PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models
PHR-VLA introduces a lightweight auxiliary future head that, during training, aligns the VLA's internal representations with latent dynamics extracted from future observations, demonstrating that privileged latent dynamics alignment provides an effective training signal for improving anticipatory reasoning in VLA policies.
Davood Soleymanzadeh, Kai-Di Zhang, Zhiyuan Zhang et al.
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