# rMuscle: A Real-Time Framework That Uses Robotic Task Similarity to Accelerate VLA Model Inference

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/aj6bh8y6hlturo1pq00jmhvfx
- Original: https://arxiv.org/abs/2609.19104

## Summary

The paper proposes rMuscle, a real-time vision-language-action (VLA) model inference framework inspired by human muscle memory. The authors first analyze embodied workloads and find that when robots repeatedly perform tasks, there is significant similarity in observations, action trajectories, and even internal model states.