Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA
Vision-Language-Action (VLA) models, as large foundation models for embodied control, have shown strong performance in manipulation tasks. However, their performance comes at high inference cost. To improve efficiency, recent methods adopt action chunking, which predicts a sequence of future actions for open-loop execution. Although effective for reducing computation, open-loop execution is sensitive to environmental changes and prone to error accumulation due to the lack of close-loop feedback. To address this limitation, we propose Speculative Verification for VLA Control (SV-VLA), a framework that combines efficient open-loop long-horizon planning with lightweight closed-loop online ve...
| Authors | Zihua Wang, Zhitao Lin, Ruibo Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 April 2026 |
| Last updated at source | 3 April 2026 |
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