Premover: Fast Vision-Language-Action Control via Early Execution During Instruction Delivery
Premover addresses idle time during instruction input for Vision-Language-Action (VLA) policies by allowing action to start based on partial instructions, known as a 'streaming prefix.' It uses a focus map derived from projecting image patches and language tokens into a shared space, controlled by a readiness gate. This mechanism ensures the robot acts only when the prefix has localized a specific visual target.