Action Chunks

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17 papers in the last four weeks, up 240% on the four weeks before. 0.2% of all new papers.

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  1. Measuring the Stability Assumption Behind Action Chunking

    Oct 1, 2026Aryan GoyalAction ChunksBehavior Cloning

    Independent Researcher

  2. ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot

    Oct 1, 2026Jian Hu, Shujing He, Leixin Chang +4Robotic Soft EsophagusAutonomous Navigation

    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

  3. SplineWAM: Adaptive Action Horizons for World Action Models via B-Spline Representations

    Sep 30, 2026Jun Guo, Xiaoshen Han, Qiwei Li +7Action ChunksWorld Models

    Tsinghua University · Xiaomi Robotics · Shanghai Jiao Tong University +2

  4. ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence

    Sep 30, 2026Fanding Huang, Jingyan Jiang, Shifeng Bao +13Robot PoliciesAction Chunks

    Tsinghua University · Beijing Academy of Artificial Intelligence (BAAI) · Shenzhen Technology University +5

  5. Trust the Critic More

    Sep 30, 2026Kaiyue Wen, Luke Bailey, Arvind Mahankali +1Critic-Free Reinforcement LearningLarge Language Model Reinforcement Learning

    Stanford University

  6. PRICE the Action Chunks: Physical Relational Credit Assignment for Embodied Reinforcement Learning

    Sep 30, 2026Yangang Zou, Jiajun Lu, Weitao Zhou +6Offline Reinforcement LearningCredit Assignment

    School of Data Science, Fudan University · Shanghai Innovation Institute · Beihang University +4

  7. Urgent Actions Go First: Urgency-Aware Denoising for Real-Time VLA Control

    Sep 29, 2026Zibo Wang, Haochen Han, Pengzhen Ren +2Action ChunksGenerative Control Policies

    Pengcheng Laboratory

  8. Staircase Policy: Streaming Inference for World-Action Models with Large Action Chunks

    Sep 29, 2026Guoheng Sun, Chen Chen, Jin Wang +2Efficient World-Action ModelAction Chunks

    University of Maryland, College Park · Independent Researcher · Oxford Robotics Institute, University of Oxford

  9. Action Chunking Proximal Policy Optimization with Feedback Correction

    Sep 28, 2026Sanghyun Hahn, Jonghyun ChoiAction ChunksProximal Policy Optimization

    Cornell University · Seoul National University

  10. FlexiWorld: Learning and Planning via Flexible Action Chunks Across Multiple Time Scales

    Sep 28, 2026Shidu Ren, Qilin Gu, Zhenghao Ni +4Action ChunksWorld Models

    University of Toronto · Zhejiang University · Tencent Jarvis Lab +3

  11. Streaming-WAM: Action-Conditioned World-Action Model for Asynchronous Robot Manipulation

    Sep 24, 2026Xuyao Huang, Yixuan Wang, Zengyao Ye +4Action ChunksRobotic Manipulation

    SJTU · SDU · ECUST +1

  12. vla.simd: Efficient CPU Inference for Language-Conditioned Manipulation

    Sep 21, 2026Khanh D. Nguyen, Hoang M. Truong, An T. LeGoal-Conditioned Dynamic ManipulationGoal-Conditioned Value Function

    VinRobotics, Vietnam. · Center for AI Research, VinUniversity, Vietnam. · Intelligent Autonomous Systems, TU Darmstadt, Germany.

  13. GeoAAC: Geometry-Based Adaptive Action Chunking from Denoising Trajectories in VLA Policies

    Sep 17, 2026Xin Chen, Sen Chen, Yujuan Ding +5Action ChunksFlow-Matching Vision-Language-Action

    Tongji University · The Hong Kong Polytechnic University · University of Electronic Science and Technology of China

  14. Decoupling Vision, Language, and Action for Efficient Multi-Task Robot Policies

    Sep 16, 2026Xiatao Sun, Chen Liang, Ziyao Zeng +5DecouplingAction Chunks

    Department of Computer Science, Yale University, New Haven, CT, USA. · Peking University, Beijing, China. · Digients, Singapore.

  15. Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies

    Sep 14, 2026Chenyang Wang, Yuntian Wang, Xiaoxiong Yang +3Visuomotor PolicyAction Chunks

    Soochow University, China · University of Electronic Science and Technology of China, China · Tongji University, China

  16. Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models

    Sep 9, 2026Shengye Dong, Haochen Niu, Hao Liu +3Diffusion-Based Vision-Language-ActionsAction Chunks

  17. CASD: Chunk-Aligned Semantic Distillation for Multi-StageRobot Manipulation

    Sep 8, 2026Tinghe Ding, Jiahao Li, He WangAction ChunksRobotic Manipulation

    Ant Group, China

  18. Act More, Decide Less: Skill-Guided Adaptive Action Chunking for Long-Horizon LLM Agents

    Sep 2, 2026Yanting Yang, Can Jin, Jinman Zhao +6Action Chunks

    Rutgers University · University of Toronto · The Hong Kong Polytechnic University +2

