{"id":"https://openalex.org/W7124707249","doi":"https://doi.org/10.48550/arxiv.2601.11250","title":"VLAgents: A Policy Server for Efficient VLA Inference","display_name":"VLAgents: A Policy Server for Efficient VLA Inference","publication_year":2026,"publication_date":"2026-01-16","ids":{"openalex":"https://openalex.org/W7124707249","doi":"https://doi.org/10.48550/arxiv.2601.11250"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2601.11250","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.11250","pdf_url":"https://arxiv.org/pdf/2601.11250","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2601.11250","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5094008630","display_name":"Tobias J\u00fclg","orcid":"https://orcid.org/0009-0005-7098-7802","observed_orcids":["https://orcid.org/0009-0005-7098-7802"]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00fclg, Tobias","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038616389","display_name":"Khaled Mohammed Beer Gamal","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gamal, Khaled","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114415114","display_name":"Nisarga Nilavadi","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nilavadi, Nisarga","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130093684","display_name":"Pierre Krack","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Krack, Pierre","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001394047","display_name":"Seongjin Bien","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bien, Seongjin","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015392706","display_name":"Michael Krawez","orcid":"https://orcid.org/0000-0002-8735-317X","observed_orcids":["https://orcid.org/0000-0002-8735-317X"]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Krawez, Michael","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114402742","display_name":"Florian Walter","orcid":"https://orcid.org/0000-0002-8279-7476","observed_orcids":["https://orcid.org/0000-0002-8279-7476"]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Walter, Florian","raw_affiliation_strings":["Technical University of Munich","University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500","observed_orcids":["https://orcid.org/0000-0002-5680-6500"]},"institutions":[{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Burgard, Wolfram","raw_affiliation_strings":["University of Technology Nuremberg"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Nuremberg","institution_ids":["https://openalex.org/I4387153582"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5952000021934509,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5952000021934509,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3718000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.011500000022351742,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vision-language-action-models","display_name":"vision-language-action models","score":0.9039999842643738},{"id":"https://openalex.org/keywords/policy-server","display_name":"policy server","score":0.7760000228881836},{"id":"https://openalex.org/keywords/robot-control","display_name":"robot control","score":0.38199999928474426},{"id":"https://openalex.org/keywords/inference-efficiency","display_name":"inference efficiency","score":0.3540000021457672},{"id":"https://openalex.org/keywords/openvla","display_name":"OpenVLA","score":0.9010000228881836},{"id":"https://openalex.org/keywords/modular-architecture","display_name":"modular architecture","score":0.3050000071525574}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8259999752044678},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6546000242233276},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.6545000076293945},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.5759000182151794},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5651000142097473},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5457000136375427},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5169000029563904},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.51419997215271},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5024999976158142},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.4900999963283539},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41670000553131104},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.41029998660087585},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.3625999987125397},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.3107999861240387},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C110875604","wikidata":"https://www.wikidata.org/wiki/Q75","display_name":"The Internet","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C190793597","wikidata":"https://www.wikidata.org/wiki/Q189768","display_name":"Application layer","level":3,"score":0.25870001316070557},{"id":"https://openalex.org/C183322885","wikidata":"https://www.wikidata.org/wiki/Q17007702","display_name":"Context model","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2601.11250","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.11250","pdf_url":"https://arxiv.org/pdf/2601.11250","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2601.11250","doi":"https://doi.org/10.48550/arxiv.2601.11250","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.11250","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2601.11250","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.11250","pdf_url":"https://arxiv.org/pdf/2601.11250","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7124707249.pdf","grobid_xml":"https://content.openalex.org/works/W7124707249.grobid-xml"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W4414051084","https://openalex.org/W4414079054","https://openalex.org/W4414674749","https://openalex.org/W4417261359","https://openalex.org/W6891880838","https://openalex.org/W7129096717"],"related_works":["https://openalex.org/W7143399699","https://openalex.org/W4399695759","https://openalex.org/W4417309052","https://openalex.org/W7123834068","https://openalex.org/W4407874080","https://openalex.org/W4403794704","https://openalex.org/W7164036006","https://openalex.org/W7131819932","https://openalex.org/W4416374266","https://openalex.org/W7081569152"],"abstract_inverted_index":{"The":[0],"rapid":[1],"emergence":[2],"of":[3,81],"Vision-Language-Action":[4],"models":[5],"(VLAs)":[6],"has":[7],"a":[8,37,46,97],"significant":[9],"impact":[10],"on":[11],"robotics.":[12],"However,":[13],"their":[14],"deployment":[15],"remains":[16],"complex":[17],"due":[18],"to":[19,56],"the":[20,24,57,79,111],"fragmented":[21],"interfaces":[22],"and":[23,68,83,93,102,119],"inherent":[25],"communication":[26,52],"latency":[27],"in":[28],"distributed":[29],"setups.":[30],"To":[31],"address":[32],"this,":[33],"we":[34,77,105],"introduce":[35],"VLAgents,":[36],"modular":[38],"policy":[39,113],"server":[40],"that":[41],"abstracts":[42],"VLA":[43],"inferencing":[44],"behind":[45],"unified":[47],"Gymnasium-style":[48],"protocol.":[49],"Crucially,":[50],"its":[51],"layer":[53],"transparently":[54],"adapts":[55],"context":[58],"by":[59,86,116],"supporting":[60],"both":[61,100],"zero-copy":[62],"shared":[63],"memory":[64],"for":[65,71],"high-speed":[66],"simulation":[67],"compressed":[69],"streaming":[70],"remote":[72,103],"hardware.":[73],"In":[74,96],"this":[75],"work,":[76],"present":[78],"architecture":[80],"VLAgents":[82,121],"validate":[84],"it":[85,109],"integrating":[87],"seven":[88],"policies":[89],"--":[90],"including":[91],"OpenVLA":[92],"Pi":[94],"Zero.":[95],"benchmark":[98],"with":[99],"local":[101],"communication,":[104],"further":[106],"demonstrate":[107],"how":[108],"outperforms":[110],"default":[112],"servers":[114],"provided":[115],"OpenVLA,":[117],"OpenPi,":[118],"LeRobot.":[120],"is":[122],"available":[123],"at":[124],"https://github.com/RobotControlStack/vlagents":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-01-20T00:00:00"}