Commit While Futures Agree: Consequence-Aware Adaptive Action Chunking for Robot Manipulation

arXiv:2610.07949 · cs.RO · Submitted 2026-10-06 · Read on arXiv

cs.RO

Submitted: 2026-10-06

Updated: 2026-10-06

Comments: 18 pages, 10 figures, including appendix

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Action Chunking — 1× in this paper · explained in 2 episodes

Sources

• Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies
• Dynamic Execution Horizon Prediction for Chunk-based Robot Policies
• When to Trust Imagination: Adaptive Action Execution for World Action Models
• World Models
• Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control
• WorldVLA: Towards Autoregressive Action World Model

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