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Why It Matters
Action chunking is widely used for action generation and execution in Vision-Language-Action (VLA) policies, yet existing approaches commonly use a fixed action horizon.
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Discovered via ArXiv and published by ArXiv.
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Original description
Action chunking is widely used for action generation and execution in Vision-Language-Action (VLA) policies, yet existing approaches commonly use a fixed action horizon. During a rollout, different task stages may require different levels of action continuity, control precision, and closed-loop feedback, making a fixed horizon unable to accommodate changing control requirements. We propose \textbf{GeoAAC}, a geometry-based adaptive action chunking method for flow-based VLA policies that adjusts the action horizon according to the reliability of the current action prediction. We show that the g...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2609.20776v1 · Indexed about 1 hour ago