Generative VLAs hallucinate physically invalid actions due to topological, precision, and horizon mismatches between model architectures and feasible robot behavior.
Normalizing flows for probabilistic modeling and infer- ence.Journal of Machine Learning Research, 22(57): 1–64, 2021
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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.