SAFE-Pruner: Semantic Attention–Guided Future-Aware Token Pruning for Efficient Vision-Language-Action Manipulation

Real-time inference of vision–language–action (VLA) models is essential for robotic control. While visual token pruning has shown strong potential for accelerating inference, most existing methods mainly base pruning decisions on shallow-layer cues and risk discarding visual information required by deep layers. To address this issue, we propose SAFE-Pruner, a plug-and-play pruning framework that incorporates attention cues of future layers into pruning decisions. Specifically, we identify semantic attention consistency, the tendency that VLA models concentrate their attention probability mass on the same semantic entity across control timesteps. Based on this observation, we design a forwardlooking strategy to forecast the token saliency in deep layers, which prevents the premature removal of critical tokens and leads to more stable acceleration. We further introduce a reference timestep refresh strategy that triggers updates upon attention shifts, thereby improving forecasting accuracy and pruning reliability. Extensive experiments across diverse evaluation settings demonstrate that our method achieves up to 1.89× speedup with a minimal degradation in success rate of less than 1.5%, while outperforming state-of-the-art methods by up to 1.9%.