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[Submitted on 10 Sep 2026] Title:IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies View a PDF of the paper titled IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies, by Kian Hosseinkhani (1) and 12 other authors View PDF HTML (experimental) Abstract:Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task generalization. A leading design couples this backbone with a dedicated continuous action head trained via diffusion or flow matching. However, such heads rely on iterative multi-step sampling, for example 10 Euler steps in $\pi_{0.5}$. This creates an inference bottleneck that produces stop-and-go movement in the robot and slower task completion. We introduce IMLE-VLA, which replaces the iterative action head with a single-step conditional generator trained via conditional Implicit Maximum Likelihood Estimation (cIMLE). The cIMLE objective promotes multimodal action coverage, avoiding the mode collapse of naive regression heads while eliminating multi-step sampling entirely. When IMLE-VLA is applied to $\pi_{0.5}$, it increases inference frequency 3.67x (55 Hz vs. 15 Hz), enabling up to 11x higher action throughput. On the 40-task LIBERO benchmark, IMLE-VLA achieves the highest average success rate (98.0%) among all baselines while leading in inference frequency. Under the test-time perturbations of LIBERO-plus, IMLE-VLA retains $\pi_{0.5}$'s robustness while other baselines degrade sharply, confirming that the cIMLE head preserves generalization. Real-world experiments on a Franka Emika Panda across four tasks demonstrate smoother motion (2.2x to 3.0x lower jerk) and faster task completion, with IMLE-VLA outperforming $\pi_{0.5}$ on every task and reducing average VLA inference time per episode by 3.9x to 6.6x. Videos and code are available at this https URL Comments: 8 pages, 5 figures, 5 tables. Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026. Project page: this https URL Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) ACM classes: I.2.9; I.2.6 Cite as: arXiv:2609.10915 [cs.RO] (or arXiv:2609.10915v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.10915 arXiv-issued DOI via DataCite (pending registration) Submission history From: Kian Hosseinkhani [view email] [v1] Thu, 10 Sep 2026 00:00:32 UTC (2,059 KB) Full-text links: Access Paper: View a PDF of the paper titled IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies, by Kian Hosseinkhani (1) and 12 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)