VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon
Summary
VLA-Corrector introduces a lightweight detect-and-correct inference framework that adaptively adjusts action horizons in Vision-Language-Action policies without retraining, improving robustness and efficiency in robot manipulation tasks.
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Cached at: 07/06/26, 06:35 AM
Paper page - VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon
Source: https://huggingface.co/papers/2607.01804 We introduce VLA-Corrector, a lightweight detect-and-correct inference framework for action-chunked Vision-Language-Action policies.
Modern VLA policies often predict and execute action chunks to reduce policy-call frequency and improve temporal smoothness. However, this fixed-horizon execution creates an open-loop blind spot: when an object slips, the robot pose drifts, or the scene changes during execution, the policy may continue executing stale actions before querying the model again.
VLA-Corrector addresses this issue without retraining or modifying the VLA backbone. It adds a lightweight external correction pathway that monitors latent visual dynamics during execution. When the observed visual evolution persistently deviates from the expected one, VLA-Corrector interrupts the current action chunk, discards stale actions, and triggers corrective replanning with Online Gradient Guidance.
This turns a fixed action horizon into an adaptive one: long-horizon execution is preserved when the chunk remains reliable, while short-horizon corrective behavior is activated when execution starts to drift.
Across MetaWorld, LIBERO, and real-world AgileX PiPER experiments, VLA-Corrector improves robustness and success-per-call efficiency across multiple VLA backbones, showing that small inference-time modules can provide meaningful gains for reliable robot manipulation.
Project Page:https://zju-omniai.github.io/vla-corrector/
GitHub:https://github.com/ZJU-OmniAI/vla-corrector
Paper:https://arxiv.org/abs/2607.01804
Contact: Yi Pan:[email protected] Wenqi Zhang:[email protected]
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