Jul 2026
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
CheckVLA is proposed, which verifies execution with a separately trained, frozen action-conditioned world model, and results support action-conditioned verification as a way to restore feedback during chunked execution while keeping the repair consistent with inference latency.
Yu-Shan Liu, Pei-Bo Sun, Xin-Tao Chao et al.
· arXiv.org · 4 citations