Preprint Open access
Triggering Generalist Reasoning via Predictive Uncertainty for Dual-System VLA
Dual-system Vision-Language-Action (VLA) models improve real-time robotic control by pairing a slow, reasoning-capable generalist with a fast specialist action expert. However, existing methods invoke the generalist at a fixed frequency, ignoring the fact that decision-making complexity varies throughout a rollout. Thi …