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React When You Need To: Event-Triggered Asynchronous Inference for VLA Policies

2026-09-18 21:11:23
Yansong Wu, Huaqing Li, Tianding Hou, Lingyun Chen, Alois Knoll
arXiv_RO
           
Abstract

Vision-Language-Action (VLA) models commonly predict action chunks, limiting their ability to react to environmental changes during execution. Existing asynchronous inference methods improve reactivity but typically rely on a fixed inference gap. In this paper, we propose an event-guided dynamic inference strategy that adapts the inference gap according to scene changes observed since the previous inference. Thereby, it simultaneously preserves motion consistency and prompt reactivity. Across static and dynamic real-world settings, our method consistently performs best, averaging 95% success and exceeding the strongest baseline by 55 percentage points. The code will be made publicly available upon acceptance. The project page is available at this https URL.

Abstract (translated)

URL

https://arxiv.org/abs/2609.22587

PDF

https://arxiv.org/pdf/2609.22587.pdf

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