vla.simd: Efficient CPU Inference for Language-Conditioned Manipulation
This work presents vla.simd, a CPU inference engine that combines shared SIMD micro-kernels, reusable computation, and target-specific optimization, and introduces IMPACT, an ACT-based policy with cached text representations and language-modulated visual features.
Khanh Duy Nguyen, Hoang M. Truong, A. T. Le
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