Hongwei Xiong

Haosheng Li, Weixin Mao, Zihan Lan et al.

Vision-Language-Action (VLA) models have achieved significant breakthroughs by leveraging Large Vision Language Models (VLMs) to jointly interpret instructions and visual inputs. However, the substantial increase in visual tokens, particularly from multi-view inputs, poses serious challenges to real-time robotic manipulation. Existing acceleration techniques for VLMs, such as token pruning, often result in degraded performance when directly applied to VLA models, as they overlook the relationships between different views and fail to account for the dynamic and task-specific characteristics of robotic operation. To address this, we propose BFA++, a dynamic token pruning framework designed specifically for VLA models. BFA++ introduces a hierarchical pruning strategy guided by two-level importance predictors: an intra-view predictor highlights task-relevant regions within each image to suppress spatial noise, while an inter-view predictor identifies critical camera views throughout different manipulation phases to reduce cross-view redundancy. This design enables efficient token selection while preserving essential visual cues, resulting in improved computational efficiency and higher manipulation success rates. Evaluations on the RoboTwin benchmark and real-world robotic tasks demonstrate that BFA++ consistently outperforms existing methods. BFA++ improves the success rate by about 10% on both the π0 and RDT models, achieving speedup of 1.8X and 1.5X, respectively. Our results highlight that context-sensitive and task-aware token pruning serves as a more effective strategy than full visual processing, enabling faster inference and improved manipulation accuracy in real-world robotic systems.

Yunuo Xiong, Shujuan Liu, Hongwei Xiong

The existence of adversarial images has seriously affected the task of image recognition and practical application of deep learning, it is also a key scientific problem that deep learning urgently needs to solve. By far the most effective approach is to train the neural network with a large number of adversarial examples. However, this adversarial training method requires a huge amount of computing resources when applied to ImageNet, and has not yet achieved satisfactory results for high-intensity adversarial attacks. In this paper, we construct an interference neural network by applying additional background images and corresponding labels, and use pre-trained ResNet-152 to efficiently complete the training. Compared with the state-of-the-art results under the PGD attack, it has a better defense effect with much smaller computing resources. This work provides new ideas for academic research and practical applications of effective defense against adversarial attacks.