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arXiv · 2609.13695

GROOVE: Geometry-Guided Reduction of Operational-Space Jerk in VLA Execution

Sangho Yun·Minsoo Kim·Minwoo Cho·Hwanjo Yu
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Abstract

Chunked vision language action (VLA) policies execute several commands per query, but jerk within chunks and across replanning boundaries can induce oscillatory motion and sharp actuator transients. We present GROOVE, an online regulator that searches directional correction regions around the raw three dimensional end effector (EEF) path, without retraining or additional VLA inference. It optimizes the new chunk using delivered commands as boundary conditions, reducing boundary and within chunk jerk while bounding cumulative translation and local axis angle deviation from the raw plan after every command. Using quadratic programs (QPs), GROOVE generates a cube reference and thirteen directional candidates, then selects the one with the lowest command space jerk under a reference relative deviation cap. On a held out LIBERO benchmark, GROOVE achieves the largest reductions among the evaluated methods, reducing translational and rotational EEF jerk by 33.02% and 43.42%, respectively, with task success of 95.75% versus 93.75% for raw execution. Across 50 matched UR5e pairs with measured execution timing, it reduces translational and rotational tool center point (TCP) jerk by 16.39% and 19.49% and joint current slew by 29.09%.

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Sangho Yun, Minsoo Kim, Minwoo Cho, Hwanjo Yu. 2026-09-12. GROOVE: Geometry-Guided Reduction of Operational-Space Jerk in VLA Execution. https://arxiv.org/abs/2609.13695

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