相关论文: Realtime-VLA FLASH: Speculative Inference Framewor…

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

Vision-Language-Action models (VLAs) are becoming increasingly capable across diverse robotic tasks. However, their real-world deployment remains slow and inefficient: demonstration videos are often sped up by 5-10x to appear smooth, with…

Autoregressive large language models (LLMs) deliver strong performance but require inherently sequential decoding, leading to high inference latency and poor GPU utilization. Speculative decoding mitigates this bottleneck by using a fast…

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 recently demonstrated strong performance across embodied tasks. Modern VLAs commonly employ diffusion action experts to efficiently generate high-precision continuous action chunks, while…

Vision-Language-Action (VLA) models have emerged as a unified paradigm for robotic perception and control, enabling emergent generalization and long-horizon task execution. However, their deployment in dynamic, real-world environments is…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

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,…

Vision-Language-Action (VLA) models, trained via flow-matching or diffusion objectives, excel at learning complex behaviors from large-scale, multi-modal datasets (e.g., human teleoperation, scripted policies). However, since VLAs…

Vision-Language-Action (VLA) models have demonstrated remarkable generalization capabilities in robotic manipulation tasks, yet their substantial computational overhead remains a critical obstacle to real-world deployment. Improving…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for general-purpose robot control through natural language instructions. However, their high inference cost-stemming from large-scale token computation and…

Generative models such as diffusion and flow matching have become dominant paradigms for visuomotor policy learning, yet their reliance on iterative denoising incurs high inference latency incompatible with real-time robotic control. We…

Vision-Language-Action (VLA) models have recently demonstrated impressive capabilities across various embodied AI tasks. While deploying VLA models on real-world robots imposes strict real-time inference constraints, the inference…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Real-time execution is crucial for deploying Vision-Language-Action (VLA) models in the physical world. Existing asynchronous inference methods primarily optimize trajectory smoothness, but neglect the critical latency in reacting to…

Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions. However, prevailing VLAs either generate actions auto-regressively in a fixed left-to-right order or attach…

Diffusion models have revolutionized high-fidelity image and video synthesis, yet their computational demands remain prohibitive for real-time applications. These models face two fundamental challenges: strict temporal dependencies…

End-to-end autonomous driving via Vision-Language-Action (VLA) models demands a precarious balance between high-fidelity trajectory planning and efficient inference. Existing paradigms typically fall short: autoregressive (AR) VLAs are…

Vision Language Action (VLA) models are mainstream in embodied intelligence but face high inference costs. Edge-Cloud Collaborative (ECC) inference offers an effective fix by easing edge-device computing pressure to meet real-time needs.…