SPAR: Structural Pruning and Action Recovery for Vision-Language-Action Models
The limited onboard computing resources of robots make the inference demands of vision-language-action (VLA) models costly to accommodate. Reducing these demands through aggressive compression, however, can degrade manipulation performance beyond what supervised fine-tuning alone recovers. We present SPAR (Structural Pruning and Action Recovery), which simultaneously prunes the hidden and feed-forward intermediate dimensions of the large language model (LLM) backbone through pruning-aware tuning, then applies reinforcement learning (RL) to recover policy performance. Applied to $π_{0.5}$, SPAR reduces the language backbone from 2.34B to 0.09B parameters and the full model from 3.37B to 1....
| Authors | Shenli Zheng, Zhou Fang, Yuan Du et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 October 2026 |
| Last updated at source | 19 October 2026 |
Popularity, last 2 days
0 now. Counts as reported by the source, snapshotted daily by Silytics.
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 21 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.