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While this avoids the stop-and-go behavior of synchronous action-chunk execution, it creates a prediction-execution mismatch: the next chunk is computed from a stale observation at inference start but executed only after the robot and scene have evolved. As a result, actions that fit the prediction-time state can become misaligned with the execution-time state. Existing runtime repair, behavior-cloning, and preference-alignment approaches do not directly teach the policy to resolve this stale-input mismatch. We propose DEFLECT, an offline post-training framework for delay-robust asynchronous VLAs. DEFLECT converts latency-induced mismatch into counterfactual preference supervision: a frozen reference VLA generates a preferred chunk from the future execution-time observation and a rejected ch","title":"DEFLECT: Temporal Counterfactual Preference Learning for Delay-Robust Asynchronous VLAs","url":"https://arxiv.org/abs/2605.19294","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.19294v2 Announce Type: replace-cross \nAbstract: Vision-Language-Action (VLA) policies increasingly rely on asynchronous inference to hide large-model latency behind ongoing robot motion. While this avoids the stop-and-go behavior of synchronous action-chunk execution, it creates a prediction-execution mismatch: the next chunk is computed from a stale observation at inference start but executed only after the robot and scene have evolved. As a result, actions that fit the prediction-time state can become misaligned with the execution-time state. Existing runtime repair, behavior-cloning, and preference-alignment approaches do not directly teach the policy to resolve this stale-input mismatch. We propose DEFLECT, an offline post-training framework for delay-robust asynchronous VLAs. DEFLECT converts latency-induced mismatch into counterfactual preference supervision: a frozen reference VLA generates a preferred chunk from the future execution-time observation and a rejected ch","title":"DEFLECT: Temporal Counterfactual Preference Learning for Delay-Robust Asynchronous VLAs","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-04T04:43:08Z","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:c13003199b50f394e69cb157a2318dfa96bf36634cc3adbd09908ece68e1ad5914860127f010352eb3e9524f5a6b9c3bc0f7b3eab827779b12adc74aab2f7402","signer":"crovia.substrate","subject":{"observed_at":"2026-06-04T04:43:08Z","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":"0b7a129d0b65d0344ab3e8d9906131c208ce47092f83e99ebe0c425c86a3b39a","leaf_index":212893,"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":"1d4ac7f9363c411b4628af7f145d8174ecc4f04dc741ec90d0e88aaeb6cf9b7c","side":"left"},{"sibling":"a54cbbf480969733c1075e9306c4f8b510fddf9eafcebc0cee856745299d8d81","side":"right"},{"sibling":"351b18358e1d5ac9ac01e9fc6c42bea925bdadfbc83751f4479896feb3148f3d","side":"left"},{"sibling":"fbb6ff4a72054ed7e71ebda57aae2a3181c58aab825ed2061593543047022d72","side":"left"},{"sibling":"92f73514cbe9ed1c07a9bff94618a7fabb9dfce8d427000ba37caed8205e0d8a","side":"left"},{"sibling":"279eaf93fa03da75e98e85e0498ea45dc911f2fa8496f288bd8e8393b76e43a5","side":"right"},{"sibling":"d3e42a6c46328ee67e86cd8ee47af0826f2c502d9570e347a543ab25d8fd2fee","side":"right"},{"sibling":"8e52d8857251092c8d86330e4f43c6472257636abff3006310489f2170e2b3e3","side":"left"},{"sibling":"b4e8a5af3a9fdc4bb815270cd541ee4baf09fb1d9e2cccd75c7346558e1f1e4c","side":"left"},{"sibling":"cfb460164a914d1f96a36aa17124b45bb5417829d2adbe5ca48375dbd842ec44","side":"left"},{"sibling":"a84ebc8e894a9893ee34d1afc942d15f28243b926f1e5f9d7f10a3de1e795262","side":"left"},{"sibling":"f8f6bd9da448fa097e2115b71146f61691d9f8807aca291c87c633192a7224e9","side":"left"},{"sibling":"2dca509b3eb767a47cf215d4315f230ce9103a76264412008ae23a349b519ef1","side":"left"},{"sibling":"24d1bb4b13e0e46131b27b70a48e65fcf4e2e14b95e3bb83ade821e9df530f6b","side":"left"},{"sibling":"422bcf7e281ca3a607f3726a5e6b8fabdb85e8b32199b4a86356998e260a0b34","side":"right"},{"sibling":"54a99163a4a62374c3ca6fb46294222f1d4b1a9d0b636e27256b0e093e98239a","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"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":213053,"merkle_root":"19d104b92c4d7299881c447fb8422611fc9cb8615d37a538959e34a2da7ef55f","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260604T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-04T05:37:49Z","sig_algorithm":"ed25519","signature":"630748e88645187aa3b4d4cb8c872cc146180d0301e4c6656f15f99081d7776432715cea2a997b32b7b3a5216f215d19c1b536c0b093100ec843fa0bd65f2101","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_df67509fd1a68e0804438987f247a6d24afda857e662478d185cf2f6532becc3"}}