Shukai Gong

Yiyang Fu, Chubin Zhang, Shukai Gong et al.

It is infeasible to encompass all possible disturbances within the training dataset. This raises a critical question regarding the robustness of Vision-Language-Action (VLA) models when encountering unseen real-world visual disturbances, particularly under imperfect visual conditions. In this work, we conduct a systematic study based on recent state-of-the-art VLA models and reveal a significant performance drop when visual disturbances absent from the training data are introduced. To mitigate this issue, we propose a lightweight adapter module grounded in information theory, termed the Information Bottleneck Adapter (IB-Adapter), which selectively filters potential noise from visual inputs. Without requiring any extra data or augmentation strategies, IB-Adapter consistently improves over the baseline by an average of 30%, while adding fewer than 10M parameters, demonstrating notable efficiency and effectiveness. Furthermore, even with a 14x smaller backbone (0.5B parameters) and no pre-training on the Open X-Embodiment dataset, our model StableVLA achieves robustness competitive with 7B-scale state-of-the-art VLAs. With negligible parameter overhead (<10M), our approach maintains accuracy on long-horizon tasks and surpasses OpenPi under both synthetic and physical visual corruptions.

Shukai Gong, Yiyang Fu, Fengyuan Ran et al.

We propose TPP-SD, a novel approach that accelerates Transformer temporal point process (TPP) sampling by adapting speculative decoding (SD) techniques from language models. By identifying the structural similarities between thinning algorithms for TPPs and speculative decoding for language models, we develop an efficient sampling framework that leverages a smaller draft model to generate multiple candidate events, which are then verified by the larger target model in parallel. TPP-SD maintains the same output distribution as autoregressive sampling while achieving significant acceleration. Experiments on both synthetic and real datasets demonstrate that our approach produces samples from identical distributions as standard methods, but with 2-6$\times$ speedup. Our ablation studies analyze the impact of hyperparameters such as draft length and draft model size on sampling efficiency. TPP-SD bridges the gap between powerful Transformer TPP models and the practical need for rapid sequence sampling.