SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation

arXiv:2609.20648 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-18

Terminology

• Ablation — 7× in this paper · explained in 1 episode
• Benchmark — 4× in this paper · explained in 2 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Distribution Shift — 2× in this paper · explained in 5 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency Distillation — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Hybrid Approach — 1× in this paper · explained in 4 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• A Dual Process VLA: Efficient Robotic Manipulation Leveraging VLM
• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
• Qwen3-VL Technical Report
• Gemma 4 Technical Report
• Training-Time Action Conditioning for Efficient Real-Time Chunking
• Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation
• StreamVLA: Breaking the Reason-Act Cycle via Completion-State Gating
• LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies
• Make Your VLA More Robust Without More Data By Interleaving Motion Planning
• Fast Segment Anything
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• MolmoAct2: Action Reasoning Models for Real-world Deployment

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