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cs.RO2026
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
Junnan Nie, Jiayi Li, Jiachen Zhang +5
Recent vision-language-action and diffusion-based robot policies often use action chunking, where each policy query predicts a sequence of future actions and the robot executes an…
cs.RO2026
RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
Weijia Liufu, Xiaoyu Guo, Ruiyi Chen +16
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while…