{"id":"https://openalex.org/W7225264964","doi":"https://doi.org/10.48550/arxiv.2611.05155","title":"Asynchronous Robot Policies","display_name":"Asynchronous Robot Policies","publication_year":2026,"publication_date":"2026-11-03","ids":{"openalex":"https://openalex.org/W7225264964","doi":"https://doi.org/10.48550/arxiv.2611.05155"},"language":"en","primary_location":{"id":"doi:10.48550/arxiv.2611.05155","doi":"https://doi.org/10.48550/arxiv.2611.05155","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.05155","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2611.05155","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061780164","display_name":"Sombit Dey","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dey, Sombit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001254143","display_name":"Luc Van Gool","orcid":"https://orcid.org/0000-0002-3445-5711","observed_orcids":["https://orcid.org/0000-0002-3445-5711"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Van Gool, Luc","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5050696776","display_name":"Danda Pani Paudel","orcid":"https://orcid.org/0000-0002-1739-1867","observed_orcids":["https://orcid.org/0000-0002-1739-1867"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paudel, Danda Pani","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.003000000026077032,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.00019999999494757503,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.7850000262260437},{"id":"https://openalex.org/keywords/vision-language-models","display_name":"vision-language models","score":0.7900000214576721},{"id":"https://openalex.org/keywords/perception-action-loop","display_name":"perception-action loop","score":0.7300000190734863},{"id":"https://openalex.org/keywords/processing-delay","display_name":"processing delay","score":0.7039999961853027},{"id":"https://openalex.org/keywords/franka-emika","display_name":"Franka Emika","score":0.6100000143051147},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"dynamic simulation","score":0.5519999861717224}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.795799970626831},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.7875999808311462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5755000114440918},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4399999976158142},{"id":"https://openalex.org/C2776834041","wikidata":"https://www.wikidata.org/wiki/Q25346349","display_name":"Execution model","level":2,"score":0.40369999408721924},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4009000062942505},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.39890000224113464},{"id":"https://openalex.org/C157742956","wikidata":"https://www.wikidata.org/wiki/Q3237776","display_name":"Frequency scaling","level":3,"score":0.3862999975681305},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.3783000111579895},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3497999906539917},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33160001039505005},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.3149000108242035},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.3140000104904175},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2773999869823456},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2611.05155","doi":"https://doi.org/10.48550/arxiv.2611.05155","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.05155","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2611.05155","doi":"https://doi.org/10.48550/arxiv.2611.05155","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.05155","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7117242111","https://openalex.org/W7164917509","https://openalex.org/W4416958104","https://openalex.org/W7130092634","https://openalex.org/W7203706327","https://openalex.org/W7160963588","https://openalex.org/W7106158755","https://openalex.org/W7214746916","https://openalex.org/W7164810662","https://openalex.org/W7171876109"],"abstract_inverted_index":{"Scaling":[0],"vision-language":[1],"foundation":[2,230],"models":[3],"has":[4],"significantly":[5],"advanced":[6],"generalist":[7],"robot":[8,49,105,216],"manipulation,":[9],"but":[10],"the":[11,37,125,135,139,185,206,211,227],"increased":[12],"model":[13],"scale":[14,228],"introduces":[15],"computational":[16],"latency":[17],"that":[18,63],"degrades":[19],"real-time":[20],"physical":[21],"reactivity.":[22],"Existing":[23],"Vision-Language-Action":[24],"(VLA)":[25],"architectures":[26],"execute":[27],"high-level":[28],"semantic":[29,65,88,102,126,140],"reasoning":[30,66],"and":[31,48,142,162],"action":[32,69],"ex-":[33],"ecution":[34],"sequentially":[35],"within":[36],"primary":[38],"control":[39,111],"loop,":[40],"creating":[41],"a":[42,80,87,95,108,114,118],"fundamental":[43],"tension":[44],"between":[45],"semantic-reasoning":[46],"capability":[47],"agility.":[50],"To":[51,128],"address":[52],"this,":[53],"we":[54],"propose":[55],"Asynchronous":[56],"Robot":[57],"Policy":[58],"(ARP),":[59],"an":[60,157],"architectural":[61,212],"framework":[62],"decouples":[64],"from":[67],"low-level":[68],"generation":[70],"using":[71],"asynchronous":[72,130,219],"processes":[73],"operating":[74,184],"at":[75,90,107,187],"independent":[76],"frequencies.":[77],"In":[78],"ARP,":[79],"high-capacity":[81],"Vision-Language":[82],"Model":[83],"(VLM)":[84],"asynchronously":[85],"updates":[86],"memory":[89,131],"low":[91],"fre-":[92],"quency,":[93],"while":[94,172],"lightweight":[96],"Vision-Action":[97],"Expert,":[98],"conditioned":[99],"on":[100,124,138],"this":[101],"memory,":[103],"generates":[104],"actions":[106],"much":[109,202],"higher":[110,159],"frequency.":[112],"Such":[113],"formulation,":[115],"enables":[116,183],"having":[117],"fast":[119],"perception-action":[120],"loop":[121],"without":[122,225],"compromising":[123],"capability.":[127],"overcome":[129],"staleness,":[132],"ARP":[133,155,182],"trains":[134],"vision-action":[136],"expert":[137],"staleness":[141],"execution":[143,168],"delay,":[144],"with":[145,195],"temporally":[146],"mismatched":[147],"observation":[148],"across":[149],"processes.":[150],"On":[151],"Franka":[152],"manipulation":[153],"tasks,":[154],"achieves":[156],"18%":[158],"success":[160],"rate":[161],"20%":[163],"less":[164],"time":[165],"need":[166],"for":[167],"in":[169,177],"quasi-static":[170],"setups,":[171],"3-5":[173],"times":[174,189],"baseline":[175],"performance":[176,198],"dynamic":[178],"simulation":[179],"environments.":[180],"Furthermore,":[181],"VLM":[186],"10":[188],"lower":[190],"than":[191,205],"its":[192],"nominal":[193],"frequency":[194],"no":[196],"significant":[197],"loss":[199],"making":[200],"it":[201],"more":[203],"efficient":[204],"baseline.":[207],"These":[208],"results":[209],"highlight":[210],"advantages":[213],"of":[214,229],"modeling":[215],"policies":[217],"as":[218],"processes,":[220],"enabling":[221],"real-world":[222],"reactive":[223],"deployment":[224],"sacrificing":[226],"models.":[231]},"counts_by_year":[],"updated_date":"2026-11-06T12:05:46.655746","created_date":"2026-11-05T00:00:00"}
