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2. ROSA: A Robotics Foundation Model Serving System for Robot Factories

 # ROSA: A Robotics Foundation Model Serving System for Robot Factories

  ![](/sites/default/files/styles/wide/public/publications/ROSA-system-overview.png?itok=LHNZve1n)

 Robotics foundation models (RFMs) are making general-purpose robots increasingly practical for factory deployments. While RFM serving systems are central to this vision, existing systems are largely shaped by a single-robot, single-model assumption: inference is treated as an edge-computing problem handled by an on-robot or dedicated nearby GPU, and the serving objective is to minimize the latency of a single action model. In this paper, we propose ROSA, an RFM serving system for robot factories designed around three key principles. First, ROSA adopts shared GPU-pool serving, allowing a fleet of robots to access powerful server-class GPUs over the network in order to improve inference performance, battery duration, and GPU utilization. Second, ROSA provides a robotics-aware programming abstraction and system design that supports multi-model pipelines, per-task performance requirements, and failure handling. Third, ROSA uses factory-objective-driven scheduling to maximize SLO-qualified factory productivity rather than minimizing individual request latency. We implement ROSA on top of Ray Serve for distributed orchestration, with vLLM, PyTorch, and JAX as model-serving backends, and evaluate it on both real robots and synthetic large-scale workloads. The results show that ROSA improves factory productivity by up to 12.06x over conventional dedicated serving systems.

 ## Authors

Wenqi Jiang (NVIDIA)

[Jason Clemons](/person/jason-clemons)

[Rowland O'Flaherty](/person/rowland-oflaherty)

[Hugo Hadfield](/person/hugo-hadfield)

[Alperen Degirmenci](/person/alperen-degirmenci)

[Shuran Song](/person/shuran-song)

[Yashraj Narang](/person/yashraj-narang)

[Christos Kozyrakis](/person/christos-kozyrakis)

 ## Publication Date

Wednesday, July 1, 2026

 ## Published in

[arxiv:2607.01088](https://arxiv.org/abs/2607.01088)

 ## Research Area

[Algorithms and Numerical Methods](/research-area/algorithms)

[Artificial Intelligence and Machine Learning ](/research-area/machine-learning-artificial-intelligence)

[High Performance Computing](/research-area/high-performance-computing)

[Physical AI](/research-area/physical-ai)

[Robotics](/research-area/robotics)