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

    Sep 1, 2026Runze Xu, Xiaolong Shan, Shuang Dai +2Action ChunksCross-Attention

    Tsinghua University

  20. Three Steps at a Time: Learning Representations from Action Sequences in Contrastive RL

    Aug 31, 2026Michal Korniak, Kamil Dybek, Benjamin Eysenbach +2Action ChunksAction Sequences

    ETH Zurich · University of Warsaw · Princeton University +3

  21. SmoothRL: Online Reinforcement Learning During Asynchronous Execution

    Aug 30, 2026Guang Gao, Yuxuan Nong, Baifu Huang +1Asynchronous ExecutionOffline Reinforcement Learning

    Astribot Team

  22. WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning

    Aug 23, 2026Chunkai Yang, Andong Yang, Di Huang +2Discrete Action TokenizersEfficient World-Action Model

    School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China. · Department of Electronic Engineering, Tsinghua University, Beijing, China. · Institute for AI Industry Research, Tsinghua University, Beijing, China.

  23. AutoIntervene: Calibrated Intervention for Action-Chunking Imitation Learning Policies

    Aug 7, 2026Jinhe Tang, Weiming ZhiVisuomotor PolicyAction Chunks

    School of Computer Science · Australian Center For Robotics · College of Connected Computing

  24. Retrieve in Time, Correct in Frequency

    Aug 5, 2026Yuze Fan, Yue Cao, Pengjie Gao +7Frozen Vision-Language ModelsVision-Language-Action Framework

    Research Institute of Tsinghua University in Shenzhen · Tongji University · Everwise-Tech Co., Ltd. +2

  25. Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control?

    Aug 3, 2026Filippo Lazzati, Kyle Stachowicz, William Chen +3Action ChunksRobot Policies

    Politecnico di Milano · UC Berkeley

  26. Hermite Curves as Trajectory Priors for Vision-Language-Action Models

    Aug 2, 2026Qi Lv, Jianming Xing, Zhao Yang +5Action ChunksRobotic Manipulation

    School of Computer Science and Technology, Harbin Institute of Technology (Shenzhen), China, 518055 · Department of Electrical and Computer Engineering and Show Lab, National University of Singapore, Singapore, 117583 · Jiangsu Cytoderm Intelligent Technology Co., Ltd., China, 215334

  27. Action Chunk Scheduling for Batched Robot Policy Serving

    Jul 31, 2026Rohan Bansal, David He, Nadun Ranawaka Arachchige +4Action ChunksRobot Policies

    Georgia Institute of Technology

  28. TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation

    Jul 31, 2026Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe +1Action ChunksContact-Rich Manipulation

    Department of Mechano-Informatics Graduate School of Information Science and Technology, The University of Tokyo Tokyo, Japan

  29. CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation

    Jul 29, 2026Yushan Liu, Peibo Sun, Xintao Chao +8Action ChunksLong-Horizon Manipulation

    Tsinghua University · Shanghai Jiao Tong University · Peking University +2

  30. RLMM-Flow: A Flow-based Mobile Manipulation Framework with Latent-Space Reinforcement Learning

    Jul 29, 2026Shuhang Wang, Ziming Li, Hui ChengFlow PoliciesAction Chunks

  31. Offline RL with Hierarchical Action Chunking

    Jul 23, 2026Ahad JawaidGoal-Conditioned Reinforcement LearningOffline Reinforcement Learning

    The University of Texas at Dallas

  32. ChunkFlow: Towards Continuity-Consistent Chunked Policy Learning

    Jul 14, 2026Zhao Yang, Yinan Shi, Mingyuan Yao +3Flow-Matching Vision-Language-ActionAction Chunks

    State Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, China. · Jiangsu Cytoderm Intelligent Technology Co., Ltd., China.

  33. PAC-ACT: Post-training Actor-Critic for Action Chunking Transformers

    Jul 10, 2026Yujie Pang, Zudong LiAction ChunksSoft Actor-Critic

    Dept. of Mechanical and Energy Engineering · Southern University of Science and Technology · Shenzhen, China

  34. Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity

    Jul 6, 2026Che-Sang Park, Junsu Ha, Jianlong Fu +1Diffusion PoliciesScalable Robot Learning

    Robotics Laboratory, Seoul National University, Seoul, South Korea · Microsoft Research Asia, Beijing, China

  35. SEAM: Smooth Execution of Action-Chunked Motion for Vision-Language-Action Policies

    Jul 6, 2026Dijia Zhan, Xuemiao Xu, Jinyi Li +1Flow-Matching Vision-Language-ActionAction Chunks

    South China University of Technology

  36. HALO-WA: Hybrid-Attention Latent-Guided Online Reinforcement Learning for World-Action Models

    Jul 5, 2026Angen Ye, Weijie Ke, Xiaofeng Wang +7Efficient World-Action ModelReal-World Manipulation Tasks

    Institute of Automation, Chinese Academy of Sciences, Beijing, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China · GigaAI, Beijing, China +1

  37. Start Right, Arrive Right: Asynchronous Execution via Initial Noise Selection

    Jun 18, 2026Trong-Bao Ho, Quang-Tan Nguyen, Thien-Loc Ha +7Action ChunksRobot Policies

