Combining two-step denoising with representative execution methods substantially reduces inference cost with a small reduction in task performance, motivating joint optimization of model-inference efficiency and robot-system timing.
Di Wu, Rong-Tian Shen, Ping Liu et al.· 0 citations
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.
Future-State-Conditioned VLN (FSC-VLN), a deployable model that augments a causal policy with a future-query token and uses training-only future-state supervision to distill information from future observations into the policy state, is proposed.
Lingfeng Zhang, Zhanguang Zhang, Liheng Ma et al.· arXiv.org· 0 citations
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