Fewer Steps, Better Actions: Rethinking Flow-Matching Inference for VLA Policies

arXiv:2609.21216 · cs.RO, cs.AI · Submitted 2026-09-18 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-18

Updated: 2026-09-18

Comments: 15 pages, 6 figures, 7 tables

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Flow Matching — 1× in this paper · explained in 8 episodes
• Transformer — 1× in this paper · explained in 2 episodes

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