PD-VLA: Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding

Understand

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation.

• The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control.
• However, action chunking linearly scales up action dimensions in VLA models with increased chunking sizes.
• This reduces the inference efficiency.