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

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Updated 4 h ago · first seen 11 Sept 2026

paper_01M294H2R4MW8RDW0ZZX1NW1A5

Published: 11 Sept 2026; T1 · 4 h ago
arXiv: 2609.10915; T1 · 4 h ago
Category: cs.RO; T1 · 4 h ago

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 4 h agohigh
Arxiv announce type: cross
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
arXiv id: 2609.10915
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Categories: cs.RO, cs.CV
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
PDF: arxiv.org/pdf/2609.10915
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh

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T19

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4 h ago

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9 claims · 9 properties

Official pageofficial_url1

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https://arxiv.org/abs/2609.10915	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Abstractabstract1

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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/	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Arxiv announce typearxiv_announce_type1

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cross	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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2609.10915	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Authorsauthors1

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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)	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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cs.RO, cs.CV	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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https://arxiv.org/pdf/2609.10915	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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cs.RO	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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11 Sept 2026	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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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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