Preprint Open access
CereVLA: Cerebellum-Inspired Consequence-Aware Residual Governance for Efficient Vision-Language-Action Execution
Action-chunked vision-language-action (VLA) policies improve inference efficiency, but limited feedback within committed action chunks can lead to accumulated execution errors. Residual adaptation can correct such deviations without retraining the VLA; however, existing corrections are typically optimized for reference …