ISCS: Parameter-Guided Feature Pruning for Resource-Constrained Embodied Perception

摘要

Prior studies in embodied AI consistently show that robust perception is critical for human-robot interaction, yet deploying high-fidelity visual models on resource-constrained agents remains challenging due to limited on-device computation power and transmission latency. Exploiting the redundancy in latent representations could improve system efficiency, yet existing approaches often rely on costly dataset-specific ablation tests or heavy entropy models unsuitable for real-time edge-robot collaboration. We propose a generalizable, dataset-agnostic method to identify and selectively transmit structure-critical channels in pretrained encoders. Instead of brute-force empirical evaluations, our approach leverages intrinsic parameter statistics-weight variances and biases-to estimate channel importance. This analysis reveals a consistent organizational structure, termed the Invariant Salient Channel Space (ISCS), where Salient-Core channels capture dominant structures while Salient-Auxiliary channels encode fine visual details. Building on ISCS, we introduce a deterministic static pruning strategy that enables lightweight split-computing. Experiments across different datasets demonstrate that our method achieves a deterministic, ultra-low latency pipeline by bypassing heavy entropy modeling. Our method reduces end-to-end latency, providing a critical speed-accuracy trade-off for resource-constrained human-aware embodied systems.