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TBD-VLA addresses the high inference latency of discrete Vision-Language-Action models by integrating block diffusion to explicitly model temporal dependencies within action sequences. This architecture unifies temporal autoregression with parallel decoding, enabling faster generation while maintaining strong temporal coherence for real-world manipulation tasks. The approach offers a scalable framework for asynchronous execution of action chunks, bridging the gap between efficiency and temporal awareness in robotic control.
TBD-VLA: Temporal Block Diffusion Vision Language Action Model
arXiv:2606.07895v1 Announce Type: cross Abstract: Discrete Vision-Language-Action (VLA) models typically formulate action generation as next-token prediction over discretized action spaces, conditioning each token autoregressively on prior context. While effective, this paradigm incurs high inference latency and largely ignores the temporal structure inherent in action trajectories. Recent efforts introduce parallel decoding to improve efficiency, enabling faster inference, but lack explicit mechanisms for modeling token dependencies. We introduce TBD-VLA, a discrete token-based VLA framework that incorporates block diffusion to enable temporal action generation. We partition action sequences into temporal blocks and perform masked discrete diffusion within each block, while maintaining autoregressive generation across blocks. This design unifies temporal autoregression and parallel action decoding, achieving both strong temporal coherence and improved inference speed. In addition, the explicit temporal modeling enables asynchronous execution of action chunks (e.g., Real-Time Chunking) via temporal in-painting. TBD-VLA significantly outperforms prior VLA approaches in both simulation and real-world manipulation tasks, offering a scalable path toward fast, temporally aware, discrete VLA models. Project webpage: https://tbd-vla.github.io/
Abstract:Discrete Vision-Language-Action (VLA) models typically formulate action generation as next-token prediction over discretized action spaces, conditioning each token autoregressively on prior context. While effective, this paradigm incurs high inference latency and largely ignores the temporal structure inherent in action trajectories. Recent efforts introduce parallel decoding to improve efficiency, enabling faster inference, but lack explicit mechanisms for modeling token dependencies. We introduce TBD-VLA, a discrete token-based VLA framework that incorporates block diffusion to enable temporal action generation. We partition action sequences into temporal blocks and perform masked discrete diffusion within each block, while maintaining autoregressive generation across blocks. This design unifies temporal autoregression and parallel action decoding, achieving both strong temporal coherence and improved inference speed. In addition, the explicit temporal modeling enables asynchronous execution of action chunks (e.g., Real-Time Chunking) via temporal in-painting. TBD-VLA significantly outperforms prior VLA approaches in both simulation and real-world manipulation tasks, offering a scalable path toward fast, temporally aware, discrete VLA models. Project webpage: this https URL
Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO)
arXiv:2606.07895 [cs.CV]
(or arXiv:2606.07895v1 [cs.CV] for this version)
https://doi.org/10.48550/arXiv.2606.07895 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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