针对视觉语言动作模型量化,提出按通道分配比特的精准压缩方法。
QVLA: Not All Channels Are Equal in Vision-Language-Action Model's Quantization
- 按通道细粒度分配比特,依据动作空间敏感性决定压缩强度。
- 在LIBERO数据集上仅用29.2%显存,保持98.9%性能,提速1.49倍。
- 适合需要高效部署大模型的机器人系统开发者。
视觉-语言-动作(VLA)模型推动了具身智能发展,但其高计算需求限制了在资源受限机器人平台的部署。尽管低比特量化是主流压缩手段,现有方法多沿用大语言模型的统一比特策略,忽视动作误差累积导致任务失败的问题。本文提出QVLA,首个面向具身控制的动作导向量化框架。不同于传统固定比特分配,QVLA采用通道级细粒度比特配置,通过测量每通道量化后的动作空间敏感性,生成精确重要性指标,并统一量化与剪枝(0比特)为单一优化框架。在多个基线模型上验证,基于OpenVLA-OFT的量化版本在LIBERO数据集上仅需29.2%显存,保留98.9%原始性能,实现1.49倍加速,相比SmoothQuant提升22.6%性能。本工作为机器人领域大模型压缩提供新范式,代码将公开。
原文摘要 · Abstract (English)
The advent of Vision-Language-Action (VLA) models represents a significant leap for embodied intelligence, yet their immense computational demands critically hinder deployment on resource-constrained robotic platforms. Intuitively, low-bit quantization is a prevalent and preferred technique for large-scale model compression. However, we find that a systematic analysis of VLA model's quantization is fundamentally lacking. We argue that naively applying uniform-bit quantization from Large Language Models (LLMs) to robotics is flawed, as these methods prioritize passive data fidelity while ignoring how minor action deviations compound into catastrophic task failures. To bridge this gap, we introduce QVLA, the first action-centric quantization framework specifically designed for embodied control. In a sharp departure from the rigid, uniform-bit quantization of LLM-based methods, QVLA introduces a highly granular, channel-wise bit allocation strategy. Its core mechanism is to directly measure the final action-space sensitivity when quantizing each individual channel to various bit-widths. This process yields a precise, per-channel importance metric that guides a global optimization, which elegantly unifies quantization and pruning (0-bit) into a single, cohesive framework. Extensive evaluations on different baselines demonstrate the superiority of our approach. In the LIBERO, the quantization version of OpenVLA-OFT with our method requires only 29.2% of the original model's VRAM while maintaining 98.9% of its original performance and achieving a 1.49x speedup. This translates to a 22.6% performance improvement over the LLM-derived method SmoothQuant. Our work establishes a new, principled foundation for compressing VLA models in robotics, paving the way for deploying powerful, large-scale models on real-world hardware. Code will be released.
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