Horizon Extrapolation with Adaptive Dynamics
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Intercepting the Future: Latent-Space Predictive World Model for Dynamic VLA Manipulation
arXiv:2606.02486v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models generalize across static manipulation but fail when objects move during task execution. They map the current observation to an action and assume the scene is stationary between observation and execution, so at any non-trivial object speed the resulting latency exceeds the time available to grasp. We close this gap with AHEAD (Anticipatory Horizon Extrapolation with Adaptive Dynamics), a predict-then-act...