ACRO: Actor-Critic Rollout Orchestration

ACRO is a new Actor-Critic rollout orchestration layer that decides when to intervene and resume a vision-language-action (VLA) policy to improve task success. It evaluates interventions based on their potential for success, physical feasibility, and time availability. Evaluated on SimplerEnv, RoboCasa, and real-robot manipulation, ACRO improves success rates by 10.4, 7.3, and 21.7 percentage points under the same execution budget.