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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/bjlybh5l9dz05ueqq1gxawiaz
- Original: https://arxiv.org/abs/2610.36285

## Summary

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.