Combining two-step denoising with representative execution methods substantially reduces inference cost with a small reduction in task performance, motivating joint optimization of model-inference efficiency and robot-system timing.
Di Wu, Rong-Tian Shen, Ping Liu et al.· 0 citations
Vision-language-action (VLA) policies commonly execute long-horizon mobile manipulation through open-loop action chunks, issuing multiple actions without receiving new high-level visual input. A committed chunk therefore implies how observations should evolve, but accidental deviations can violate this expectation whil...
Future-State-Conditioned VLN (FSC-VLN), a deployable model that augments a causal policy with a future-query token and uses training-only future-state supervision to distill information from future observations into the policy state, is proposed.
Lingfeng Zhang, Zhanguang Zhang, Liheng Ma et al.· arXiv.org· 0 citations
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