What Makes a VLA Reactive? A Study of Execution Strategies for Dynamic Manipulation

원문 초록

Vision-language-action (VLA) models predict chunks of future actions, and when objects move, those chunks go stale before they are executed. We study what makes a pretrained VLA reactive, using \pihalf{} on two dynamic simulation benchmarks and three real-robot tasks. We vary the prediction and execution horizons, compare synchronous and asynchronous inference, test methods that deliver actions sooner or keep successive chunks continuous, and adapt the policy with motion cues and latent-space reinforcement learning. The best prediction horizon is about one second, and the best execution horizon depends on the checkpoint. Short horizons help more with asynchronous execution, and methods that keep the trajectory continuous outperform those that only reduce latency. Adapting the policy repairs targeted failures, but on the conveyor task changing the execution horizon gained as much. Reactivity depends on the execution pipeline as much as on the policy, so both should be evaluated together.