IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies — Paper

Abstract

Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task generalization. A leading design couples this backbone with a dedicated continuous action head trained via diffusion or flow matching. However, such heads rely on iterative multi-step sampling, for example 10 Euler steps in $\pi_{0.5}$. This creates an inference bottleneck that produces stop-and-go movement in the robot and slower task completion. We introduce IMLE-VLA, which replaces the iterative action head with a single-step conditional generator trained via conditional Implicit Maximum Likelihood Estimation (cIMLE). The cIMLE objective promotes multimodal action coverage, avoiding the mode collapse of naive regression heads while eliminating multi-step sampling entirely. When IMLE-VLA is applied to $\pi_{0.5}$, it increases inference frequency 3.67x (55 Hz vs. 15 Hz), enabling up to 11x higher action throughput. On the 40-task LIBERO benchmark, IMLE-VLA achieves the highest average success rate (98.0%) among all baselines while leading in inference frequency. Under the test-time perturbations of LIBERO-plus, IMLE-VLA retains $\pi_{0.5}$'s robustness while other baselines degrade sharply, confirming that the cIMLE head preserves generalization. Real-world experiments on a Franka Emika Panda across four tasks demonstrate smoother motion (2.2x to 3.0x lower jerk) and faster task completion, with IMLE-VLA outperforming $\pi_{0.5}$ on every task and reducing average VLA inference time per episode by 3.9x to 6.6x. Videos and code are available at https://kianhk6.github.io/IMLE-VLA/

Authors 10

Kian Hosseinkhani (Simon Fraser University), Qinhe Peng (University of Pennsylvania), George Shramko (Simon Fraser University), Mehran Aghabozorgi (Simon Fraser University), Jianing Qian (University of Pennsylvania), Tristan Engst (Simon Fraser University), Alireza Moazeni (Simon Fraser University), Dinesh Jayaraman (University of Pennsylvania), Ke Li (Simon Fraser University, Canada CIFAR AI Chair)

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Official page: arxiv.org/abs/2609.10915
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: cross
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2609.10915
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.RO, cs.CV
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2609.10915
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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T19

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2 h ago

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Authors: Kian Hosseinkhani (Simon Fraser University), Qinhe Peng (University of Pennsylvania), George Shramko (Simon Fraser University)

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Value	Valid from → to	Status	Source	Confidence	Extractor
11 Sept 2026	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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11 Sept 2026
New paperPaperIMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies
New paper: IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies
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arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.CV	feed	T1· Official	2 h ago	1

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