FreqCache: Accelerating Embodied VLN Models with Adaptive Frequency-Guided Token Caching

Vision-Language Navigation (VLN) enables robots to follow natural-language instructions in visually grounded environments, serving as a key capability for embodied robotic systems. Recent Vision-Language-Action (VLA) models have demonstrated strong navigation performance, but their high computational cost introduces latency that limits real-time deployment. We propose a training-free spatio-temporal vision token pruning framework tailored to VLA-based VLN. We apply spatial token selection to the current view, alongside spatio-temporal compression for historical memories, enabling efficient long-horizon inference while reducing redundant computation. Leveraging attention-based token importance and query-guided spatio-temporal filtering, the proposed approach preserves navigation-relevant information without retraining or modifying pretrained models, allowing plug-and-play integration into existing VLA systems. Through experiments on standard VLN benchmarks, we confirm that our method significantly outperforms existing pruning strategies. It successfully preserves superior navigation accuracy under extreme pruning scenarios, all while maintaining the highly competitive inference efficiency. Real-world deployment on a Unitree Go2 quadruped robot further validates reliable and low-latency instruction-following navigation under practical robotic constraints. We hope this work helps bridge the gap between large-scale multimodal modeling and efficient, real-time embodied deployment in robotic navigation systems. Project Page: https://wqtwjt1996.github.io/publications/2026-vln.html

Vision-Language Models (VLMs) process thousands of visual tokens per image alongside comparatively few text tokens, yet existing compression methods treat both modalities uniformly. We observe that the two modalities have fundamentally different properties: vision tokens are spatially redundant and dominate prefill, while text tokens are causally dependent and accumulate during decoding. Based on this asymmetry, we propose and empirically evaluate AsymVLM, which applies aggressive pruning to vision tokens before prefill using a learned importance scorer with per-sample adaptive budgeting, and temporal threshold-based eviction to text tokens only when they exceed a fixed budget. Our experiments indicate that AsymVLM achieves the highest FLOPs savings (up to 54%) among state-of-the-art methods while outperforming existing approaches by 2--3% on document and chart understanding tasks where visual information is spatially localized and query-specific, and maintaining competitive accuracy on holistic benchmarks. In text-dominated scenarios, our eviction strategy substantially outperforms standard LLM cache compression methods by adapting to the short-context nature of VLM.

Vision-Language Models (VLMs) have emerged as a critical and fast-growing extension of Large Language Models (LLMs) that enable multimodal reasoning through both text and image inputs. Although VLMs enrich the capabilities of language models, they also inherit and amplify key computational bottlenecks: the memory overhead caused by the large key-value (KV) cache during autoregressive decoding. This challenge is particularly severe in VLMs, where images produce longer token sequences and denser feature representations compared to text. Moreover, the spatial and information-rich nature of vision tokens introduces structured attention patterns that make many LLM-oriented KV cache compression techniques ineffective when applied directly to VLMs. In this work, we conduct a detailed empirical analysis of the behavior of vision tokens, highlighting the critical differences from purely text-based models. Based on these insights, we propose KVCapsule, a novel KV cache compression framework for vision tokens. KVCapsule keeps the pretrained VLM backbone frozen, requires no modification to the attention computation modules, and can be integrated into existing VLMs through lightweight compression and reconstruction components. We evaluate KVCapsule on multiple VLMs and benchmark tasks, demonstrating up to 2x improvement in TPS and 2.4x reduction in KV cache memory at a 60% compression ratio, with negligible degradation in accuracy or response quality. Our findings offer practical pathways to scale VLM inference under constrained memory budgets and inspire further research into structure-aware cache compression for multimodal models.