Matteo Cercola, Katie Z Luo, Milan Ganai, John Alora, Simone Formentin, Marco Pavone · 2026 · arXiv
DOI: 10.48550/arXiv.2610.28166 · open-access PDF
Wenn mehrere Pläne gültig sind, verbirgt diese Verpflichtung Alternativen, die sonst ausgewählt oder überarbeitet werden könnten. Wir führen den Generative Plan Latent (GPL) ein, der den Begründungszustand als eine niedrigdimensionale bedingte Verteilung über Pläne darstellt, wie z. B. welches Objekt, Griff oder Route zu verwenden ist.
Machine translation (Meta M2M100); the English original follows.
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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