mlsanityData to 14 Oct 2026

VOTE: Vision-Language-Action Optimization with Trajectory Ensemble Voting

arXiv 2507.05116 ↗First posted 7 Jul 2025cs.CV cs.AI cs.ROcited by 22

On the map: Vision-language-action models → Generalist VLA models and benchmarks

Abstract (arXiv)

Recent large-scale Vision Language Action (VLA) models have shown superior performance in robotic manipulation tasks guided by natural language. However, current VLA models suffer from two drawbacks: (i) generation of massive tokens leading to high inference latency and increased training cost, and (ii) insufficient utilization of generated actions resulting in potential performance loss. To address these issues, we develop a training framework to finetune VLA models for generating significantly fewer action tokens with high parallelism, effectively reducing inference latency and training cost. Furthermore, we introduce an inference optimization technique with a novel voting-based ensemble strategy to combine current and previous action predictions, improving the utilization of generated actions and overall performance. Our results demonstrate that we achieve superior performance compared with state-of-the-art VLA models, achieving significantly higher success rates and 39× faster inference than OpenVLA with 46 Hz throughput on edge platforms, demonstrating practical deployability. The code is available at https://github.com/LukeLIN-web/VOTE.

Key facts. Cited by 22 papers in the map (data through 14 Oct 2026). Placed in Generalist VLA models and benchmarks, one of 13 directions in Vision-language-action models. Builds on 42 of its 52 references that are in the map. First posted on arXiv 7 Jul 2025.

Builds on

42 of 52 references.

Closest ancestors · 8

Same direction, newest first

  1. 2025OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction5 Mar
  2. 2025Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success27 Feb
  3. 2025HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation8 Feb
  4. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation29 Nov
  5. 2024π0: A Vision-Language-Action Flow Model for General Robot Control31 Oct
  6. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation19 Sep
  7. 2024OpenVLA: An Open-Source Vision-Language-Action Model13 Jun
  8. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control28 Jul

Other references · 34

  1. 2021LoRA: Low-Rank Adaptation of Large Language Modelscited by 14,380
  2. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  3. 2023PaLM-E: An Embodied Multimodal Language Modelcited by 2,071
  4. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  5. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  6. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  7. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,410
  8. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 862
  9. 2024PaliGemma: A versatile 3B VLM for transfercited by 696
  10. 2025FAST: Efficient Action Tokenization for Vision-Language-Action Modelscited by 665
  11. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 657
  12. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 519
22 more
  1. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 495
  2. 2023Vision-Language Foundation Models as Effective Robot Imitatorscited by 349
  3. 2024Prismatic VLMs: Investigating the Design Space of Visually-Conditioned Language Modelscited by 339
  4. 2024TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policiescited by 304
  5. 2023PaLI-X: On Scaling up a Multilingual Vision and Language Modelcited by 255
  6. 2025Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Modelscited by 221
  7. 2023RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shotcited by 183
  8. 2024DeeR-VLA: Dynamic Inference of Multimodal Large Language Models for Efficient Robot Executioncited by 117
  9. 2025Efficient Reasoning with Hidden Thinkingcited by 75
  10. 2024LazyDiT: Lazy Learning for the Acceleration of Diffusion Transformerscited by 37
  11. 2024From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Controlcited by 35
  12. 2024Exploring Token Pruning in Vision State Space Modelscited by 28
  13. 2024Numerical Pruning for Efficient Autoregressive Modelscited by 25
  14. 2025DraftAttention: Fast Video Diffusion via Low-Resolution Attention Guidancecited by 22
  15. 2024Pruning Foundation Models for High Accuracy without Retrainingcited by 20
  16. 2025ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstrationcited by 20
  17. 2024Rethinking Token Reduction for State Space Modelscited by 15
  18. 2024Search for Efficient Large Language Modelscited by 14
  19. 2024Fast and Memory-Efficient Video Diffusion Using Streamlined Inferencecited by 14
  20. 2025FastCar: Cache Attentive Replay for Fast Auto-Regressive Video Generation on the Edgecited by 10
  21. 2025QuartDepth: Post-Training Quantization for Real-Time Depth Estimation on the Edgecited by 8
  22. 2025ALTER: All-in-One Layer Pruning and Temporal Expert Routing for Efficient Diffusion Generationcited by 4

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 6; 2026: 16.

22 papers.

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By area:

  1. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Surveycited by 69
  2. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 49
  3. 2025A Survey on Efficient Vision-Language-Action Modelscited by 34
  4. 2025Efficient Vision-Language-Action Models for Embodied Manipulation: A Systematic Surveycited by 26
  5. 2026A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulationcited by 22
  6. 2026Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Modelscited by 22
  7. 2026Flash-WAM: Modality-Aware Distillation for World Action Modelscited by 19
  8. 2025I-FailSense: Towards General Robotic Failure Detection with Vision-Language Modelscited by 12
  9. 2026Self-Evolving Embodied Agents via Skill-Harness Evolutioncited by 12
  10. 2026ROCKET: Residual-Oriented Multi-Layer Alignment for Spatially-Aware Vision-Language-Action Modelscited by 11
  11. 2025Cross-Platform Scaling of Vision-Language-Action Models from Edge to Cloud GPUscited by 8
  12. 2026AC^2-VLA: Action-Context-Aware Adaptive Computation in Vision-Language-Action Models for Efficient Robotic Manipulationcited by 6
10 more
  1. 2026PhyWorld: Physics-Faithful World Model for Video Generationcited by 6
  2. 2026Human Cognition in Machines: A Unified Perspective of World Modelscited by 5
  3. 2026Dual Latent Memory in Vision-Language-Action Models for Robotic Manipulationcited by 4
  4. 2026QuoVLA: Quotient Space for Vision-Language-Action Modelscited by 2
  5. 2026AnchorRefine: Synergy-Manipulation Based on Trajectory Anchor and Residual Refinement for Vision-Language-Action Modelscited by 1
  6. 2026Hydra: Phase-Aware Workload Characterization of LLM Inference across Edge SoC Generations, Backends, and Quantization Levelscited by 1
  7. 2026Mechanistic Interpretability of Structure-Aware Numerical Reasoning in LLaMA 3.1 8Bcited by 0
  8. 2026From Retrieved Context to Runtime Control: Adaptive Compression for Edge-based RAGcited by 0
  9. 2026Albireo: Adaptive, Energy-Efficient Inference Framework for Video Object Detection on the Edgecited by 0
  10. 2026LEAP: Learned Block-wise Evidence Retrieval for Long Audio-Video Perceptioncited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models
  2. 2025VLA-0: Building State-of-the-Art VLAs with Zero Modification
  3. 2025VLA-Adapter: An Effective Paradigm for Tiny-Scale Vision-Language-Action Model
  4. 2026Reshaping Action Error Distributions for Reliable Vision-Language-Action Models
  5. 2025PD-VLA: Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding
  6. 2026Learning to Accelerate Vision-Language-Action Models through Adaptive Visual Token Caching
  7. 2024Benchmarking Vision, Language, & Action Models on Robotic Learning Tasks
  8. 2026A1: A Fully Transparent Open-Source, Adaptive and Efficient Truncated Vision-Language-Action Model