# A Survey on Efficient Vision-Language-Action Models

arXiv: https://arxiv.org/abs/2510.24795 · HTML: https://mlsanity.com/paper/2510.24795/

## Key facts

- Cited by 34 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 177 of its 247 references that are in the map.
- First posted on arXiv 27 Oct 2025.

## Placed in

- Vision-language-action models / [Generalist VLA models and benchmarks](https://mlsanity.com/vla/generalist-vla-models-and-benchmarks/)

## Builds on (most cited first, 30 of 177)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [FlashAttention: Fast and Memory-Efficient Exact Attention with IO-Awareness](https://mlsanity.com/paper/2205.14135/) (2022)
- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [Sigmoid Loss for Language Image Pre-Training](https://mlsanity.com/paper/2303.15343/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)

## Built on by (most cited first, 30 of 34)

- [VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer](https://mlsanity.com/paper/2512.11891/) (2025)
- [Fast-ThinkAct: Efficient Vision-Language-Action Reasoning via Verbalizable Latent Planning](https://mlsanity.com/paper/2601.09708/) (2026)
- [FASTER: Rethinking Real-Time Flow VLAs](https://mlsanity.com/paper/2603.19199/) (2026)
- [How Fast Can I Run My VLA? Demystifying VLA Inference Performance with VLA-Perf](https://mlsanity.com/paper/2602.18397/) (2026)
- [Bridging the Semantic-Action Gap in Visual Token Pruning for Efficient VLA Inference](https://mlsanity.com/paper/2511.16449/) (2025)
- [SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model](https://mlsanity.com/paper/2604.19710/) (2026)
- [Vision-Language-Action Safety: Threats, Challenges, Evaluations, and Mechanisms](https://mlsanity.com/paper/2604.23775/) (2026)
- [Token Expand-Merge: Training-Free Token Compression for Vision-Language-Action Models](https://mlsanity.com/paper/2512.09927/) (2025)
- [Characterizing Vision-Language-Action Models across XPUs: Constraints and Acceleration for On-Robot Deployment](https://mlsanity.com/paper/2604.24447/) (2026)
- [TS-DP: Reinforcement Speculative Decoding For Temporal Adaptive Diffusion Policy Acceleration](https://mlsanity.com/paper/2512.15773/) (2025)
- [Less Is More -- Until It Breaks: Security Pitfalls of Vision Token Compression in Large Vision-Language Models](https://mlsanity.com/paper/2601.12042/) (2026)
- [RAPID: Redundancy-Aware and Compatibility-Optimal Edge-Cloud Partitioned Inference for Diverse VLA Models](https://mlsanity.com/paper/2603.07949/) (2026)
- [vla.cpp: A Unified Inference Runtime for Vision-Language-Action Models](https://mlsanity.com/paper/2606.08094/) (2026)
- [ProbeFlow: Training-Free Adaptive Flow Matching for Vision-Language-Action Models](https://mlsanity.com/paper/2603.17850/) (2026)
- [Jetson-PI: Towards Onboard Real-Time Robot Control via Foresight-Aligned Asynchronous Inference](https://mlsanity.com/paper/2607.12659/) (2026)
- [SimpleTool: Parallel Decoding for Real-Time LLM Function Calling](https://mlsanity.com/paper/2603.00030/) (2026)
- [Dynamic Execution Commitment of Vision-Language-Action Models](https://mlsanity.com/paper/2605.11567/) (2026)
- [ElegantVLA: Learning When to Think for Efficient Vision-Language-Action Models](https://mlsanity.com/paper/2605.29438/) (2026)
- [Before Parc Ferm'e: RL-Time Pruning for Efficient Embodied LLMs in Autonomous Driving](https://mlsanity.com/paper/2605.31256/) (2026)
- [PolicyTrim: Boosting Intrinsic Policy Efficiency of Vision-Language-Action Models](https://mlsanity.com/paper/2606.22540/) (2026)
- [Revisiting Parameter Redundancy in Vision-Language-Action Models: Insights from VLM-to-VLA Adaptation](https://mlsanity.com/paper/2606.31382/) (2026)
- [DepthCache: Depth-Guided Training-Free Visual Token Merging for Vision-Language-Action Model Inference](https://mlsanity.com/paper/2603.10469/) (2026)
- [Beyond Attention Magnitude: Leveraging Inter-layer Rank Consistency for Efficient Vision-Language-Action Models](https://mlsanity.com/paper/2603.24941/) (2026)
- [UniFS: Unified Fast-to-Slow Hierarchical Architecture for Vision-Language-Action Models](https://mlsanity.com/paper/2606.22794/) (2026)
- [FibVLA: An Efficient Temporal Vision-Language-Action Model with Fibonacci Sampling](https://mlsanity.com/paper/2607.29596/) (2026)
- [Terminal Agents: A Survey of AI Agents in Command-Line Environments](https://mlsanity.com/paper/2608.20485/) (2026)
- [M2-VLA: Boosting Vision-Language Models for Generalizable Manipulation via Layer Mixture and Meta-Skills](https://mlsanity.com/paper/2604.24182/) (2026)
- [Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation](https://mlsanity.com/paper/2606.00966/) (2026)
- [Efficient Vision-Language-Action Management and Serving for Robot Factories](https://mlsanity.com/paper/2609.12075/) (2026)
- [Recovering Aggressively Pruned Vision-Language-Action Models with Offline Hidden-State Distillation](https://mlsanity.com/paper/2609.19579/) (2026)

## Abstract (arXiv)

Vision-Language-Action models (VLAs) represent a significant frontier in embodied intelligence, aiming to bridge digital knowledge with physical-world interaction. Despite their remarkable performance, foundational VLAs are hindered by the prohibitive computational and data demands inherent to their large-scale architectures. To this end, recent studies improve VLA efficiency from different views, e.g., real-time inference, training computation, and scalable data collection. However, these efforts are mostly studied separately. A unified view is still missing for understanding how efficiency should be optimized across the full VLA lifecycle. To bridge this gap, this survey presents the first comprehensive review of Efficient Vision-Language-Action models (Efficient VLAs) across the entire model-training-data pipeline. Specifically, we introduce a unified taxonomy to systematically organize the disparate efforts in this domain, categorizing current techniques into three core pillars: (1) Efficient Model Design, focusing on efficient architectures and model compression; (2) Efficient Training, which reduces computational burdens during model learning; and (3) Efficient Data Collection, which addresses the bottlenecks in acquiring and utilizing robotic data. Through a critical review of state-of-the-art methods within this framework, this survey provides an organized reference for the community and summarizes representative applications, delineates key challenges, and charts a roadmap for future research. We maintain a continuously updated project page to track our latest developments: https://evla-survey.github.io/.