Leave No Observation Behind: Real-time Correction for VLA Action Chunks
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866916974152384512 |
|---|---|
| author | Sendai, Kohei Alvarez, Maxime Matsushima, Tatsuya Matsuo, Yutaka Iwasawa, Yusuke |
| author_facet | Sendai, Kohei Alvarez, Maxime Matsushima, Tatsuya Matsuo, Yutaka Iwasawa, Yusuke |
| contents | To improve efficiency and temporal coherence, Vision-Language-Action (VLA) models often predict action chunks; however, this action chunking harms reactivity under inference delay and long horizons. We introduce Asynchronous Action Chunk Correction (A2C2), which is a lightweight real-time chunk correction head that runs every control step and adds a time-aware correction to any off-the-shelf VLA's action chunk. The module combines the latest observation, the predicted action from VLA (base action), a positional feature that encodes the index of the base action within the chunk, and some features from the base policy, then outputs a per-step correction. This preserves the base model's competence while restoring closed-loop responsiveness. The approach requires no retraining of the base policy and is orthogonal to asynchronous execution schemes such as Real Time Chunking (RTC). On the dynamic Kinetix task suite (12 tasks) and LIBERO Spatial, our method yields consistent success rate improvements across increasing delays and execution horizons (+23% point and +7% point respectively, compared to RTC), and also improves robustness for long horizons even with zero injected delay. Since the correction head is small and fast, there is minimal overhead compared to the inference of large VLA models. These results indicate that A2C2 is an effective, plug-in mechanism for deploying high-capacity chunking policies in real-time control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_23224 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Leave No Observation Behind: Real-time Correction for VLA Action Chunks Sendai, Kohei Alvarez, Maxime Matsushima, Tatsuya Matsuo, Yutaka Iwasawa, Yusuke Robotics Artificial Intelligence Computer Vision and Pattern Recognition Systems and Control To improve efficiency and temporal coherence, Vision-Language-Action (VLA) models often predict action chunks; however, this action chunking harms reactivity under inference delay and long horizons. We introduce Asynchronous Action Chunk Correction (A2C2), which is a lightweight real-time chunk correction head that runs every control step and adds a time-aware correction to any off-the-shelf VLA's action chunk. The module combines the latest observation, the predicted action from VLA (base action), a positional feature that encodes the index of the base action within the chunk, and some features from the base policy, then outputs a per-step correction. This preserves the base model's competence while restoring closed-loop responsiveness. The approach requires no retraining of the base policy and is orthogonal to asynchronous execution schemes such as Real Time Chunking (RTC). On the dynamic Kinetix task suite (12 tasks) and LIBERO Spatial, our method yields consistent success rate improvements across increasing delays and execution horizons (+23% point and +7% point respectively, compared to RTC), and also improves robustness for long horizons even with zero injected delay. Since the correction head is small and fast, there is minimal overhead compared to the inference of large VLA models. These results indicate that A2C2 is an effective, plug-in mechanism for deploying high-capacity chunking policies in real-time control. |
| title | Leave No Observation Behind: Real-time Correction for VLA Action Chunks |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition Systems and Control |
| url | https://arxiv.org/abs/2509.23224 |