Physical AI Vla Early Exit 026 - Raw Research Artifact
Generated at: 2026-07-17T02:16:53Z
Classification: Research-only
Dataset: lerobot/libero_10_image
VLA: HuggingFaceVLA/smolvla_libero at 6721902bc4d61e50a3bfdb11dfb4cb626f05d102
Retrieval encoder: google/siglip-base-patch16-224
This offline replay invokes the real CUDA VLA and compares it with a ZeptoDB confidence-gated historical-action early exit. Action MAE against the recorded expert action is an offline proxy, not simulator task success.
Runtime
Section titled “Runtime”| GPU | VLA parameters | Peak GPU MiB | Memories | Calibration | Evaluation |
|---|---|---|---|---|---|
| NVIDIA L40S | 604934176 | 1625.0 | 190 | 50 | 50 |
Compute And Latency
Section titled “Compute And Latency”| Path | VLA calls | Mean decision ms | p95 decision ms | GPU total ms | Energy J |
|---|---|---|---|---|---|
| Direct VLA | 50 | 475.572 | 491.442 | 23728.155 | 2417.4 |
| ZeptoDB routed | 0 | 10.205 | 10.648 | 365.314 | 60.7 |
- VLA call reduction: 100.0%.
- Total online GPU-time reduction: 98.5%.
- Mean decision-latency reduction: 97.9%.
- Query encoder mean: 7.343 ms.
- ZeptoDB search p50/p95: 2.298/2.565 ms.
Offline Action Quality
Section titled “Offline Action Quality”| Path | Normalized action MAE | Allowed routed limit |
|---|---|---|
| Direct VLA | 0.107831 | - |
| ZeptoDB routed | 0.099922 | 0.113222 |
Acceptance
Section titled “Acceptance”| Criterion | Status |
|---|---|
| Routed normalized action MAE within quality limit | pass |
| Total online GPU time reduced by at least 20% | pass |
| Mean decision latency reduced by at least 15% | pass |
| Pinned real SmolVLA loaded and invoked | pass |
| VLA calls reduced by at least 30% | pass |
| ZeptoDB exact-search p95 below 30 ms | pass |
| Temporary AWS resources deleted | pass |
Result
Section titled “Result”Overall status: pass.
Interpretation
Section titled “Interpretation”The result applies only to the deterministic middle-frame LIBERO replay, the fixed memory split, and this model revision. It does not establish closed-loop control quality, safety, or production VLA routing readiness.