Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA

ArXi:2604.02965v1 Announce Type: cross Vision-Language-Action (VLA) models, as large foundation models for embodied control, have shown strong performance in manipulation tasks. However, their performance comes at high inference cost. To improve efficiency, recent methods adopt action chunking, which predicts a sequence of future actions for open-loop execution. Although effective for reducing computation, open-loop execution is sensitive to environmental changes and prone to error accumulation due to the lack of close-loop feedback.