A 1B-parameter VLA with joint (non-autoregressive) action prediction claims OpenVLA-comparable training behavior at 4-7x lower inference time, but supports this only with early training curves.
Rt-2: Vision-language-action models transfer web knowledge to robotic control, 2023
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EdgeVLA: Efficient Vision-Language-Action Models
A 1B-parameter VLA with joint (non-autoregressive) action prediction claims OpenVLA-comparable training behavior at 4-7x lower inference time, but supports this only with early training curves.