FASTER: Rethinking Real-Time Flow VLAs
Real-time execution is crucial for deploying Vision-Language-Action (VLA) models in the physical world. Existing asynchronous inference methods primarily optimize trajectory smoothness, but neglect the critical latency in reacting to environmental changes. By rethinking the notion of reaction in action chunking policies, this paper presents a systematic analysis of the factors governing reaction time. We show that reaction time follows a uniform distribution determined jointly by the Time to First Action (TTFA) and the execution horizon. Moreover, we reveal that the standard practice of applying a constant schedule in flow-based VLAs can be inefficient and forces the system to complete al...
| Authors | Yuxiang Lu, Zhe Liu, Xianzhe Fan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 March 2026 |
| Last updated at source | 16 May 2026 |
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