Abstract
Vision-Language-Action (VLA) policies typically predict actions at fixed time intervals, coupling the route a robot follows with its execution pace. This coupling complicates adaptation from teleoperation: useful geometric guidance comes with timing shaped by interface delays and operator behavior. Our key insight is to bring the path-time parameterization of classical motion planning into the learned action representation of a VLA. We introduce PathTime-VLA, which represents motion as a progress-indexed interaction path $X(s)$ and a positive interval-time profile. The latter defines a monotone time law $t(s)$, yielding controller commands $X(s(t))$. For a given path, alternative executions are expressed through the time profile, allowing chunk-wise speed choices without changing the geometric prediction target. This representation supports a staged post-training procedure: demonstrations and DAgger interventions establish a target-domain prior, Speed-DQN learns execution multipliers from robot interaction, and Path-AWR uses rollout outcomes to refine the diffusion path generator. A path-conditioned action expert realizes the resulting motions while maintaining distinct learning interfaces for path generation and execution timing. Across three tasks, the complete method achieves $58/60$ successes versus $57/60$ for PathTime-VLA under BC + DAgger at fixed $1\times$, with approximately $39$-$52\%$ shorter mean completion times over successful trials.
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URL
https://arxiv.org/abs/2610.11771
