Author

Kai Ye

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Preprint Aug 2026

Imagining Recovery: Inference-Time Counterfactual Realignment for Vision-Language-Action Models

Counterfactual Realignment (CoRe), a training-free framework that recovers a frozen VLA at inference time without failure data, is proposed, a training-free framework that recovers a frozen VLA at inference time without policy fine-tuning or failure-specific recovery training.

Yanyan Zhang, Disheng Liu, Kai Ye et al. · 0 citations