SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation
SkipVLA is a hybrid policy that combines a pretrained VLA with a classical motion planner, using the planner for free-space motion and querying the VLA only for contact-rich skills such as grasping and placing, demonstrating up to 2.5x faster task completion and significantly lower energy consumption.
Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh et al.
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