Research
Running VLAs at Real-time Speed
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. This enables dynamic and real-time tasks that were pre
- arXiv
- 2510.26742
- Published
- 2025-10-30
- Authors
- Yunchao Ma, Yizhuang Zhou, Yunhuan Yang, Tiancai Wang, Haoqiang Fan
Authors’ abstract
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. This enables dynamic and real-time tasks that were previously believed to be unattainable by large VLA models. To achieve it, we introduce a bag of strategies to eliminate the overheads in model inference. The real-world experiment shows that the pi0 policy with our strategy achieves a 100% success rate in grasping a falling pen task. Based on the results, we further propose a full streaming inference framework for real-time robot control of VLA. Code is available at https://github.com/Dexmal/realtime-vla.