Persistent Scene KV Cache for Robot Perception

Same VLM · Same GPU · Only delta sent when scene is static

Video: 17 sampled frames from 5.4s clip

Full Frame — Naive sends this every tick

Annotated Frame — Cached detects change here

Delta Crop — Cached sends only this

1. Naive — Qwen, full frame

2. Cached — Qwen, delta crop

3. Gemma-3-27B — delta crop