ActionCache: Training-Free Acceleration for Vision-Language-Action Models with Action Caching and Refinement

Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations. In particular, flow-matching-based VLA models have shown remarkable success due to their capability to generate precise and smooth action sequences and capture multimodal distributions. However, the iterative denoising process in the action head acts as a major computational bottleneck, posing a critical challenge for real-time deployment. To address this challenge, we propose ActionCache, a plug-and-play external cache that opportunistically reuses past intermediate actions to warm-start generations from the vicinity of target actions, drastically reducing the inference latency. Specifically, ActionCache stores the intermediate actions with compact multimodal keys, which enables retrieval from similar past contexts across different episodes or even different tasks. Experimental results in simulation and real-world environments demonstrate that ActionCache maintains high task success rates in a low-latency regime, achieving action head inference acceleration of up to 10.44× and 40.17× for representative flow-based VLA, π0.5 and GR00T-N1.6, respectively.