FastOPD: On-Policy Distillation for Lightweight VLA Deployment
Vision-Language-Action (VLA) foundation models have scaled rapidly to enhance manipulation performance and generalizability, but this scaling incurs high computational costs that render real-world deployment increasingly challenging. Existing approaches typically mitigate this issue by designing smaller architectures or reducing the iterative denoising steps in flow-based policies. In this work, we propose FastOPD, a foundation-to-lightweight VLA framework that enables the practical deployment of large-scale VLAs through efficient on-policy distillation. Specifically, FastOPD adapts a flow map for single-state teacher supervision and combines it with a self-consistency objective to constr...
| Authors | Yoojin Oh, Jeongsol Kim, Yeonwoo Seo et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 October 2026 |
| Last updated at source | 2 October 2026 |
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