Author

Kyumin Choi

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#artificial intelligence Preprint Sep 2026

DriftOPD: Sequence-Level Reverse-KL Distillation for One-Step VLA Policies

Vision-Language-Action (VLA) models increasingly rely on action experts that generate short action chunks under receding-horizon control. While chunk-level training is convenient across robot embodiments, it optimizes local action likelihood without explicitly accounting for long-horizon task success. Sequence-level re...

Youngjun Jun, Kyumin Choi, Young Min Kim et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Don't Throw Away the Tail: Action Upcycling for Policy Acceleration

This work proposes Action Upcycling, a training-free algorithm that reuses actions the policy would otherwise discard, without accessing model internals or drawing extra samples, and finds that discarded actions stay close to their replanned versions as long as the action velocity remains smooth.

Taesung Kwon, Jangho Park, Sunwoo Park et al. · 0 citations