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ASPEN: Adaptive Semantic Reasoning via Command Persistence Prediction to Improve Navigation VLA Efficiency

ASPEN is an event-triggered scheduler based on command persistence prediction, designed to reduce repeated semantic reasoning calls in navigation VLA policies. On frozen NaVILA in the cross-dataset RxR-CE val-unseen evaluation, ASPEN reduces VLA calls by 9.5% and estimated inference time by 8.1% (including scheduling overhead), while preserving action sequences identical to the baseline in 92.1% of episodes.

Part of the event: ASPEN: Predicting Command Persistence to Reduce Redundant VLA Inference

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