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pith:DKPGSYAD

pith:2026:DKPGSYAD5IVKJS3PMMVH5Q535J

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FASTER: Rethinking Real-Time Flow VLAs

Hengshuang Zhao, Jinghua Hou, Junyi Li, Kaixin Ding, Xianzhe Fan, Yuxiang Lu, Zhe Liu, Zhenya Yang

A Horizon-Aware Schedule lets flow-based VLAs complete the first action's denoising in one step instead of many while keeping the full trajectory intact.

arxiv:2603.19199 v3 · 2026-03-19 · cs.RO · cs.CV

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Claims

C1strongest claim

By introducing a Horizon-Aware Schedule, FASTER adaptively prioritizes near-term actions during flow sampling, compressing the denoising of the immediate reaction by tenfold into a single step, while preserving the quality of long-horizon trajectory.

C2weakest assumption

The assumption that adaptively prioritizing near-term denoising steps will preserve long-horizon trajectory quality without introducing artifacts or instability that would appear only under real-world dynamics or longer horizons.

C3one line summary

FASTER uses a horizon-aware flow sampling schedule to compress immediate-action denoising to one step, slashing effective reaction latency in real-robot VLA deployments.

Formal links

2 machine-checked theorem links

Cited by

4 papers in Pith

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DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors

LiteVLA-H: Dual-Rate Vision-Language-Action Inference for Onboard Aerial Guidance and Semantic Perception

Receipt and verification

First computed	2026-05-20T00:03:08.754025Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1a9e696003ea2aa4cb6f632a7ec3bbea76d35a76b96435f4454c2af3572d1228

Aliases

arxiv: 2603.19199 · arxiv_version: 2603.19199v3 · doi: 10.48550/arxiv.2603.19199 · pith_short_12: DKPGSYAD5IVK · pith_short_16: DKPGSYAD5IVKJS3P · pith_short_8: DKPGSYAD

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/DKPGSYAD5IVKJS3PMMVH5Q535J \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 1a9e696003ea2aa4cb6f632a7ec3bbea76d35a76b96435f4454c2af3572d1228

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e9f73270e568511e52ac114db4d27f2a5bdc7ea37588b2c8064d0d8b83947353",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-19T17:51:37Z",
    "title_canon_sha256": "62508d17d8406a6ad8e41bf726708e938bd44827a29fd05b0a99e92ada62a09c"
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  "source": {
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    "kind": "arxiv",
    "version": 3
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}