← 研踪 PaperTrailarXiv:2611.11089 · v1
Control-Aware Command Generation for Asynchronous Control and Action Inference with Vision-Based Policies towards Fast Execution
首次提交 2026-11-08 11:09
版本更新 2026-11-08 11:09
雷达观测 2026-11-10 12:16
摘要
Vision-based control policies, including vision-language-action models, have enabled robots to perform increasingly complex tasks. However, their execution speed is often limited by the high computational cost of action inference. In this work, we investigate what can be achieved at the control level without modifying the underlying policy learning process. We introduce an asynchronous inference and control framework that enables fast task execution while maintaining smooth and stable robot motions. By formulating the generation of continuous target positions from discontinuous model predictions as a tracking control problem, our method makes asynchronous inference practical for real robots. We further accelerate execution through adaptive action skipping based on the variance of predicted positions. Experiments with Action Chunking Transformer and OpenVLA-OFT on a bimanual robot demonstrate substantial speedups while preserving high task success rates.
作者备注：8th Robot Learning Workshop: Is Physical AI Going Zero-Shot? at NeurIPS 2026
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v2 · 2026-11-10 12:14 · 最新观测版本
Control-Aware Command Generation for Asynchronous Control and Action Inference with Vision-Based Policies towards Fast Execution
Vision-based control policies, including vision-language-action models, have enabled robots to perform increasingly complex tasks. However, their execution speed is often limited by the high computational cost of action inference. In this work, we investigate what can be achieved at the control level without modifying the underlying policy learning process. We introduce an asynchronous inference and control framework that enables fast task execution while maintaining smooth and stable robot motions. By formulating the generation of continuous target positions from discontinuous model predictions as a tracking control problem, our method makes asynchronous inference practical for real robots. We further accelerate execution through adaptive action skipping based on the variance of predicted positions. Experiments with Action Chunking Transformer and OpenVLA-OFT on a bimanual robot demonstrate substantial speedups while preserving high task success rates.
查看此版本解读 →查看此版本原文 ↗v1 · 2026-11-08 11:09
Control-Aware Command Generation for Asynchronous Control and Action Inference with Vision-Based Policies towards Fast Execution
Vision-based control policies, including vision-language-action models, have enabled robots to perform increasingly complex tasks. However, their execution speed is often limited by the high computational cost of action inference. In this work, we investigate what can be achieved at the control level without modifying the underlying policy learning process. We introduce an asynchronous inference and control framework that enables fast task execution while maintaining smooth and stable robot motions. By formulating the generation of continuous target positions from discontinuous model predictions as a tracking control problem, our method makes asynchronous inference practical for real robots. We further accelerate execution through adaptive action skipping based on the variance of predicted positions. Experiments with Action Chunking Transformer and OpenVLA-OFT on a bimanual robot demonstrate substantial speedups while preserving high task success rates.
查看此版本解读 →查看此版本原文 ↗