Author

Chiyoung Kim

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Preprint Sep 2026

Recovering Aggressively Pruned Vision-Language-Action Models with Offline Hidden-State Distillation

Vision-language-action models let robots follow language instructions, but their language backbones of several billion parameters are the main obstacle to running them on robot hardware, and removing 63% of it from OpenVLA-OFT drops LIBERO-Long success from 93.2% to 0.8%.

Chiyoung Kim, S. Choi, Minhyeok Lee · 0 citations

Preprint Sep 2026

ReShoot: Generative Visual Domain Randomization of Recorded Robot Demonstrations for Visuomotor Policy Learning

This work introduces ReShoot, a framework that synthesizes visual diversity by re-rendering previously recorded demonstrations under altered appearances, thereby shifting the burden from data collection to generation.

Chiyoung Kim, Min-Sung Choi, Jin-Ho Ju et al. · 0 citations

Conference Jul 2026

The Layer Transferability Profile: Mapping Feature Hierarchies in Pretrained Vision Models

Transfer learning with ImageNet-pretrained backbones is ubiquitous in computer vision, yet the question of which intermediate layer best serves a downstream task is typically resolved by convention rather than controlled measurement. Despite the prevalence of this practice, no systematic comparison of layer-wise frozen...

Sanghyuk Roy Choi, Chanhoe Gu, S. Kim et al. · International Conference on... · 0 citations