Author

Youhan Lee

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Preprint Oct 2026

Accelerating VLA Inference with Perturbation Informed Execution

Action-chunking vision-language-action (VLA) models predict sequences of future robot actions. Under fixed-horizon execution, the robot executes a fixedlength prefix of each predicted chunk before invoking the policy again, leaving the remaining predictions unused. For a given number of executed actions, short executio...

Jehun Lee, Ha-Jun Lee, Jimin Ryu et al. · 0 citations

#artificial intelligence Feb 2026

SCALE: Self-uncertainty Conditioned Adaptive Looking and Execution for Vision-Language-Action Models

Experiments on simulated and real-world benchmarks demonstrate that SCALE improves state-of-the-art VLAs and outperforms existing TTS methods while maintaining single-pass efficiency.

Hyeonbeom Choi, Daechul Ahn, Youhan Lee et al. · arXiv.org · 3 citations