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In this paper, we show how to run pi0-level multi-view VLA at 30Hz frame rate and at most 480Hz trajectory frequency using a single consumer GPU.
Support vector machines
Marti A. Hearst, Susan T Dumais, Edgar Osuna, John Platt, and Bernhard Scholkopf · 1998
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Gradient-based learning applied to document recognition
Yann LeCun, Léon Bottou, Yoshua Bengio, and Patrick Haffner · 2002
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Outrageously large neural networks: The sparsely-gated mixture-of-experts layer
Noam Shazeer, Azalia Mirhoseini, Krzysztof Maziarz, Andy Davis, Quoc Le, Geoffrey Hinton, and Jeff Dean · 2017
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Tvm: end-to-end optimization stack for deep learning
Tianqi Chen, Thierry Moreau, Ziheng Jiang, Haichen Shen, Eddie Q Yan, Leyuan Wang, Yuwei Hu, Luis Ceze, Carlos Guestrin, and Arvind Krishnamurthy · 2018
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Sigmoid-weighted linear units for neural network function approximation in reinforcement learning
Stefan Elfwing, Eiji Uchibe, and Kenji Doya · 2018
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Triton: an intermediate language and compiler for tiled neural network computations
Philippe Tillet, Hsiang-Tsung Kung, and David Cox · 2019
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Root mean square layer normalization
Biao Zhang and Rico Sennrich · 2019
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Xla: Compiling machine learning for peak performance, 2020
Amit Sabne · 2020
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Flashattention: Fast and memory-efficient exact attention with io-awareness
Tri Dao, Dan Fu, Stefano Ermon, Atri Rudra, and Christopher Ré · 2022
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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Flash-decoding for long-context inference
Tri Dao, Daniel Haziza, Francisco Massa, and Grigory Sizov · 2023
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Cutlass: Cuda templates for linear algebra subroutines., 2023
NVIDIA · 2023
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Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
pi-0: A vision-language-action flow model for general robot control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
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Roformer: Enhanced transformer with rotary position embedding
Jianlin Su, Murtadha Ahmed, Yu Lu, Shengfeng Pan, Wen Bo, and Yunfeng Liu · 2024
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Gemma: Open models based on gemini research and technology
Gemma Team, Thomas Mesnard, Cassidy Hardin, Robert Dadashi, Surya Bhupatiraju, Shreya Pathak, Laurent Sifre, Morgane Rivière, Mihir Sanjay Kale, Juliette Love, et al · 2024
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Memoryvla: Perceptual-cognitive memory in vision-language-action models for robotic manipulation
Hao Shi, Bin Xie, Yingfei Liu, Lin Sun, Fengrong Liu, Tiancai Wang, Erjin Zhou, Haoqiang Fan, Xiangyu Zhang, and Gao Huang · 2025
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Paligemma: A versatile 3b vlm for transfer
Lucas Beyer, Andreas Steiner, André Susano Pinto, Alexander Kolesnikov, Xiao Wang, Daniel Salz, Maxim Neumann, Ibrahim Alabdulmohsin, Michael Tschannen, Emanuele Bugliarello, et al · 2024
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pi-0.5: a vision-language-action model with open-world generalization
Kevin Black, Noah Brown, et al
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Real-time execution of action chunking flow policies
Kevin Black, Manuel Y Galliker, and Sergey Levine
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Nvidia tensorrt programmable inference accelerator
NVIDIA Developer
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Mirage: A
Mengdi Wu, Xinhao Cheng, Shengyu Liu, Chunan Shi, Jianan Ji, Man Kit Ao, Praveen Velliengiri, Xupeng Miao, Oded Padon, and Zhihao Jia
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Lin Sun, Bin Xie, Yingfei Liu, Hao Shi, Tiancai Wang, and Jiale Cao · 2025
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Neptune: Advanced ml operator fusion for locality and parallelism on gpus
Yifan Zhao, Egan Johnson, Prasanth Chatarasi, Vikram Adve, and Sasa Misailovic · 2025
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