MPCoT: Reward-Guided Multi-Path Latent Reasoning for Test-Time Scalable Vision-Language-Action

Abstract:Vision-Language-Action (VLA) policies remain brittle in long-horizon and high-uncertainty control, where one-pass action decoding provides limited inference-time deliberation. Explicit chain-of-thought can increase reasoning depth, but introduces token latency and an indirect text-to-action interface. We propose MPCoT, a reward-guided multi-path latent reasoning framework that initializes M hypotheses, refines them for K weight-tied steps, and softly aggregates them before action decoding. A training-only path-preference objective combines expert-trajectory consistency, frozen Qwen3-VL progress scoring, and endpoint-success feedback to align the latent path scorer with downstream execution quality. MPCoT preserves the original 8-step action interface, generates zero reasoning tokens, and exposes configurable inference controls (K, M). Under matched protocols on LIBERO and CALVIN, MPCoT improves long-horizon performance, with ablations confirming depth-width effects, confidence-weighted aggregation, and reward-guided path supervision.

Robotics (cs.RO); Artificial Intelligence (cs.AI)

arXiv:2606.06245 [cs.RO]

(or arXiv:2606.06245v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.06245 Focus to learn more arXiv-issued DOI via DataCite

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