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SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Vision-Language-Action (VLA) models are a class of generalist robot policies that map camera images and language instructions directly to robot actions. While promising, these models remain slow at test time, particularly for long-horizon tasks that require many queries to the policy. Recent efforts reduce VLA latency by distilling smaller models, overlapping asynchronous action chunks, or pairing the VLA with a fast low-level policy, but still run a learned policy for the entire task. In contrast to VLA, classical motion planners quickly find collision-free motions, but require an explicit go

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