Environment-Aware Adaptive Pruning with Interleaved Inference Orchestration for Vision-Language-Action Models
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| Format: | Preprint |
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2026
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| _version_ | 1866911413293809664 |
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| author | Huang, Yuting Ding, Leilei Tang, Zhipeng Zhu, Zenghuan Deng, Jiajun Lin, Xinrui Liu, Shuo Ren, Haojie Ji, Jianmin Zhang, Yanyong |
| author_facet | Huang, Yuting Ding, Leilei Tang, Zhipeng Zhu, Zenghuan Deng, Jiajun Lin, Xinrui Liu, Shuo Ren, Haojie Ji, Jianmin Zhang, Yanyong |
| contents | While Vision-Language-Action (VLA) models hold promise in embodied intelligence, their large parameter counts lead to substantial inference latency that hinders real-time manipulation, motivating parameter sparsification. However, as the environment evolves during VLA execution, the optimal sparsity patterns change accordingly. Static pruning lacks the adaptability required for environment dynamics, whereas fixed-interval dynamic layer pruning suffers from coarse granularity and high retraining overheads. To bridge this gap, we propose EcoVLA, a training-free, plug-and-play adaptive pruning framework that supports orthogonal combination with existing VLA acceleration methods. EcoVLA comprises two components: Environment-aware Adaptive Pruning (EAP) and Interleaved Inference Orchestration ($I^2O$). EAP is a lightweight adaptive channel pruning method that incorporates the temporal consistency of the physical environment to update sparsity patterns. $I^2O$ leverages the FLOPs bubbles inherent in VLA inference to schedule the pruning method in parallel, ensuring negligible impact on latency. Evaluated on diverse VLA models and benchmarks, EcoVLA delivers state-of-the-art performance, achieving up to 1.60$\times$ speedup with only a 0.4% drop in success rate, and further reaches 2.18$\times$ speedup with only a 0.5% degradation when combined with token pruning. We further validate the effectiveness of EcoVLA on real-world robots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_00780 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Environment-Aware Adaptive Pruning with Interleaved Inference Orchestration for Vision-Language-Action Models Huang, Yuting Ding, Leilei Tang, Zhipeng Zhu, Zenghuan Deng, Jiajun Lin, Xinrui Liu, Shuo Ren, Haojie Ji, Jianmin Zhang, Yanyong Artificial Intelligence While Vision-Language-Action (VLA) models hold promise in embodied intelligence, their large parameter counts lead to substantial inference latency that hinders real-time manipulation, motivating parameter sparsification. However, as the environment evolves during VLA execution, the optimal sparsity patterns change accordingly. Static pruning lacks the adaptability required for environment dynamics, whereas fixed-interval dynamic layer pruning suffers from coarse granularity and high retraining overheads. To bridge this gap, we propose EcoVLA, a training-free, plug-and-play adaptive pruning framework that supports orthogonal combination with existing VLA acceleration methods. EcoVLA comprises two components: Environment-aware Adaptive Pruning (EAP) and Interleaved Inference Orchestration ($I^2O$). EAP is a lightweight adaptive channel pruning method that incorporates the temporal consistency of the physical environment to update sparsity patterns. $I^2O$ leverages the FLOPs bubbles inherent in VLA inference to schedule the pruning method in parallel, ensuring negligible impact on latency. Evaluated on diverse VLA models and benchmarks, EcoVLA delivers state-of-the-art performance, achieving up to 1.60$\times$ speedup with only a 0.4% drop in success rate, and further reaches 2.18$\times$ speedup with only a 0.5% degradation when combined with token pruning. We further validate the effectiveness of EcoVLA on real-world robots. |
| title | Environment-Aware Adaptive Pruning with Interleaved Inference Orchestration for Vision-Language-Action Models |
| topic | Artificial Intelligence |
| url | https://arxiv.org/abs/2602.00780 |