Think at 5 Hz, Act at 20 Hz: Asynchronous Fast-Slow Vision-Language-Action Inference for Closed-Loop Driving

arXiv:2607.15621v1 Announce Type: new Abstract: Large language models bring instruction following and scene reasoning to end-to-end driving, but their inference latency collides with the control rate a vehicle requires. Existing closed-loop agents hide this gap by invoking the model on alternate simulation ticks and replaying the previous command in between, so half of all control outputs ignore the newest observations. We present a fast-slow architecture that removes this compromise. A frozen 7...