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arXiv AI By Kaijun Zhou, Zhiyang Li, Le Chen, Jinyu Gu

rMuscle: Robotic Muscle Memory for Efficient Vision-Language-Action Model Inference

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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.

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