Action Chunking

Follow this topic Ask about this topic

Momentum

16 papers in the last four weeks, against 2 the four weeks before. 0.2% of all new papers.

Jul 13Week of Sep 28

Latest papers 53

All topics

REACT: Rolling Denoising and Dual Decoupling for Reactive Robot Control with VLA Models
Oct 8, 2026Houlong Xiong, Zhenqi Qiu, Zechen Wang +8Robotic Control Vision-Language-Action Models
Shanghai Jiao Tong University · PrimeBot · ShanghaiTech University +2
Conditional Trajectory Peaks: Single-Pass Multimodal Policies over Action Chunks
Oct 5, 2026Di Wu, Rongtian Shen, Ping Liu +4Efficient Multimodal Inference Robot Policy Learning
Magiclab Robotics Technology Co., Ltd., China · Southeast University, Nanjing, China
ChunkVLA-AM: Parallel Action Chunking for Vision-Language-Action Robot Control in Additive Manufacturing
Oct 1, 2026Zhugang Liu, Kaichuang Zhang, Jinman Zhang +7Robotics Vision-Language-Action Models
Department of Computer Science, The University of Texas Rio Grande Valley · Department of Electrical Engineering, University of South Florida · Department of Computer Science, San Diego State University +1
Measuring the Stability Assumption Behind Action Chunking
Oct 1, 2026Aryan GoyalImitation Learning Action Chunking
Independent Researcher
ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot
Oct 1, 2026Jian Hu, Shujing He, Leixin Chang +4Endoscopy Robot Policy Learning
Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China · School of Mechanical Engineering and ZJU-UIUC Institute, Zhejiang University, Zhejiang, China · School of Mechanical Engineering, Tianjin University, Tianjin, 300072, China
SplineWAM: Adaptive Action Horizons for World Action Models via B-Spline Representations
Sep 30, 2026Jun Guo, Xiaoshen Han, Qiwei Li +7Robot Motion Generation World Action Models
Tsinghua University · Xiaomi Robotics · Shanghai Jiao Tong University +2
ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence
Sep 30, 2026Fanding Huang, Jingyan Jiang, Shifeng Bao +13Robot Policy Learning Robot Policy Adaptation
Tsinghua University · Beijing Academy of Artificial Intelligence (BAAI) · Shenzhen Technology University +5
Trust the Critic More
Sep 30, 2026Kaiyue Wen, Luke Bailey, Arvind Mahankali +1RL for Language Model Reasoning Credit Assignment in RL
Stanford University
Staircase Policy: Streaming Inference for World-Action Models with Large Action Chunks
Sep 29, 2026Guoheng Sun, Chen Chen, Jin Wang +2Long-Horizon Robotic Manipulation Action-Conditioned World Models
University of Maryland, College Park · Independent Researcher · Oxford Robotics Institute, University of Oxford
Action Chunking Proximal Policy Optimization with Feedback Correction
Sep 28, 2026Sanghyun Hahn, Jonghyun ChoiRobotic RL Feedback Control
Cornell University · Seoul National University
FlexiWorld: Learning and Planning via Flexible Action Chunks Across Multiple Time Scales
Sep 28, 2026Shidu Ren, Qilin Gu, Zhenghao Ni +4World Model Learning World Model-Based Planning
University of Toronto · Zhejiang University · Tencent Jarvis Lab +3
Don't Throw Away the Tail: Action Upcycling for Policy Acceleration
Sep 28, 2026Taesung Kwon, Jangho Park, Sunwoo Park +5Robot Policy Learning Efficient VLA Model Inference
KAIST · Sungkyunkwan University
vla.simd: Efficient CPU Inference for Language-Conditioned Manipulation
Sep 21, 2026Khanh D. Nguyen, Hoang M. Truong, An T. LeLanguage-Conditioned Robot Manipulation Efficient VLA Model Inference
VinRobotics, Vietnam. · Center for AI Research, VinUniversity, Vietnam. · Intelligent Autonomous Systems, TU Darmstadt, Germany.
GeoAAC: Geometry-Based Adaptive Action Chunking from Denoising Trajectories in VLA Policies
Sep 17, 2026Xin Chen, Sen Chen, Yujuan Ding +5Robotic Manipulation Vision-Language-Action Models
Tongji University · The Hong Kong Polytechnic University · University of Electronic Science and Technology of China
Technical Report: One-Step Drifting Action Heads for GR00T N1.7
Sep 16, 2026Xihe ShaoEfficient VLA Model Inference Vision-Language-Action Models
ZJU-UIUC Institute, Zhejiang University Hangzhou, China · LimX Dynamics, Shenzhen, China
The Latent That Never Was: A Forensic Re-run of the CVAE Ablation in Action Chunking Transformers
Sep 15, 2026Bo KangRobotic Policy Evaluation Robot Imitation Learning
Ghent University, Belgium
Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies
Sep 14, 2026Chenyang Wang, Yuntian Wang, Xiaoxiong Yang +3Long-Horizon Robotic Manipulation Visuomotor Policy Learning
Soochow University, China · University of Electronic Science and Technology of China, China · Tongji University, China
CASD: Chunk-Aligned Semantic Distillation for Multi-StageRobot Manipulation
Sep 8, 2026Tinghe Ding, Jiahao Li, He WangCross-Modal Knowledge Distillation Language-Conditioned Robot Manipulation
Ant Group, China
Knowing When to Stop: Adaptive Action Chunking via Internal Cross-Attention Dynamics in VLAs
Sep 1, 2026Runze Xu, Xiaolong Shan, Shuang Dai +2Efficient VLA Model Inference Robotic Manipulation
Tsinghua University
DriftingVLA: Native One-Step Vision-Language-Action Generation via Per-Dimension Temporal Drifting
Aug 30, 2026Yuxuan Gao, Shiqi Zhang, Yedong Shen +6Efficient VLA Model Inference Visuomotor Policy Learning
University of Science and Technology of China, Hefei 230026, China. · LYNSENSE, Shanghai, China.
AutoIntervene: Calibrated Intervention for Action-Chunking Imitation Learning Policies
Aug 7, 2026Jinhe Tang, Weiming ZhiRobot Policy Learning Interactive Imitation Learning
School of Computer Science · Australian Center For Robotics · College of Connected Computing
Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?
Aug 3, 2026Filippo Lazzati, Kyle Stachowicz, William Chen +3Ensemble Learning Robot Imitation Learning
Politecnico di Milano · UC Berkeley
ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation
Aug 3, 2026Yuzhi Huang, Weijue Bu, Ziyi Xiong +4Memory-Augmented VLMs Long-Horizon Robotic Manipulation
Shenzhen International Graduate School, Tsinghua University · China University of Mining and Technology · Shenzhen Technology University
World Action Models in Real Time: An Empirical Study of Smooth Execution via Asynchronous Deployment
Aug 3, 2026Motubrain TeamWorld Action Models Action Chunking
TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
Jul 31, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Robotic Control Robot Skill Learning
Department of Mechano-Informatics Graduate School of Information Science and Technology, The University of Tokyo Tokyo, Japan
FutureRTC: Real-Time Robot Execution with Anticipatory-Conditioned Action Chunking
Jul 27, 2026Hai Jiang, Yixian Zou, Binbin Liang +3Vision-Language-Action Models Action Chunking
School of Aeronautics and Astronautics, Sichuan University · University of Electronic Science and Technology of China · University of Alberta
Offline RL with Hierarchical Action Chunking
Jul 23, 2026Ahad JawaidHierarchical RL Offline RL
The University of Texas at Dallas
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
Jul 16, 2026King Hang Wong, Lingqiao Liu, Feras DayoubContact-Rich Robotic Manipulation Robotic Manipulation
Australian Institute for Machine Learning (AIML), Adelaide University, Adelaide, SA 5005, Australia
PAC-ACT: Post-training Actor-Critic for Action Chunking Transformers
Jul 10, 2026Yujie Pang, Zudong LiReinforcement Learning Contact-Rich Robotic Manipulation
Dept. of Mechanical and Energy Engineering · Southern University of Science and Technology · Shenzhen, China
Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity
Jul 6, 2026Che-Sang Park, Junsu Ha, Jianlong Fu +1Robot Policy Learning Diffusion-Based Planning
Robotics Laboratory, Seoul National University, Seoul, South Korea · Microsoft Research Asia, Beijing, China

