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arXiv Machine Learning By Deyu Cao, Ryuji Oi, Kosuke Matsushima, Yuxuan Pan, Ziheng Wang, Daichi Fujiki, Atsutake Kosuge

VLA-ULAP: Interleaving Cloud VLA Calls with Ultra-Lightweight Local Action Prediction at the Edge

Read the original on arXiv Machine Learning →

The paper introduces VLA-ULAP, a lightweight local action predictor that interleaves remote vision–language–action (VLA) calls with on‑edge inference. ULAP, with only 7.4 M parameters, predicts action chunks in a single pass using current views, proprioception, and action history, eliminating the need for VLA hidden states or server round‑trips. Experiments on Jetson Orin Nano and simulated benchmarks show that VLA-ULAP can remove 48.8–76.7 % of VLA calls while preserving 95–97.5 % of baseline success, and it outperforms local VLA‑acceleration alternatives in both inference time and energy consumption.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Machine Learning.

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