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This creates a prediction-execution misalignment: the chunk is conditioned on the observation taken before inference began, but executes in a physical state that has already drifted forward by several control steps; naive asynchronous rollover collapses from 89% to under 1% on Kinetix as the inference cycle covers up to seven control steps. We introduce DEFLECT, a fully offline post-training refinement that applies as a near drop-in upgrade to existing async-VLA stacks by converting latency itself into a label-free preference signal: counterfactual fresh/stale action pairs are constructed from a frozen reference policy and scored under the deployment-time conditioning via an implicit flow-matching likelihood-ratio surrogate, with no human labels, reward m","title":"DEFLECT: Delay-Robust Execution via Flow-matching Likelihood-Estimated Counterfactual Tuning for VLA Policies","url":"https://arxiv.org/abs/2605.19294","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.19294v1 Announce Type: cross \nAbstract: Vision-Language-Action (VLA) policies are typically deployed with asynchronous inference: the robot executes a previously predicted action chunk while the model computes the next one. This creates a prediction-execution misalignment: the chunk is conditioned on the observation taken before inference began, but executes in a physical state that has already drifted forward by several control steps; naive asynchronous rollover collapses from 89% to under 1% on Kinetix as the inference cycle covers up to seven control steps. We introduce DEFLECT, a fully offline post-training refinement that applies as a near drop-in upgrade to existing async-VLA stacks by converting latency itself into a label-free preference signal: counterfactual fresh/stale action pairs are constructed from a frozen reference policy and scored under the deployment-time conditioning via an implicit flow-matching likelihood-ratio surrogate, with no human labels, reward m","title":"DEFLECT: Delay-Robust Execution via Flow-matching Likelihood-Estimated Counterfactual Tuning for VLA Policies","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-20T04:43:44Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.19294"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:d195dd3806895c9d2889ea1a07c2e9136053e883e33121b12ef9152feed4f8e393541d502c611ffa2904668d2e26c75357485149fa78c9e999327b4b5cf4910a","signer":"crovia.substrate","subject":{"observed_at":"2026-05-20T04:43:44Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.19294"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"965e76907649eeb915bdc1fcb82cfe3dd8a59b72407368cbc60b864f0f3453f6","leaf_index":145103,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"bd6754ab63256870121b2edf6a059d7193ecf6924a33b88a127f06466b1d0ff2","side":"left"},{"sibling":"63ad164c927916c85535a0051fa448ce5c0f5551382522874931284a72681836","side":"left"},{"sibling":"a51d8701c29ff95e263c5bff2b1c5779f5b69c5bc9f330f3566181c86d97ea0c","side":"left"},{"sibling":"da18b76c2952e5e5e80ba99c50c1065ff79e74540c6cddd4652a12ec30747db0","side":"left"},{"sibling":"e23202e93860f0a5b136f48911791517357b35005bc12c92565f0bee93a69369","side":"right"},{"sibling":"f646c1672cd462d70b2731c0b5f68f2731316aafa7f6d887880a7f356dd82c82","side":"right"},{"sibling":"14b33559692f11ef077e3863ff56431a676a64de58614d8dda5f4a9e91838cf8","side":"left"},{"sibling":"3047d0cbdc103ff93a1a073ea940e12ff062595dae419513748ed63fbcb3359c","side":"left"},{"sibling":"9db04d2181fb869f16a5baf7dcfe999cc93a7e9beef8493d0cc71f57470fe5e1","side":"right"},{"sibling":"1526885f19d1fadf6955cf519dbc4e62d593a4bba99d741e8c301740a7068233","side":"left"},{"sibling":"e3a7d5c07f161682d61bd453ffc02ecdf87cfeda70f986d6650017f9d2d6b265","side":"left"},{"sibling":"edbc49f08e5b92291934c05c9e6efd270a6b0698d8d2fa474006366027dfe098","side":"right"},{"sibling":"3e4df6e7457cecbf36f350375e72dcab336a3984422e4c406ef809e4e2944e96","side":"left"},{"sibling":"8f4c0fbe56b6c010fbb8c782ebcd478079bb3f991d8704e2534209a075d9163c","side":"left"},{"sibling":"be08fedc4e72a6fb56606f66812fae7317e09690b9acb18385f4ab117a981238","side":"right"},{"sibling":"0534329a7475dc9df51998c83c16892126679dade0fa34182f21e869599386c7","side":"right"},{"sibling":"2d24720928ead0e7670650eb55f558c4f20e4c18df376f47ba72cfa8cf0ed344","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":147301,"merkle_root":"08903d7159c3b38eeeeafc09eab15139ea417f1d94f02f1fbc87296b37db840a","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260521T183701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-21T18:37:33Z","sig_algorithm":"ed25519","signature":"905f2924632dfa2970c8690285f5b5d4a1d891d0e0ef1cbc404ebec2fd937215ac768e16f0a9f28b18977a55ae0bfd226db6833ae7ef588729054117d2da7303","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_00a69dab83d6a05e77802f9f76ebb5a99029584632dc89009949755311175f5f"}}