{"id":"https://openalex.org/W7160250965","doi":"https://doi.org/10.48550/arxiv.2605.02739","title":"Latent Bridge: Feature Delta Prediction for Efficient Dual-System Vision-Language-Action Model Inference","display_name":"Latent Bridge: Feature Delta Prediction for Efficient Dual-System Vision-Language-Action Model Inference","publication_year":2026,"publication_date":"2026-05-04","ids":{"openalex":"https://openalex.org/W7160250965","doi":"https://doi.org/10.48550/arxiv.2605.02739"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.02739","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02739","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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.02739","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135411403","display_name":"Yudong Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yudong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135284295","display_name":"Yuan Li","orcid":"https://orcid.org/0000-0003-1047-0690"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135319807","display_name":"Zijia Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Zijia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135343886","display_name":"Yuxi Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yuxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100768194","display_name":"Yueqian Lin","orcid":"https://orcid.org/0000-0003-1473-8981"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Yueqian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135375704","display_name":"Qinsi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Qinsi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135370372","display_name":"Yi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030123222","display_name":"Shuangjun Liu","orcid":"https://orcid.org/0000-0002-2717-5789"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Shuangjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135330479","display_name":"Shuai Zhang","orcid":"https://orcid.org/0000-0001-9478-0412"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135348362","display_name":"Taotao Jing","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jing, Taotao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135403146","display_name":"Dashan Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Dashan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135318346","display_name":"Ning Bi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bi, Ning","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135293136","display_name":"Jingwei Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Jingwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135296380","display_name":"Yiran Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yiran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135410359","display_name":"Hai Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7868000268936157,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7868000268936157,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.052299998700618744,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.03689999878406525,"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/pipeline","display_name":"Pipeline (software)","score":0.5648000240325928},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5238000154495239},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5009999871253967},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4505999982357025},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4065000116825104},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.3643999993801117},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.3188000023365021},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31130000948905945}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6801999807357788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6144000291824341},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5648000240325928},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5238000154495239},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5009999871253967},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4505999982357025},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4065000116825104},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37119999527931213},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2953000068664551},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28119999170303345},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C2776398200","wikidata":"https://www.wikidata.org/wiki/Q508880","display_name":"Aloha","level":4,"score":0.263700008392334},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.02739","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02739","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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.02739","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02739","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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dual-system":[0],"Vision-Language-Action":[1],"(VLA)":[2],"models":[3],"achieve":[4],"state-of-the-art":[5],"robotic":[6],"manipulation":[7],"but":[8],"are":[9],"bottlenecked":[10],"by":[11,117],"the":[12,42,51,77,102],"VLM":[13,36,53,115],"backbone,":[14],"which":[15],"must":[16],"execute":[17],"at":[18],"every":[19],"control":[20],"step":[21],"while":[22,50,113],"producing":[23],"temporally":[24],"redundant":[25],"features.":[26],"We":[27,59],"propose":[28],"Latent":[29,61,107],"Bridge,":[30],"a":[31],"lightweight":[32],"model":[33],"that":[34,76],"predicts":[35],"output":[37],"deltas":[38],"between":[39],"timesteps,":[40],"enabling":[41],"action":[43],"head":[44],"to":[45],"operate":[46],"on":[47,63],"predicted":[48],"outputs":[49],"expensive":[52],"backbone":[54],"is":[55],"called":[56],"only":[57],"periodically.":[58],"instantiate":[60],"Bridge":[62,108],"two":[64],"architecturally":[65],"distinct":[66],"VLAs:":[67],"GR00T-N1.6":[68],"(feature-space":[69],"bridge)":[70],"and":[71,101],"\u03c00.5":[72],"(KV-cache":[73],"bridge),":[74],"demonstrating":[75],"approach":[78],"generalizes":[79],"across":[80,89],"VLA":[81],"designs.":[82],"Our":[83],"task-agnostic":[84],"DAgger":[85],"training":[86],"pipeline":[87],"transfers":[88],"benchmarks":[90],"without":[91],"modification.":[92],"Across":[93],"four":[94],"LIBERO":[95],"suites,":[96],"24":[97],"RoboCasa":[98],"kitchen":[99],"tasks,":[100],"ALOHA":[103],"sim":[104],"transfer-cube":[105],"task,":[106],"achieves":[109],"95-100%":[110],"performance":[111],"retention":[112],"reducing":[114],"calls":[116],"50-75%,":[118],"yielding":[119],"1.65-1.73x":[120],"net":[121],"per-episode":[122],"speedup.":[123]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-06T00:00:00"}