Oct 8, 2026, cs.ROJ/K move · Enter open · S save

REACT: Rolling Denoising and Dual Decoupling for Reactive Robot Control with VLA Models

Houlong Xiong, Zhenqi Qiu, Zechen Wang, Suohang Zhang+7

Shanghai Jiao Tong University · PrimeBot · ShanghaiTech University+2

Robotic Control Vision-Language-Action Models Action Chunking Efficient VLA Model Inference

Open paper AskPDF arXiv

Flow-based vision-language-action (VLA) models generate action chunks for temporally coherent robot motion, but chunked control creates a fundamental closed-loop trade-off: long chunks provide smooth execution, whereas frequent replanning improves reactivity at the cost of action discontinuities. We introduce REACT, a rolling-denoising framework that makes flow-based VLAs more reactive while preserving long-horizon context. Instead of regenerating entire action chunks from scratch, REACT maintains a persistent action buffer with staggered flow timesteps. At each control step, the full horizon is denoised using the latest observation, the cleanest action block is executed, partially refined future blocks are shifted forward, and fresh noise is appended to the tail. As a result, each executed action block is refined across multiple recent observations before deployment. To support real-time control, we further introduce dual decoupling, which separates sensing, VLM encoding, DiT denoising, and action execution, enabling high-frequency observation updates and action streaming under practical compute constraints. Across the RoboTwin 2.0 simulation benchmark and real-world tasks spanning bimanual manipulation and dynamic control on multiple robot platforms, REACT improves task success and reduces reaction latency while producing smoother trajectories than frequent-replanning and asynchronous baselines.

Momentum

Related topics

Latest papers 53