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Discarded tail actions in chunked robot policies remain faithful to counterfactual replans until action velocity fluctuates, allowing policies to safely extend execution horizons and slash inference calls by up to 1.7× at zero extra cost.
Online critic backpropagation for flow-based robot policies is completely unnecessary: amortizing trajectory-aware adjoint costates into a lightweight network achieves superior value alignment at 3.6× the speed.
