Preprint
Oct 2026
Reasoning as a Distribution: Generative Plan Latents for Vision-Language-Action Models
Vision-Language-Action (VLA) policies increasingly reason before acting, but existing reasoning models compress this intermediate decision into a single representation. When several plans are valid, this commitment hides alternatives that could otherwise be selected or revised. We introduce the Generative Plan Latent (...
Matteo Cercola, Ka-Tie Z. Luo, Milan Ganai et al.
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