rMuscle: Robotic Muscle Memory for Efficient Vision-Language-Action Model Inference
rMuscle, a caching-based inference framework for vision-language-action models, achieves 1.29-1.42x speedups on RTX 4090 and Jetson Thor while preserving success rates.
rMuscle is a real-time inference framework for Vision-Language-Action (VLA) models that exploits cross-execution similarity in repetitive robot tasks via a dual-phase muscle-memory cache. The Context Cache reuses visual-token outputs to reduce computation, while the Action Cache reuses neuron activation patterns to reduce weight accesses, with online recomputation and sliding-window retrieval keeping overhead low. It achieves 1.29-1.42x speedups on RTX 4090 and Jetson Thor across LIBERO, RoboTwin, and real-world manipulation tasks while maintaining original success rates.
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