EfficientVLA: Training-Free Acceleration and Compression for Vision-Language-Action Models

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive inherent and inference-time redundancies. While existing acceleration efforts often target isolated inefficiencies, such piecemeal solutions typically fail to holistically address the varied computational and memory bottlenecks across the entire VLA pipeline, thereby limiting practical deployability. We introduce EfficientVLA, a structured and training-free inference acceleration framework that systematically eliminates these barriers by cohesively exploiting multifaceted redundancies. EfficientVLA synergistically integrates three targeted strategies: (1) pruning of functionally inconsequential layers from the language module, guided by an analysis of inter-layer redundancies; (2) optimizing the visual processing pathway through a task-aware strategy that selects a compact, diverse set of visual tokens, balancing task-criticality with informational coverage; and (3) alleviating temporal computational redundancy within the iterative diffusion-based action head by strategically caching and reusing key intermediate features. We apply our method to a standard VLA model CogACT, yielding a 1.93X inference speedup and reduces FLOPs to 28.9%, with only a 0.6% success rate drop in the SIMPLER benchmark.

DRUPI: Dataset Reduction Using Privileged Information

Dataset reduction (DR) seeks to select or distill samples from large datasets into smaller subsets while preserving performance on target tasks. Existing methods primarily focus on pruning or synthesizing data in the same format as the original dataset, typically the input data and corresponding labels. However, in DR settings, we find it is possible to synthesize more information beyond the data-label pair as an additional learning target to facilitate model training. In this paper, we introduce Dataset Reduction Using Privileged Information (DRUPI), which enriches DR by synthesizing privileged information alongside the reduced dataset. This privileged information can take the form of feature labels or attention labels, providing auxiliary supervision to improve model learning. Our findings reveal that effective feature labels must balance between being overly discriminative and excessively diverse, with a moderate level proving optimal for improving the reduced dataset's efficacy. Extensive experiments on ImageNet, CIFAR-10/100, and Tiny ImageNet demonstrate that DRUPI integrates seamlessly with existing dataset reduction methods, offering significant performance gains.

Not All Samples Should Be Utilized Equally: Towards Understanding and Improving Dataset Distillation

Dataset Distillation (DD) aims to synthesize a small dataset capable of performing comparably to the original dataset. Despite the success of numerous DD methods, theoretical exploration of this area remains unaddressed. In this paper, we take an initial step towards understanding various matching-based DD methods from the perspective of sample difficulty. We begin by empirically examining sample difficulty, measured by gradient norm, and observe that different matching-based methods roughly correspond to specific difficulty tendencies. We then extend the neural scaling laws of data pruning to DD to theoretically explain these matching-based methods. Our findings suggest that prioritizing the synthesis of easier samples from the original dataset can enhance the quality of distilled datasets, especially in low IPC (image-per-class) settings. Based on our empirical observations and theoretical analysis, we introduce the Sample Difficulty Correction (SDC) approach, designed to predominantly generate easier samples to achieve higher dataset quality. Our SDC can be seamlessly integrated into existing methods as a plugin with minimal code adjustments. Experimental results demonstrate that adding SDC generates higher-quality distilled datasets across 7 distillation methods and 6 datasets.