Reasoning as a Distribution: Generative Plan Latents for Vision-Language-Action Models

Matteo Cercola, Katie Z Luo, Milan Ganai, John Alora, Simone Formentin, Marco Pavone · 2026 · arXiv

DOI: 10.48550/arXiv.2610.28166 · open-access PDF

Abstract

Vision-Language-Action (VLA) policies increasingly reason before acting, but existing reasoning models compress this intermediate decision into a single representation. When several plans are valid, this commitment hides alternatives that could otherwise be selected or revised. We introduce the Generative Plan Latent (GPL), which represents the reasoning state as a low-dimensional conditional distribution over plans, such as which object, grasp, or route to use. This makes the reasoning state addressable: without retraining the VLA, plans can be sampled (coverage), selected on request (steerin

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