Author

Jiaqi Pi

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Preprint Oct 2026

VLA-ACL: Action-Consistent Visual Token Pruning for Efficient Vision-Language-Action Models

Vision-Language-Action (VLA) models achieve strong robotic manipulation performance but incur high computational costs from processing long token sequences at every control step, limiting real-time deployment. Visual token pruning offers a direct solution, as visual patches dominate the input sequence and contain consi...

Owen Du, Yang Yue, Jie Zhang et al. · 0 citations

Jul 2026

Self-Evolving Learning for Embodied AI with Criticality Model

This work proposes a self-evolving method that reduces failure rates by 51--67% relative to trained baselines and by 8-25% relative to state-of-the-art vision-language-action models after replacing redundant nominal scenarios with diverse failure-prone ones.

Linxuan He, Yuying Tian, Ling-Xiang Fan et al. · arXiv.org · 0 citations