Preprint
Aug 2026
Continue or Replan? Bernoulli-Continuation Policy Learning for Adaptive Horizon Execution
Existing chunk-based Vision-Language-Action (VLA) models execute a fixed number of actions (i.e., execution horizon) before replanning, turning replanning into a task-agnostic periodic schedule that is independent of task progress. As a result, when no replanning boundary falls before a critical manipulation stage, it...
Weichen Xu, Zhenhua Liu, Lin Luo et al.
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