DEFLECT: Temporal Counterfactual Preference Learning for Delay-Robust Asynchronous VLAs
Vision-Language-Action (VLA) policies increasingly rely on asynchronous inference to hide large-model latency behind ongoing robot motion. While this avoids the stop-and-go behavior of synchronous action-chunk execution, it creates a prediction-execution mismatch: the next chunk is computed from a stale observation at inference start but executed only after the robot and scene have evolved. As a result, actions that fit the prediction-time state can become misaligned with the execution-time state. Existing runtime repair, behavior-cloning, and preference-alignment approaches do not directly teach the policy to resolve this stale-input mismatch. We propose DEFLECT, an offline post-training...
| Authors | Yixiang Zhu, Yonghao Chen, Zijie Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 19 May 2026 |
| Last updated at source | 3 June 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.