Test-time sparsity with a parallel pipeline and omnidirectional feature reuse accelerates action diffusion by 5x to 47.5 Hz while cutting FLOPs 92% with no performance loss.
Dita: Scaling diffusion transformer for generalist vision-language-action policy
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UniSteer unifies human corrective actions and noise-space RL for VLA adaptation by inverting actions to noise targets, raising success rates from 20% to 90% in 66 minutes across four real-world manipulation tasks.
A retrieve-then-steer method stores successful robot actions in memory and uses them to steer a frozen VLA's flow-matching sampler for better test-time reliability without parameter updates.
citing papers explorer
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Test-time Sparsity for Extreme Fast Action Diffusion
Test-time sparsity with a parallel pipeline and omnidirectional feature reuse accelerates action diffusion by 5x to 47.5 Hz while cutting FLOPs 92% with no performance loss.
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Unified Noise Steering for Efficient Human-Guided VLA Adaptation
UniSteer unifies human corrective actions and noise-space RL for VLA adaptation by inverting actions to noise targets, raising success rates from 20% to 90% in 66 minutes across four real-world manipulation tasks.
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Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs
A retrieve-then-steer method stores successful robot actions in memory and uses them to steer a frozen VLA's flow-matching sampler for better test-time reliability without parameter updates.