Paper · arXiv 2509.04996
FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Action Flow Policies
Moritz Reuss, Hongyi Zhou, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Otto, Rudolf Lioutikov
FLOWER, a 950 M-parameter VLA policy, achieves competitive performance with reduced computational costs through intermediate-modality fusion and action-specific Global-AdaLN conditioning.
Abstract
Developing efficient Vision-Language-Action (VLA) policies is crucial for practical robotics deployment, yet current approaches face prohibitive computational costs and resource requirements. Existing diffusion-based VLA policies require multi-billion-parameter models and massive datasets to achieve strong performance. We tackle this efficiency challenge with two contributions: intermediate-modality fusion, which reallocates capacity to the diffusion head by pruning up to 50% of LLM layers, and action-specific Global-AdaLN conditioning, which cuts parameters by 20% through modular adaptation. We integrate these advances into a novel 950 M-parameter VLA called FLOWER. Pretrained in just 200 H100 GPU hours, FLOWER delivers competitive performance with bigger VLAs across 190 tasks spanning ten simulation and real-world benchmarks and demonstrates robustness across diverse robotic embodiments. In addition, FLOWER achieves a new SoTA of 4.53 on the CALVIN ABC benchmark. Demos, code and pretrained weights are available at https://intuitive-robots.github.io/flower_vla/.