# Reducing Temporal Redundancy for Efficient Vision-Language-Action Inference

arXiv: https://arxiv.org/abs/2607.12287 · HTML: https://mlsanity.com/paper/2607.12287/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Efficient VLA inference and adaptation, one of 13 directions in Vision-language-action models.
- Builds on 36 of its 42 references that are in the map.
- First posted on arXiv 14 Jul 2026.

## Placed in

- Vision-language-action models / [Efficient VLA inference and adaptation](https://mlsanity.com/vla/efficient-vla-inference-and-adaptation/)

## Builds on (most cited first, 30 of 36)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications](https://mlsanity.com/paper/1704.04861/) (2017)
- [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)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [ShuffleNet: An Extremely Efficient Convolutional Neural Network for Mobile Devices](https://mlsanity.com/paper/1707.01083/) (2017)
- [Planning with Diffusion for Flexible Behavior Synthesis](https://mlsanity.com/paper/2205.09991/) (2022)
- [Token Merging: Your ViT But Faster](https://mlsanity.com/paper/2210.09461/) (2022)
- [Diffusion Models in Vision: A Survey](https://mlsanity.com/paper/2209.04747/) (2022)
- [DPM-Solver++: Fast Solver for Guided Sampling of Diffusion Probabilistic Models](https://mlsanity.com/paper/2211.01095/) (2022)
- [SnapKV: LLM Knows What You are Looking for Before Generation](https://mlsanity.com/paper/2404.14469/) (2024)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [A Survey on Visual Transformer](https://mlsanity.com/paper/2012.12556/) (2020)
- [TOFU: A Task of Fictitious Unlearning for LLMs](https://mlsanity.com/paper/2401.06121/) (2024)
- [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://mlsanity.com/paper/2506.18088/) (2025)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [SparseVLM: Visual Token Sparsification for Efficient Vision-Language Model Inference](https://mlsanity.com/paper/2410.04417/) (2024)
- [TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation](https://mlsanity.com/paper/2409.12514/) (2024)
- [X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model](https://mlsanity.com/paper/2510.10274/) (2025)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Multimodal Token Fusion for Vision Transformers](https://mlsanity.com/paper/2204.08721/) (2022)

## Built on by (most cited first, 1 of 1)

- [WAM-Cache: Staleness-Bounded KV Reuse for Efficient World Action Models](https://mlsanity.com/paper/2610.11401/) (2026)

## Abstract (arXiv)

Vision-Language-Action (VLA) models exhibit strong generalization for robotic manipulation, yet their high inference latency limits real time deployment. We identify two primary sources of temporal redundancy in existing VLA pipelines: repeated visual encoding of highly similar consecutive frames and multi step iterative sampling in diffusion based policies. To address this, we propose a system level acceleration strategy that reduces computation in both perception and action generation. On the perception side, we incrementally update only tokens corresponding to dynamic scene regions instead of re-encoding entire frames. On the policy side, we compress diffusion sampling into a compact 2-step schedule through efficiency oriented training while preserving action precision. Experiments on Libero, RobotWin, and Real Robot Platforms demonstrate over 2 times speedup while maintaining high performance, achieving up to 98% success rate on general manipulation benchmarks. Our codes will be released on Github.