# AdaPolicy: Action-Driven Anticipatory Robot Policies via Next-Chunk Prediction

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/z7dfumd9cez47e2gzutrf3hru
- Original: https://arxiv.org/abs/2610.34280

## Summary

AdaPolicy proposes an action-driven anticipatory policy framework that shapes future-aware representations through cascaded next-chunk prediction, requiring no encoding of future observations during training and adding zero inference-time overhead. The method achieves consistent gains on MetaWorld, RoboTwin 2.0, LIBERO, and real-world deployment, with improvements of up to 14 percentage points on millimeter-precision tasks such as headphone assembly and shoelace threading.