Preprint
Sep 2026
IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies
IMLE-VLA is introduced, which replaces the iterative action head with a single-step conditional generator trained via conditional Implicit Maximum Likelihood Estimation (cIMLE), and promotes multimodal action coverage, avoiding the mode collapse of naive regression heads while eliminating multi-step sampling entirely.
Kian Hosseinkhani, Qin-He Peng, George Shramko et al.
· 1 citation