ACG: Action Coherence Guidance For Flow-based VLA Models | Awesome LLM Papers Add your paper to Awesome LLM Papers

Awesome LLM Papers

A continuously updated collection of research papers on LLMs. Maintained by Sean Moran.

Stay Updated

Contact Sean Moran about this survey or website. Made with Jekyll and Hyde.

ACG: Action Coherence Guidance For Flow-based VLA Models

Minho Park, Kinam Kim, Junha Hyung, Hyojin Jang, Hoiyeong Jin, Jooyeol Yun, Hojoon Lee, Jaegul Choo . No Venue 2025

[Code] [Code] [Paper]   Search on Google Scholar   Search on Semantic Scholar
Compositional Generalization Has Code Training Techniques

Diffusion and flow matching models have emerged as powerful robot policies, enabling Vision-Language-Action (VLA) models to generalize across diverse scenes and instructions. Yet, when trained via imitation learning, their high generative capacity makes them sensitive to noise in human demonstrations: jerks, pauses, and jitter which reduce action coherence. Reduced action coherence causes instability and trajectory drift during deployment, failures that are catastrophic in fine-grained manipulation where precision is crucial. In this paper, we present Action Coherence Guidance (ACG) for VLA models, a training-free test-time guidance algorithm that improves action coherence and thereby yields performance gains. Evaluated on RoboCasa, DexMimicGen, and real-world SO-101 tasks, ACG consistently improves action coherence and boosts success rates across diverse manipulation tasks. Code and project page are available at https://github.com/DAVIAN-Robotics/ACG and https://DAVIAN-Robotics.github.io/ACG , respectively.

Similar Work