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Technical Report: One-Step Drifting Action Heads for GR00T N1.7

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

One-step action generation can substantially reduce the inference cost of vision-language-action (VLA) policies, but its effect on closed-loop task success remains an open question. This technical report studies a GR00T N1.7 variant in which the iterative diffusion-transformer action head is replaced by a one-step drifting action head, together with an overlap-conditioned extension for asynchronous chunk replacement. All multi-seed drifting runs were trained on two NVIDIA A800 GPUs. On LIBERO, the action head reduces the mean model-forward time of the action head from approximately $45.3\,\mat

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