How Much Should a VLA Trust Its Reasoning? Step-Level Guidance as a Measured Action-Value Function

Paper recorded by Signals 4 on 2026-10-29 in cs.LG. Abstract reproduced from arXiv; link to the original below.

Published 2026-10-29 on arXiv · recorded by Signals 4 on 2026-10-30

Category: cs.LG · 机器学习 · first seen 2026-10-30

Abstract

Reasoning vision-language-action (VLA) policies write a reasoning trace and then decode the action from it. A wrong trace yields a wrong action, and even a correct-looking trace can mislead the plan. Existing remedies ask whether the reasoning is right. We ask how strongly it should steer. CoC-CFG applies classifier-free guidance between the policy's context and the same context without the reason

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