A1: A Fully Transparent Open-Source, Adaptive and Efficient Truncated Vision-Language-Action Model

• URL: http://arxiv.org/abs/2604.05672v2
• Date: Wed, 08 Apr 2026 08:24:30 GMT
• Title: A1: A Fully Transparent Open-Source, Adaptive and Efficient Truncated Vision-Language-Action Model
• Abstract summary: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost.<n>We present A1, a fully open-source and transparent VLA framework designed for low-cost, high- throughput inference.<n>A1 achieves state-of-the-art success rates while significantly reducing inference cost.
• Score: 112.9420001646428
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost: billion-scale VLM backbones and iterative diffusion/flow-based action heads incur high latency and compute, making real-time control expensive on commodity hardware. We present A1, a fully open-source and transparent VLA framework designed for low-cost, high-throughput inference without sacrificing manipulation success; Our approach leverages pretrained VLMs that provide implicit affordance priors for action generation. We release the full training stack (training code, data/data-processing pipeline, intermediate checkpoints, and evaluation scripts) to enable end-to-end reproducibility. Beyond optimizing the VLM alone, A1 targets the full inference pipeline by introducing a budget-aware adaptive inference scheme that jointly accelerates the backbone and the action head. Specifically, we monitor action consistency across intermediate VLM layers to trigger early termination, and propose Inter-Layer Truncated Flow Matching that warm-starts denoising across layers, enabling accurate actions with substantially fewer effective denoising iterations. Across simulation benchmarks (LIBERO, VLABench) and real robots (Franka, AgiBot), A1 achieves state-of-the-art success rates while significantly reducing inference cost (e.g., up to 72% lower per-episode latency for flow-matching inference and up to 76.6% backbone computation reduction with minor performance degradation). On RoboChallenge, A1 achieves an average success rate of 29.00%, outperforming baselines including pi0(28.33%), X-VLA (21.33%), and RDT-1B (15.00%).

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