Preprint Open access
Fast Plans, Faithful Actions: Closing the Planning-Execution Gap in Hierarchical Vision-Language-Action Models
Hierarchical vision-language-action (VLA) systems consist of a high-level vision-language planner and a low-level action expert that generates continuous actions. This hierarchical design has practical value only if the planner can generate plans fast enough to meet real-time control requirements, and the resulting pla …