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cs.RO2026
G0.5: One Autoregressive Stream for Robot Reasoning and Action
Yicheng Liu, Zibin Dong, Baijun Ye +24
The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert. This makes the VLM a context encoder r…
cs.RO2026
Realtime-VLA FLASH: Speculative Inference Framework for Diffusion-based VLAs
Jiahui Niu, Kefan Gu, Yucheng Zhao +5
Diffusion-based vision-language-action models (dVLAs) are promising for embodied intelligence but are fundamentally limited in real-time deployment by the high latency of full infe…