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

arXiv:2609.18108 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/FluxVLA/FluxVLA

Terminology

• Transformer — 4× in this paper · explained in 2 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Quantization — 3× in this paper · explained in 12 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Action Chunking — 2× in this paper · explained in 1 episode
• Implicit Drifting Policy — 2× in this paper
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• Quantization-Aware Imitation-Learning for Resource-Efficient Robotic Control
• Implicit Drifting Policy: One-Step Action Generation via Conditional Expert Geometry
• Training-Time Action Conditioning for Efficient Real-Time Chunking

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