Author

Michael Bi Mi

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Preprint Oct 2026

Fast-VLA: You Only Think Once for Robot Manipulation

Vision-language-action (VLA) policies commonly place a multi-billion-parameter model inside the feedback loop, repeatedly recomputing task context whenever they predict a new action chunk. Yet task understanding changes far more slowly than the robot state. We introduce Fast-VLA, which invokes a frozen 4B VLM once per...

Ke-Hong Gong, Guan-Ling Hou, Xiao-Xu Zheng et al. · 0 citations

#machine learning Preprint Oct 2026

DuoRate: Two-Rate Per-Expert Precision Allocation for Mixture-of-Experts Serving

Serving a Mixture-of-Experts (MoE) model pays for expert precision twice: the resident footprint pays for every expert the router can reach, while each batch-one decode step pays only for the experts it selects. These are two different rate functionals over the same per-expert widths, yet published per-expert MoE alloc...

Meng-Qi Guo, Zhe Wei, Yuan Yuan et al. · 0 citations