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To improve efficiency and temporal coherence, Vision-Language-Action (VLA) models often predict action chunks; however, this action chunking harms reactivity under inference delay and long horizons.
Scaling laws for neural language models, 2020
Jared Kaplan, Sam McCandlish, Tom Henighan, Tom B. Brown, Benjamin Chess, Rewon Child, Scott Gray, Alec Radford, Jeffrey Wu, and Dario Amodei · 2001
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Jimmy Lei Ba, Jamie Ryan Kiros, and Geoffrey E Hinton · 2016
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