Do Not Cut When Uncertain: Rejectable and Calibrated Decision Heads for VLA Policies in Robotic Harvesting

arXiv:2609.35039 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Action Decoder — 7× in this paper · explained in 1 episode
• Edge Deployment — 7× in this paper · explained in 2 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• Edge Devices — 2× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation

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