Test-time sparsity with a parallel pipeline and omnidirectional feature reuse accelerates action diffusion by 5x to 47.5 Hz while cutting FLOPs 92% with no performance loss.
Block-wise Adaptive Caching for Accelerating Diffusion Policy
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abstract
Diffusion Policy has demonstrated strong visuomotor modeling capabilities, but its high computational cost renders it impractical for real-time robotic control. Despite huge redundancy across repetitive denoising steps, existing diffusion acceleration techniques fail to generalize to Diffusion Policy due to fundamental architectural and data divergences. In this paper, we propose $\textbf{B}$lock-wise $\textbf{A}$daptive $\textbf{C}$aching ($\textbf{BAC}$), a method to accelerate Diffusion Policy by caching intermediate action features. BAC achieves lossless action generation acceleration by adaptively updating and reusing cached features at the block level, based on a key observation that feature similarities exhibit non-uniform temporal dynamics and distinct block-specific patterns. To operationalize this insight, we first design an Adaptive Caching Scheduler to identify optimal update timesteps by maximizing the global feature similarities between cached and skipped features. However, applying this scheduler for each block leads to significant error surges due to the inter-block propagation of caching errors, particularly within Feed-Forward Network (FFN) blocks. To mitigate this issue, we develop the Bubbling Union Algorithm, which truncates these errors by updating the upstream blocks with significant caching errors before downstream FFNs. As a training-free plugin, BAC is readily integrable with existing transformer-based Diffusion Policy and vision-language-action models. Extensive experiments on multiple robotic benchmarks demonstrate that BAC achieves up to 3$\times$ inference speedup for free. Project page: https://block-wise-adaptive-caching.github.io.
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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.
Sparse ActionGen accelerates diffusion policies up to 4x for robot control via rollout-adaptive pruning and zig-zag activation reuse without performance loss.
This survey organizes large VLM-based VLA models for robotic manipulation into monolithic and hierarchical paradigms, reviews their integrations and datasets, and outlines future directions.
citing papers explorer
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Test-time Sparsity for Extreme Fast Action Diffusion
Test-time sparsity with a parallel pipeline and omnidirectional feature reuse accelerates action diffusion by 5x to 47.5 Hz while cutting FLOPs 92% with no performance loss.
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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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Sparse ActionGen: Accelerating Diffusion Policy with Real-time Pruning
Sparse ActionGen accelerates diffusion policies up to 4x for robot control via rollout-adaptive pruning and zig-zag activation reuse without performance loss.
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Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey
This survey organizes large VLM-based VLA models for robotic manipulation into monolithic and hierarchical paradigms, reviews their integrations and datasets, and outlines future directions.