Reactive Real-Time Flow Policies via Asynchronous Distribution Alignment
Generalist robot policies such as vision-language-action models (VLAs) have achieved remarkable generalization, but their inference delays can conflict with the demands of real-time control. Asynchronous execution avoids pauses between action chunks by predicting the next sequence of actions while the robot carries out the previous one. In this paper, we study whether asynchronous execution produces the same action distribution as the original VLA. We find that, for non-Markovian demonstrations, asynchronous execution can produce a fundamentally different action distribution, which can limit the policy's reactivity. In our method, we seek to restore this reactivity by aligning the asynchr...
| Authors | Moritz Zoellner, Reece O'Mahoney, Ioannis Havoutis et al. |
|---|---|
| Primary category | cs.RO |
| Published | 29 September 2026 |
| Last updated at source | 29 September 2026 |
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