THE MECHANISM

Attention, action chunks, and compression

03Attention asks “what matters now?”
→
04Chunks make short-horizon commitments
→
05Compression is practical, not cosmetic
FAILURE → REPAIR
Common trap

“Action tokens make robotics identical to language modeling.”

Better model

The physical loop still has deadlines, continuous dynamics, safety constraints, and embodiment-specific action spaces.

YOUR NEXT GATE

Choose a chunk horizon

  1. 1Measure your control frequency.
  2. 2Estimate how long one chunk lasts in real time.
  3. 3List one disturbance the robot should react to sooner than that.