AR-VLA introduces a standalone autoregressive action expert with long-lived memory that generates context-aware continuous actions for VLAs, replacing chunk-based heads with smoother trajectories and maintained task success.
Robotic control via embodied chain-of-thought reasoning
2 Pith papers cite this work. Polarity classification is still indexing.
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Generative VLAs hallucinate physically invalid actions due to topological, precision, and horizon mismatches between model architectures and feasible robot behavior.
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AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
AR-VLA introduces a standalone autoregressive action expert with long-lived memory that generates context-aware continuous actions for VLAs, replacing chunk-based heads with smoother trajectories and maintained task success.
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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.