VLA models from VLM adaptation can be pruned 12-30% via multi-module joint scheme based on divergence signals while keeping ~90% performance on LIBERO without post-pruning recovery, unlike standard criteria that collapse.
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arXiv preprint arXiv:2510.24795 (2025)
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2026 14representative citing papers
VLA language backbones show high redundancy on manipulation benchmarks, with half the LLM blocks removable and even two blocks sufficient to recover baseline performance after fine-tuning, unlike vision and action pathways.
A3 reframes dynamic action chunk commitment in VLA models as self-speculative prefix verification, accepting the longest continuous sequence of actions that satisfies consensus-ordered conditional invariance and prefix-closed sequential consistency.
CF-VLA uses a coarse initialization over endpoint velocity followed by single-step refinement to achieve strong performance with low inference steps on CALVIN, LIBERO, and real-robot tasks.
VLA models exhibit a compute-bound VLM phase followed by a memory-bound action phase on edge hardware; DP-Cache and V-AEFusion reduce redundancy and enable pipeline parallelism for up to 6x speedup on NPUs with marginal task degradation.
vla.cpp is a unified C++ runtime that serves multiple VLA architectures with flow-matching and diffusion patterns, matching SOTA performance on LIBERO while running on low-memory embedded hardware.
BPF prunes embodied LLM controllers iteratively during RL (and optionally SFT) to achieve superior size-performance-throughput trade-offs compared to post-training pruning or smaller dense models on the RobotxR1 autonomous driving pipeline.
M²-VLA shows that generalized VLMs can serve as direct backbones for robotic manipulation by selectively extracting task-critical features via Mixture of Layers and adding Meta Skill Modules for efficient trajectory learning.
SV-VLA uses infrequent heavy VLA planning of action chunks plus a lightweight closed-loop verifier to achieve both efficiency and robustness in dynamic robot control.
FASTER adds a Horizon-Aware Schedule to flow VLAs that compresses immediate-action denoising to one step while keeping long-horizon trajectory quality, lowering real-robot reaction latency.
ElegantVLA accelerates VLA models up to 3.77x by dynamically scheduling compute across vision, language, and action components without retraining the base model.
SpanVLA reduces action generation latency via flow-matching conditioned on history and improves robustness by training on negative-recovery samples with GRPO and a dedicated reasoning dataset.
A literature survey that unifies fragmented work on attacks, defenses, evaluations, and deployment challenges for Vision-Language-Action models in robotics.
Threading optimization of RTAC for VLA models reduces end-to-end latency and improves stability on low-cost agricultural robotic arms without changing the policy.
citing papers explorer
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Revisiting Parameter Redundancy in Vision-Language-Action Models: Insights from VLM-to-VLA Adaptation
VLA models from VLM adaptation can be pruned 12-30% via multi-module joint scheme based on divergence signals while keeping ~90% performance on LIBERO without post-pruning recovery, unlike standard criteria that collapse.
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Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?
VLA language backbones show high redundancy on manipulation benchmarks, with half the LLM blocks removable and even two blocks sufficient to recover baseline performance after fine-tuning, unlike vision and action pathways.
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Dynamic Execution Commitment of Vision-Language-Action Models
A3 reframes dynamic action chunk commitment in VLA models as self-speculative prefix verification, accepting the longest continuous sequence of actions that satisfies consensus-ordered conditional invariance and prefix-closed sequential consistency.
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CF-VLA: Efficient Coarse-to-Fine Action Generation for Vision-Language-Action Policies
CF-VLA uses a coarse initialization over endpoint velocity followed by single-step refinement to achieve strong performance with low inference steps on CALVIN, LIBERO, and real-robot tasks.
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Characterizing Vision-Language-Action Models across XPUs: Constraints and Acceleration for On-Robot Deployment
VLA models exhibit a compute-bound VLM phase followed by a memory-bound action phase on edge hardware; DP-Cache and V-AEFusion reduce redundancy and enable pipeline parallelism for up to 6x speedup on NPUs with marginal task degradation.
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vla.cpp: A Unified Inference Runtime for Vision-Language-Action Models
vla.cpp is a unified C++ runtime that serves multiple VLA architectures with flow-matching and diffusion patterns, matching SOTA performance on LIBERO while running on low-memory embedded hardware.
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Before Parc Ferm\'e: RL-Time Pruning for Efficient Embodied LLMs in Autonomous Driving
BPF prunes embodied LLM controllers iteratively during RL (and optionally SFT) to achieve superior size-performance-throughput trade-offs compared to post-training pruning or smaller dense models on the RobotxR1 autonomous driving pipeline.
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$M^2$-VLA: Boosting Vision-Language Models for Generalizable Manipulation via Layer Mixture and Meta-Skills
M²-VLA shows that generalized VLMs can serve as direct backbones for robotic manipulation by selectively extracting task-critical features via Mixture of Layers and adding Meta Skill Modules for efficient trajectory learning.
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Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA
SV-VLA uses infrequent heavy VLA planning of action chunks plus a lightweight closed-loop verifier to achieve both efficiency and robustness in dynamic robot control.
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FASTER: Rethinking Real-Time Flow VLAs
FASTER adds a Horizon-Aware Schedule to flow VLAs that compresses immediate-action denoising to one step while keeping long-horizon trajectory quality, lowering real-robot reaction latency.
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ElegantVLA: Learning When to Think for Efficient Vision-Language-Action Models
ElegantVLA accelerates VLA models up to 3.77x by dynamically scheduling compute across vision, language, and action components without retraining the base model.
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SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model
SpanVLA reduces action generation latency via flow-matching conditioned on history and improves robustness by training on negative-recovery samples with GRPO and a dedicated reasoning dataset.
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Vision-Language-Action Safety: Threats, Challenges, Evaluations, and Mechanisms
A literature survey that unifies fragmented work on attacks, defenses, evaluations, and deployment challenges for Vision-Language-Action models in robotics.
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Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation
Threading optimization of RTAC for VLA models reduces end-to-end latency and improves stability on low-cost agricultural robotic arms without changing the policy.