A training-free cache of intermediate actions, retrieved by random-projected VLM embeddings, cuts flow-based VLA action-head latency up to 40× in tests while keeping success rates near base-model levels.
Falcon: Fast visuomotor policies via partial denoising
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ActionCache: Training-Free Acceleration for Vision-Language-Action Models with Action Caching and Refinement
A training-free cache of intermediate actions, retrieved by random-projected VLM embeddings, cuts flow-based VLA action-head latency up to 40× in tests while keeping success rates near base-model levels.