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About this paper
Yuyan Li, Yujia Wang, Yusong Huang, Junjie Yang, Yanggang Sheng, Ziyi Shi, Wenpeng Xu, Xiaoyang Zhou and 3 more
CA³C (Consequence-Aware Adaptive Action Chunking) selects how many actions a robot executes before observing and replanning. It compares predicted consequences of three candidate action chunks, choosing a shorter horizon when their futures diverge and a representative candidate to execute. On LIBERO-Plus, it raises π⁰·⁵ average success from 88.1% to 93.5%, a 45.4% relative failure-rate reduction; results are benchmark-specific.
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