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ComVLA: Communication-Aware Split Inference for VLA Models in 6G-Connected Robotics

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Connected robotics is an emerging 6G application where mobile robots follow natural-language instructions to manipulate physical objects. The Vision-Language-Action (VLA) models that enable this are too large to run on the robot; a common trend is to offload inference to the cloud. The wireless link, however, limits how much sensing data the edge can transmit per control step. Two recent lines address this constraint: semantic communication codecs compress sensor data but require channel-specific retraining, and VLA token pruners select tokens from image but ignore the channel. Our insight is

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