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Xiaolong Shan

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Preprint Sep 2026

Knowing When to Stop: Adaptive Action Chunking via Internal Cross-Attention Dynamics in VLAs

Action chunking is a standard execution strategy in modern Vision-Language-Action (VLA) frameworks, but fixed execution horizons impose a trade-off between efficiency and accuracy. Short chunks require frequent inference and may cause oscillatory behavior, whereas long chunks can become misaligned with newly observed s...

Runze Xu, Xiaolong Shan, Shuang Dai et al. · 0 citations

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