Author

N. Chandra

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Preprint Sep 2026

ActionGround: Training-Free Runtime Refinement of Frozen VLA Policies

Vision-Language-Action (VLA) models map visual observations and language instructions directly to robot actions, but they do not explicitly represent the phase structure of manipulation tasks or the rigid-body dynamics governing execution. We present ActionGround, a neuro-symbolic, training-free runtime layer that wrap...

N. Chandra, Madhur Thareja, Shriram Damodaran et al. · 0 citations