Preprint Open access
Toward Real-Time VLAs: Stage-Aware Two-Step Flow Denoising and System-Level Evaluation
Vision-language-action (VLA) models face a timing gap between low-rate inference and high-rate robot execution. We characterize this gap through end-to-end latency measurements of model inference and the robot execution chain. Repeated Flow Matching denoising contributes substantially to inference cost, while robot-sid …