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The paper introduces rMuscle, a real‑time Vision‑Language‑Action inference framework that mimics human muscle memory to accelerate robotic decision making. By exploiting repeated task similarity, rMuscle uses a dual‑phase cache: a Context Cache reuses visual‑token outputs and an Action Cache reuses neuron activation patterns, reducing computation and weight accesses. Experiments on RTX 4090 and Jetson Thor show 1.29–1.42× speedups on LIBERO, RoboTwin, and physical manipulation tasks while preserving success rates on real robots.
arXiv:2607. 06370v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations.
Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations. In particular, flow matching-based VLA models have shown remarkable success due to their capability to generate precise and smooth action sequences and capture multimodal distributions.
arXiv:2607. 06370v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations.
arXiv:2606. 09572v1 Announce Type: cross Abstract: Vision-language-action models have shown strong promise for robot manipulation, yet raw language is primarily needed to specify task intent rather than to be repeatedly processed during high-frequency low-level execution.
arXiv:2609.22684v1 Announce Type: cross Abstract: Memory-dependent robotic manipulation often requires later actions to use information from earlier interactions. Existing vision-language-action (VLA...