Related papers: HeiSD: Hybrid Speculative Decoding for Embodied Vi…

Large language models (LLMs) have shown outstanding performance across numerous real-world tasks. However, the autoregressive nature of these models makes the inference process slow and costly. Speculative decoding has emerged as a…

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often introduce architectural overhead,…

Speculative decoding is a prominent technique to speed up the inference of a large target language model based on predictions of an auxiliary draft model. While effective, in application-specific settings, it often involves fine-tuning both…

Speculative decoding accelerates LLM inference by using a smaller draft model to speculate tokens that a larger target model verifies. Verification is often the bottleneck (e.g. verification is $4\times$ slower than token generation when a…

Vision-Language-Action (VLA) models are a powerful paradigm for generalist robotic control. However, their high computational cost and limited control frequency hinder real-time robotic manipulation, especially when large vision-language…

Speculative decoding significantly accelerates language model inference by enabling a lightweight draft model to propose multiple tokens that a larger target model verifies simultaneously. However, applying this technique to vision-language…

Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA) frameworks typically use 2D representations to connect…

Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic…

Acquiring dexterous robotic skills from human video demonstrations remains a significant challenge, largely due to conventional reliance on low-level trajectory replication, which often fails to generalize across varying objects, spatial…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…

Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate action sequences for robotic manipulation. Despite recent progress, VLA models still face challenges in learning related and reusable…

The rapid evolution of Embodied AI has enabled Vision-Language-Action (VLA) models to excel in multimodal perception and task execution. However, applying Reinforcement Learning (RL) to these massive models in large-scale distributed…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for robotic manipulation. However, existing post-training methods face a dilemma between stability and exploration: Supervised Fine-Tuning (SFT) is constrained by…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm in Embodied AI. However, the significant computational overhead of processing redundant visual tokens remains a critical bottleneck for real-time robotic deployment.…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

Recent advances in FlowMatching-based Vision-Language-Action (VLA) frameworks have demonstrated remarkable advantages in generating high-frequency action chunks, particularly for highly dexterous robotic manipulation tasks. Despite these…

Speculative decoding (SD) is a promising method for accelerating the decoding process of Large Language Models (LLMs). The efficiency of SD primarily hinges on the consistency between the draft model and the verify model. However, existing…

We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…

LLM deployment on resource-constrained edge devices faces severe latency constraints, particularly in real-time applications where delayed responses can compromise safety or usability. Among many approaches to mitigate the inefficiencies of…