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Catch Me If You Can: Real-Time Feedback Denoising for Responsive VLAs

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation by combining semantic knowledge from pretrained vision-language models with expressive action-generation policies. Diffusion-based action generators are particularly effective for modeling temporally coherent action chunks, but these chunks are typically executed open-loop after inference. This limits responsiveness when objects move, contacts change, or the scene evolves during execution. We propose VLA-Feedback, a two-timescale architecture that combines low-frequency diffusion planning with high-fre

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