Habilis-${\hat{I}}^2$: A Fast-Motion and Long-Lasting On-Device Vision-Language-Action Model

Abstract

We introduce Habilis-${\hat{I}}^2$, a fast-motion and long-lasting on-device vision-language-action (VLA) model designed for real-world deployment. Current VLA evaluation remains largely confined to single-trial success rates under curated resets, which fails to capture the fast-motion and long-lasting capabilities essential for practical operation. To address this, we introduce the Productivity-Reliability Plane (PRP), which evaluates performance through Tasks per Hour (TPH) and Mean Time Between Intervention (MTBI) under a continuous-run protocol that demands both high-speed execution and sustained robustness. Habilis-${\hat{I}}^2$ achieves high performance by integrating language-free pre-training on large-scale play data for robust interaction priors with post-training on cyclic task demonstrations that capture state drift across consecutive task iterations. The system further employs ESPADA for phase-adaptive motion shaping to accelerate free-space transit, utilizes rectified-flow distillation to enable high-frequency control on edge devices, and incorporates classifier-free guidance (CFG) as a deployment-time knob to dynamically balance instruction adherence and learned interaction priors. In 1-hour continuous-run evaluations, Habilis-${\hat{I}}^2$ achieves strong performance under the PRP metrics, compared to $\ddot{I}{€}_{0.5}$ in both simulation and real-world environments. In simulation, Habilis-${\hat{I}}^2$ achieves 572.6 TPH and 39.2 s MTBI (vs. 120.5 TPH and 30.5 s for $\ddot{I}{€}_{0.5}$), while in a real-world humanoid logistics workflow it achieves 124 TPH and 137.4 s MTBI (vs. 19 TPH and 46.1 s for $\ddot{I}{€}_{0.5}$). Finally, Habilis-${\hat{I}}^2$ achieves the highest reported performance on the standard RoboTwin 2.0 leaderboard across representative tasks, validating its effectiveness in complex manipulation scenarios.