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PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Vision-language-action models (VLAs) have shown strong promise for general-purpose robotic manipulation by mapping language instructions and vision observations directly to actions. However, most VLAs primarily condition action prediction on current observations and lack an explicit mechanism for reasoning over future task dynamics, which is particularly important for fine-grained, contact-rich manipulation. We present PHR-VLA, a framework that enables planning-horizon reasoning in VLAs through privileged latent representations of future dynamics. PHR-VLA introduces a lightweight auxiliary fut

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