Vision-Language-Action (VLA) models have made substantial progress by leveraging the robust capabilities of Visual Language Models (VLMs). However, VLMs’ significant parameter size and autoregressive (AR) decoding nature impose considerable computational demands on VLA models. While Speculative Decoding (SD) has shown efficacy in accelerating Large Language Models (LLMs) by incorporating efficient drafting and parallel verification, allowing multiple tokens to be generated in one forward pass, its application to VLA models remains unexplored. This work introduces Spec-VLA, an SD framework designed to accelerate VLA models. Due to the difficulty of the action prediction task and the greedy decoding mechanism of the VLA models, the direct application of the advanced SD framework to the VLA prediction task yields a minor speed improvement. To boost the generation speed, we propose an effective mechanism to relax acceptance utilizing the relative distances represented by the action tokens of the VLA model. Empirical results across diverse test scenarios affirm the effectiveness of the Spec-VLA framework, and further analysis substantiates the impact of our proposed strategies, which enhance the acceptance length by 44%, achieving 1.42× speedup compared with the OpenVLA baseline, without compromising the success rate. The success of the Spec-VLA framework highlights the potential for broader application of speculative execution in VLA prediction scenarios.

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments based on natural language instructions. A major challenge in VLN is the limited available training data, which hinders the models’ ability to generalize effectively. Previous approaches have attempted to alleviate this issue by using external tools to generate pseudo-labeled data or integrating web-scaled image-text pairs during training. However, these methods often rely on automatically-generated or out-of-domain data, leading to challenges such as suboptimal data quality and domain mismatch. In this paper, we introduce a masked path modeling (MPM) objective. MPM pretrains an agent using self-collected data for subsequent navigation tasks, eliminating the need for external tools. Specifically, our method allows the agent to explore navigation environments and record the paths it traverses alongside the corresponding agent actions. Subsequently, we train the agent on this collected data to reconstruct the original action sequence when given a randomly masked subsequence of the original path. This approach enables the agent to accumulate a diverse and substantial dataset, facilitating the connection between visual observations of paths and the agent’s actions, which is the foundation of the VLN task. Importantly, the collected data are in-domain, and the training process avoids synthetic data with uncertain quality, addressing previous issues. We conduct experiments on various VLN datasets and demonstrate the applications of MPM across different levels of instruction complexity. Our results exhibit significant improvements in success rates, with enhancements of 1.3%, 1.1%, and 1.2% on the val-unseen split of the Room-to-Room, Room-for-Room, and Room-across-Room datasets, respectively. Additionally, we underscore the adaptability of MPM as well as the potential for additional improvements when the agent is allowed to explore unseen environments prior to testing.

Task-Oriented Dialogue (TOD) systems are drawing more and more attention in recent studies.Current methods focus on constructing pre-trained models or fine-tuning strategies while the evaluation of TOD is limited by a policy mismatch problem.That is, during evaluation, the user utterances are from the annotated dataset while these utterances should interact with previous responses which can have many alternatives besides annotated texts.Therefore, in this work, we propose an interactive evaluation framework for TOD. We first build a goal-oriented user simulator based on pre-trained models and then use the user simulator to interact with the dialogue system to generate dialogues.Besides, we introduce a sentence-level and a session-level score to measure the sentence fluency and session coherence in the interactive evaluation. Experimental results show that RL-based TOD systems trained by our proposed user simulator can achieve nearly 98% inform and success rates in the interactive evaluation of MultiWOZ dataset and the proposed scores measure the response quality besides the inform and success rates.We are hoping that our work will encourage simulator-based interactive evaluations in the TOD task.