{"id":"https://openalex.org/W7164298206","doi":"https://doi.org/10.48550/arxiv.2606.11408","title":"Dynamic Execution Horizon Prediction for Chunk-based Robot Policies","display_name":"Dynamic Execution Horizon Prediction for Chunk-based Robot Policies","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164298206","doi":"https://doi.org/10.48550/arxiv.2606.11408"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.11408","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.11408","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102115247","display_name":"Yuchi Zhao","orcid":"https://orcid.org/0009-0006-5419-4391"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Yuchi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032586525","display_name":"Miroslav Bogdanovi\u0107","orcid":"https://orcid.org/0000-0001-7255-7658"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bogdanovic, Miroslav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121606203","display_name":"Arjun Sohal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sohal, Arjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138432978","display_name":"Liyu Tao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao, Liyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072822077","display_name":"Kourosh Darvish","orcid":"https://orcid.org/0000-0003-4984-432X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Darvish, Kourosh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071495561","display_name":"Al\u00e1n Aspuru\u2010Guzik","orcid":"https://orcid.org/0000-0002-8277-4434"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aspuru-Guzik, Al\u00e1n","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010648258","display_name":"Florian Shkurti","orcid":"https://orcid.org/0000-0002-5672-5831"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shkurti, Florian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138413840","display_name":"Animesh Garg","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Garg, Animesh","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6520000100135803,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6520000100135803,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.22380000352859497,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.015799999237060547,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/task","display_name":"Task (project management)","score":0.6438999772071838},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6105999946594238},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5807999968528748},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5521000027656555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5011000037193298},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.4690000116825104},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4564000070095062},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.420199990272522},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.41280001401901245}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8016999959945679},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6438999772071838},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6105999946594238},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5807999968528748},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5521000027656555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5011000037193298},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.4690000116825104},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.420199990272522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4196999967098236},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.41280001401901245},{"id":"https://openalex.org/C203357204","wikidata":"https://www.wikidata.org/wiki/Q1089605","display_name":"Chunking (psychology)","level":2,"score":0.4043000042438507},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3601999878883362},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.3345000147819519},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.326200008392334},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28040000796318054},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C2776834041","wikidata":"https://www.wikidata.org/wiki/Q25346349","display_name":"Execution model","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.11408","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.11408","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.11408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5913079977035522}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Action":[0],"chunking":[1],"has":[2],"become":[3],"a":[4,21,27,38,45,48,101,159],"standard":[5],"design":[6],"in":[7],"modern":[8],"robot":[9],"policies,":[10],"from":[11,136],"diffusion/flow":[12],"policies":[13,126],"to":[14,138],"vision-language-action":[15],"models,":[16],"where":[17],"the":[18,55,73,112,120,129,133,139,148,177,190,197],"policy":[19,56,115],"predicts":[20,169],"sequence":[22],"of":[23,30,33,131,151,176,192,199],"actions":[24],"and":[25,82,127,154,179],"executes":[26],"fixed":[28,49],"number":[29],"them":[31],"instead":[32],"acting":[34],"one":[35],"step":[36],"at":[37],"time.":[39],"However,":[40],"this":[41,87,186],"paradigm":[42],"relies":[43],"on":[44],"key":[46],"assumption:":[47],"execution":[50,74,134,171,195],"horizon.":[51],"During":[52],"chunk":[53,114,125,194],"execution,":[54],"operates":[57],"open-loop,":[58],"which":[59],"is":[60,76,83],"particularly":[61],"problematic":[62],"for":[63],"fine-grained":[64,174],"manipulation":[65,156],"tasks":[66,157],"that":[67,99,167],"require":[68],"frequent":[69],"replanning.":[70],"In":[71,185],"practice,":[72],"horizon":[75,135],"typically":[77],"chosen":[78],"through":[79],"empirical":[80],"tuning":[81],"highly":[84],"task-dependent.":[85],"To":[86],"end,":[88],"we":[89],"propose":[90],"Dynamic":[91],"Execution":[92],"Horizon":[93],"Prediction":[94],"(DEHP),":[95],"an":[96],"effective":[97],"method":[98,121],"trains":[100],"lightweight":[102],"execution-horizon":[103],"prediction":[104],"branch":[105],"using":[106],"online":[107],"reinforcement":[108],"learning":[109],"while":[110],"keeping":[111],"pretrained":[113],"completely":[116],"frozen.":[117],"This":[118],"makes":[119],"compatible":[122],"with":[123,196],"black-box":[124],"isolates":[128],"effect":[130],"adapting":[132],"changes":[137],"underlying":[140],"action":[141],"generator.":[142],"Across":[143],"our":[144],"evaluations,":[145],"DEHP":[146,168,188],"improves":[147],"success":[149],"rate":[150],"different":[152],"high-precision":[153],"long-horizon":[155],"by":[158],"large":[160],"margin.":[161],"Our":[162],"qualitative":[163],"analysis":[164],"further":[165],"shows":[166],"shorter":[170],"horizons":[172,181],"during":[173,182],"stages":[175],"task":[178],"longer":[180],"free-space":[183],"motion.":[184],"way,":[187],"balances":[189],"efficiency":[191],"open-loop":[193],"reactivity":[198],"closed-loop":[200],"single-step":[201],"control.":[202],"Project":[203],"page:":[204],"https://dehp-chunking.github.io/":[205]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-12T00:00:00"}