arXiv (OAI Expanded)
open access
GROOVE: Geometry-Guided Reduction of Operational-Space Jerk in VLA Execution
Chunked vision language action (VLA) policies execute several commands per query, but jerk within chunks and across replanning boundaries can induce oscillatory motion and sharp actuator transients. We present GROOVE, an online regulator that searches directional correction regions around the raw th
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