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T3R: Training-Free Two-Stage Token Refinement Towards Efficient and Robust VLA Models

Hassan, Mohammed et al.
arXiv (All) · Papers
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computer-vision-and-pattern-recognitionrobotics
Vision-Language-Action (VLA) models enable end-to-end robot control, but inference is increasingly expensive. Each decision processes hundreds of visual tokens, often across multiple cameras, leading to substantial computation while allowing irrelevant background content to distract action predictio
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