Bingzhang Wang

In humanoid manipulation, a large vision-language-action backbone is slow, so synchronous execution acts on stale observations and control frequency falls as the backbone grows. DASH splits the policy into a slow vision-language model and a fast flow-matching action head running as three concurrent processes over LCM, so the control rate is set by the action head alone. On a RoboTwin benchmark that charges inference latency in simulated time, DASH holds 20 Hz from 0.8B to 8B backbones while the synchronous rate falls from 9.7 Hz to 4.1 Hz, with higher success at every size; on a real dexterous humanoid, pick-and-place succeeds in 23 of 24 trials versus 16 of 24 for the synchronous pipeline.

In humanoid manipulation, a large vision-language-action backbone is slow, so synchronous execution acts on stale observations and control frequency falls as the backbone grows. DASH splits the policy into a slow vision-language model and a fast flow-matching action head running as three concurrent processes over LCM, so the control rate is set by the action head alone. On a RoboTwin benchmark that charges inference latency in simulated time, DASH holds 20 Hz from 0.8B to 8B backbones while the synchronous rate falls from 9.7 Hz to 4.1 Hz, with higher success at every size; on a real dexterous humanoid, pick-and-place succeeds in 23 of 24 trials versus 16 of 24 for the synchronous pipeline.