Generative VLAs hallucinate physically invalid actions due to topological, precision, and horizon mismatches between model architectures and feasible robot behavior.
Automatic synthesis of fine-motion strategies for robots.The International Journal of Robotics Research, 3(1):3–24, 1984
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Action Hallucination in Generative Vision-Language-Action Models
Generative VLAs hallucinate physically invalid actions due to topological, precision, and horizon mismatches between model architectures and feasible robot behavior.