When Faster VLA Deployment Changes Closed-Loop Behavior: Task Success-Latency Analysis of SmolVLA Across PyTorch and ONNX Variants

Published September 15, 2026 · Category: Robotics

Overview

arXiv:2609.14146v1 Announce Type: new Abstract: Vision-language-action (VLA) deployment can reduce inference latency while changing closed-loop task behavior. We evaluate HuggingFaceVLA/smolvla_libero on an RTX 2060 (6 GB) in LIBERO Spatial and Object (MuJoCo 3.3.2, LeRobot 0.6.1, seed 42), comparing PyTorch+AMP with ONNX Runtime CUDA Execution Provider (CUDA EP). The main evaluation uses 100 episodes/suite; a paired rollout uses 300 episodes/suite. PyTorch+AMP reaches 70.0%/88.0% Spatial/Object success at 1181 ms p99. Requested-FP16 and requested-INT8 ONNX reduce tether-inspect p99 to 601 ms and 532 ms, while Spatial success falls to 41.0% and 40.0% and Object remains at 89.0%. A graph audit shows those artifacts are byte-identical FP32 graphs, so the requested-INT8 row is not operator-level INT8 quantization. A static language-width ablation (16/24/32 tokens) yields Spatial success of 41.0%, 75.0%, and 71.0%; widths 24 and 32 recover much of the Spatial drop while Object success and uniform-bench latency stay approximately stable. Width-24 ONNX Spatial success is comparable to the PyTorch+AMP baseline at roughly half the latency (Wilson intervals overlap; two-proportion chi-squared p=0.53). Context width is an important contributor in this stack; it does not account for every PyTorch-vs-ONNX difference. Deployment evaluation should jointly report latency, artifact inspection, interface constraints, and closed-loop success. Code: https://github.com/rafiqul713/smolvla-libero-onnx.

Source

Originally published at arxiv.org.

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