    VinRobotics · VinUniversity · DFKI +2

  38. DREAM-Chunk: Reactive Action Chunking with Latent World Model

    Jun 17, 2026Wenxi Chen, Kaidi Zhang, Chi Lin +6Action ChunksLatent World Models

    Purdue University · Stanford University

  39. Dynamic Execution Horizon Prediction for Chunk-based Robot Policies

    Jun 9, 2026Yuchi Zhao, Miroslav Bogdanovic, Arjun Sohal +5Action ChunksLong-Horizon Manipulation

    Department of Computer Science, University of Toronto, 40 St George St., Toronto, ON M5S 2E4, Canada · Vector Institute for Artificial Intelligence, W1140-108 College St., Schwartz Reisman Innovation Campus, Toronto, ON M5G 0C6, Canada · Acceleration Consortium, 700 University Ave., Toronto, ON M7A 2S4, Canada +7

  40. C3^3ache: Accelerating World Action Models with Cross Inference Chunk Cache

    Jun 8, 2026Weisen Zhao, Lam Nguyen, Zhicong Lu +1Efficient World-Action ModelAction Chunks

    George Mason University · University of Central Florida

  41. ActProbe: Action-Space Probe for Early Failure Detection of Generative Robot Policies

    Jun 7, 2026Bingjia Huang, Xiangyu Li, Xiang Wang +7Robot PoliciesAction Generation

    Institute for AI Industry Research (AIR), Tsinghua University · University of Electronic Science and Technology of China · Work done during internship at AIR, Tsinghua University. +1

  42. Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies

    Jun 2, 2026Xiangdong Feng, Yuxuan Cheng, Chen Shi +5Action ChunksIterative Re-Planning

    Beijing Institute of Technology · Shenzhen Loop Area Institute · The Chinese University of Hong Kong, Shenzhen +4

  43. WALL-WM: Carving World Action Modeling at the Event Joints

    Jun 1, 2026Shalfun Li, Victor Yao, Charles Yang +28Efficient World-Action ModelOmninwm

    X Square Robot Team

  44. Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation

    May 31, 2026Keith Truongcao, Christopher Nhu, Zijian An +3Diffusion-Based Vision-Language-ActionsRobotic Manipulation

    Department of Electrical Engineering, Drexel University, Philadelphia, USA

  45. PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking

    May 30, 2026Junnan Nie, Jiayi Li, Chenghao Liu +5Action ChunksRobot Policies

    Peking University · Peking University. · JD Explore Academy. +1

  46. Action-Prior Denoising for Smooth Real-Time Chunking

    May 25, 2026Dongyang Liu, Zhaowen Zheng, Yu Sun +3Action ChunksChunk

    ROKAE (Shandong) Robot Group Co., Ltd. · School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, China · The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China

  47. Learning High-Frequency Continuous Action Chunks in Latent Space

    May 24, 2026Kunyun Wang, Yuhang Zheng, Yupeng Zheng +2Action ChunksRobotic Manipulation

    School of Computer Science, Shanghai Jiao Tong University, Shanghai, China · TARS Robotics · National University of Singapore, Singapore +2

  48. Smoother Action Chunking Flow Policy via Prior-Corrected Orthogonal Trust-Region Guidance

    May 23, 2026Kai Fang, Hailong Pei, Xuemin ChiAction ChunksFlow Policies

    South China University of Technology · Guangzhou, China · Zhejiang University +1

  49. Implicit Action Chunking for Smooth Continuous Control

    May 19, 2026Bosun Liang, Shuo Pei, Zirui Chen +5Reinforcement Learning ControlAction Chunks

    Department of Data and Systems Engineering, The University of Hong Kong, Hong Kong SAR, China · Beijing Institute of Technology, Zhuhai, China · College of Computer Science, Sichuan University, Chengdu, China

  50. Adaptive Action Chunking via Multi-Chunk Q Value Estimation

    May 11, 2026Yongjae Shin, Jongseong Chae, Seongmin Kim +2Action ChunksModel-Based Reinforcement Learning

    KAIST

  51. ACSAC: Adaptive Chunk Size Actor-Critic with Causal Transformer Q-Network

    May 10, 2026Qian Chen, Junqiao Zhao, Hongtu Zhou +4Soft Actor-CriticAction Chunks

    Tongji University

  52. Adaptive Q-Chunking for Offline-to-Online Reinforcement Learning

    May 7, 2026Nandiraju Gireesh, Yuanliang Ju, He WangAction ChunksChunk

    Peking University · Galbot · University of Toronto

  53. DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors

    Apr 27, 2026Pengcheng Wang, Kaiwen Hong, Chensheng Peng +4Diffusion PoliciesAsynchronous Execution

    UC Berkeley1 · UIUC2 · UT Austin3 +1

  54. Transport Discrepancy as a Reliability Signal for Vision-Language-Action Models

    Dec 1, 2025Wanpeng Zhang, Ye Wang, Hao Luo +6Action ChunksDiscrepancy

    1Peking University · 3BeingBeyond · 2Renmin University of China