Author

Kosuke Matsushima

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#machine learning Preprint Sep 2026

VLA-ULAP: Interleaving Cloud VLA Calls with Ultra-Lightweight Local Action Prediction at the Edge

VLA-ULAP partitions inference across decision times, interleaving remote VLA calls with predictions from an Ultra-Lightweight Local Action Predictor (ULAP), a single ULAP that combines current views, proprioception, and executed action history to predict chunks in one pass and surpasses local acceleration alternatives.

De-Yu Cao, Ryuji Oi, Kosuke Matsushima et al. · 0 citations

Preprint Jul 2026

ActionCache: Training-Free Acceleration for Vision-Language-Action Models with Action Caching and Refinement

This work proposes ActionCache, a plug-and-play external cache that opportunistically reuses past intermediate actions to warm-start generations from the vicinity of target actions, drastically reducing the inference latency.

Ryuji Oi, Hikari Otsuka, Kosuke Matsushima et al. · 3 citations