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Tsinghua AIR proposes OxyGen: unified KV Cache management lets robots talk while acting

The Institute for AI Industry Research (AIR) at Tsinghua University, together with Tsinghua's Department of Electronic Engineering and the University of Science and Technology of China, has proposed OxyGen, which uses unified KV Cache management to let an embodied model's action and language reasoning share prefix computation. The paper has been accepted to NeurIPS 2026.

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