Hermite Curves as Trajectory Priors for Vision-Language-Action Models
Despite recent progress in Vision-Language-Action (VLA) models for robotic manipulation, the action chunk remains a weakly structured interface. Existing work typically flatten each chunk into per-timestep controls, relying on implicit data learning that manifests as jagged motion and boundary discontinuities during physical execution. To address these limitations, we introduce Hermite trajectory priors, parameterizing the chunk trajectory as a piecewise cubic Hermite curve defined by endpoint positions and velocities to explicitly enforce smoothness and continuity. We instantiate this fixed operator across discrete autoregressive and continuous generative paradigms via three variants: (1...
| Authors | Qi Lv, Jianming Xing, Zhao Yang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 August 2026 |
| Last updated at source | 9 August 2026 |
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