Preprint
Aug 2026
$\tau_0$-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation
Across in-domain and distribution-shifted settings, allocating additional test-time computation substantially improves next-subtask prediction accuracy, and these gains translate into higher closed-loop success on long-horizon robot manipulation tasks.
Xiaowei Cai, Yunuo Cai, Bin Chen et al.
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