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GROOVE: Geometry-Guided Reduction of Operational-Space Jerk in VLA Execution

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

Chunked vision language action (VLA) policies execute several commands per query, but jerk within chunks and across replanning boundaries can induce oscillatory motion and sharp actuator transients. We present GROOVE, an online regulator that searches directional correction regions around the raw three dimensional end effector (EEF) path, without retraining or additional VLA inference. It optimizes the new chunk using delivered commands as boundary conditions, reducing boundary and within chunk jerk while bounding cumulative translation and local axis angle deviation from the raw plan after ev

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