Scaling VLA Serving Under Robotic Execution Constraints
Yue Zhang, Zicong Ye, Lufang Chen, Dance Yang, Mingyang Li, Zhenwei Duan, Michael Zhao, Ziye Deng 等 17 位作者
原文摘要
Vision-language-action (VLA) models have emerged as a promising paradigm for general-purpose robotic manipulation. In our production setting, hundreds of VLA-powered robots are already operating in real-world environments, creating an immediate need for efficient fleet serving. We present XInfer, a production-deployed VLA serving system designed to reduce the inference infrastructure cost of large-scale robotic deployments. XInfer jointly coordinates heterogeneous VLA computation with the evolving response requirements of robotic execution. By exploiting computational parallelism while managing interference, XInfer improves GPU efficiency while protecting time-critical robotic feedback. We evaluate XInfer across three VLA models using production-derived workloads, achieving 1.26-3.75 times the effective robot capacity (ERC) of state-of-the-art systems under physical-execution constraints. Our implementation is publicly available at https://github.com/X-Square-Robot/xinfer.
cs.RO · cs.DC