A Large Recurrent Action Model: xLSTM enables Fast Inference for Robotics Tasks
This addresses the need for fast, real-time action models in robotics, offering an incremental improvement over existing methods.
The paper tackled the problem of slow inference times in Transformer-based large action models for robotics by proposing a Large Recurrent Action Model (LRAM) with xLSTM, achieving linear-time inference and favorable performance and speed compared to Transformers on 432 tasks from 6 domains.
In recent years, there has been a trend in the field of Reinforcement Learning (RL) towards large action models trained offline on large-scale datasets via sequence modeling. Existing models are primarily based on the Transformer architecture, which result in powerful agents. However, due to slow inference times, Transformer-based approaches are impractical for real-time applications, such as robotics. Recently, modern recurrent architectures, such as xLSTM and Mamba, have been proposed that exhibit parallelization benefits during training similar to the Transformer architecture while offering fast inference. In this work, we study the aptitude of these modern recurrent architectures for large action models. Consequently, we propose a Large Recurrent Action Model (LRAM) with an xLSTM at its core that comes with linear-time inference complexity and natural sequence length extrapolation abilities. Experiments on 432 tasks from 6 domains show that LRAM compares favorably to Transformers in terms of performance and speed.