FastOPD：面向轻量级 VLA 部署的在线策略蒸馏

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Abstract:Vision-Language-Action (VLA) foundation models have scaled rapidly to enhance manipulation performance and generalizability, but this scaling incurs high computational costs that render real-world deployment increasingly challenging. Existing approaches typically mitigate this issue by designing smaller architectures or reducing the iterative denoising steps in flow-based policies. In this work, we propose FastOPD, a foundation-to-lightweight VLA framework that enables the practical deployment of large-scale VLAs through efficient on-policy distillation. Specifically, FastOPD adapts a flow map for single-state teacher supervision and combines it with a self-consistency objective to construct a compact student that learns the teacher dynamics. Furthermore, we theoretically demonstrate that minimizing this objective allows the distilled student to recover a distribution on par with that induced by an ideal few-step teacher model. We evaluate FastOPD across diverse foundation policies in simulation and real-world experiments. On LIBERO, FastOPD retains 84% of the performance of $\pi_{0.5}$ with only two inference steps, reducing inference latency by 78.1% while outperforming existing few-step distillation baselines in average success rate. With LingBot-VLA as the teacher, FastOPD improves the single-step success rate over the base student by 15.9 percentage points on RoboTwin 2.0. We further demonstrate its applicability to a World Action Model (WAM) and deploy a compact student distilled from MolmoAct2 on a real robot.

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From: Jong Chul Ye [view email]
[v1] Fri, 2 Oct 2026 05:24:20 UTC (3,270 KB)