2D or 3D: Who Governs Salience in VLA Models? -- Tri-Stage Token Pruning Framework with Modality Salience Awareness

Zihao Zheng, Sicheng Tian, Zhihao Mao +8

Vision-Language-Action (VLA) models have emerged as the mainstream of embodied intelligence. Recent VLA models have expanded their input modalities from 2D-only to 2D+3D paradigms,…