Compute in Embodied Planners?
DIRECT is a multimodal-context router that allocates test-time compute across chain-of-thought depth, model size, and memory history for VLM embodied planners, improving the success-cost Pareto frontier and matching stronger models at up to 65% lower latency on benchmarks and a physical Franka arm.