Generative VLAs hallucinate physically invalid actions due to topological, precision, and horizon mismatches between model architectures and feasible robot behavior.
Substituting these bounds into the sum gives, for a.e.a∈ M δ, p(a|s)≤ X z∈F −1(a)∩U ρmax Z σ∗(δ)d = #{z∈Z δ :F(z) =a} ·ρ max Z ·σ ∗(δ)−d
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Action Hallucination in Generative Vision-Language-Action Models
Generative VLAs hallucinate physically invalid actions due to topological, precision, and horizon mismatches between model architectures and feasible robot behavior.