Hugging Face Trending Papers

Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models

Diffusion-based vision-language-action (VLA) models often inherit the image-generation view: actions are generated by iterative denoising. We argue that VLA action generation has a different condition-target structure: the policy is conditioned on rich observations, language, and state, but predicts only a compact, low-dimensional action chunk.

arXiv Machine Learning

Jun 5

Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models

arXiv:2606. 05737v1 Announce Type: cross Abstract: Diffusion-based vision-language-action (VLA) models often inherit the image-generation view: actions are generated by iterative denoising.

By Yitong Chen, Shiduo Zhang, Jingjing Gong, Xipeng Qiu

diffusion robotics efficiency multimodal safety

arXiv Machine Learning

Jun 2

Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policies

arXiv:2508. 20072v4 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions.

By Zhixuan Liang, Yizhuo Li, Tianshuo Yang, Chengyue Wu, Sitong Mao, Liuao Pei, Tian Nian, Shunbo Zhou, Xiaokang Yang, Jiangmiao Pang, Yao Mu, Ping Luo

llms diffusion robotics multimodal

arXiv AI

Jul 31

DLAM: Distributional Latent Actions with Temporal Constraints

arXiv:2607. 27138v1 Announce Type: cross Abstract: Vision-language-action (VLA) models remain constrained by scarce action-labeled robot data, whereas action-free videos offer abundant observations of physical change.

By Zuojin Tang, Feifan Luo, Haoyun Liu, Botai Yuan, Dekang Qi, Ronghan Chen, Yandan Yang, Tong Lin, Xinyuan Chang, Mu Xu, Bin Liu, De Ma, Zhiheng Ma

robotics multimodal

arXiv Machine Learning

Jul 23

Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction

arXiv:2607. 19919v1 Announce Type: cross Abstract: We propose Diffusion ReRoll, a diffusion-based framework for robotic sequential prediction that enables revisable denoising over horizons.

By Seonsoo Kim, Seongil Hong, Jun-Gill Kang

diffusion robotics benchmarks

arXiv AI

Jun 9

Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation

arXiv:2606. 08657v1 Announce Type: cross Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process.

By Zhexuan Zhou, Yichen Lai, Jinhao Zhang, Huizhe Li, Youmin Gong, Jie Mei

diffusion robotics

arXiv AI

Jul 14

TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging

arXiv:2607. 09818v1 Announce Type: cross Abstract: Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents.

By Shengzhuo Yang, Ronghao Yu, Chuanjie Lv, Linpeng Peng, Hang Yu, Jie Ren, Jiajun Lv, Yong Liu

agents diffusion robotics multimodal benchmarks

arXiv AI

6d ago

G0.5: One Autoregressive Stream for Robot Reasoning and Action

arXiv:2608. 11739v1 Announce Type: cross Abstract: The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert.

By Yicheng Liu, Zibin Dong, Baijun Ye, Tianyuan Yuan, Tao Jiang, Anqi Yang, Shicheng Cao, Haonan Liu, Yue Sun, Zihan Guo, Xiao Liu, Dong Ke, Changxun Pan, Chenru Wu, Tailai Cheng, Xiaoshu Ren, Xinlei Zhang, Jianning Cui, Zijie Zhao, Haoyu Zhang, Kaiming Xu, Haodong Yang, Bowen Zhang, Jiahui Niu, Shaoting Zhu, Shiduo Zhang, Hang Zhao

llms nlp robotics fine-tuning multimodal benchmarks

arXiv AI

6d ago

Foresight Without Seeing: Latent Futures for World Action Models

arXiv:2608. 11605v1 Announce Type: new Abstract: World Action Models (WAMs) couple future visual prediction with robot action generation, enabling policies to model how the physical world evolves during interaction.

By Jiakai Huang, Zhongbo Wu, Zheng Zhang, Zihan Wang, Shan You, Tao Huang

diffusion robotics

arXiv AI

Jun 16

LaWAM: Latent World Action Models for Efficient Dynamics-Aware Robot Policies

arXiv:2606. 15768v1 Announce Type: cross Abstract: Vision-Language-Action models (VLAs) leverage large-scale vision-language pretraining for semantic robot control, but often lack explicit foresight into how robot actions change the scene.

By Jialei Chen, Kai Wang, Kang Chen, Shuaihang Chen, Feng Gao, Wenhao Tang, Zhiyuan Li, Weilin Liu, Zhuyu Yao, Boxun Li, Yuanbo Xu, Chao Yu

diffusion robotics multimodal benchmarks

arXiv AI

Jun 6

World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis

arXiv:2606. 05979v1 Announce Type: cross Abstract: We propose world-language-action (WLA) models as a new class of embodied foundation models.

By Yi Yang, Zhihong Liu, Siqi Kou, Yiyang Chen, Yanzhe Hu, Jianbo Zhou, Boyuan Zhao, Zhijie Wei, Xiao Xia, Xueqi Li, Pengfei Liu, Zhijie Deng

llms diffusion robotics multimodal benchmarks

arXiv Machine Learning

Jul 28

WorldDiT: A Unified Diffusion Architecture for World and Action Modeling

arXiv:2607. 23909v1 Announce Type: new Abstract: Many recent robot policies pursue stronger control by using large pretrained vision-language models (VLMs) as the action backbone.

By Sen Wang, R. Gnana Praveen, Bidhan Roy, Marcos Villagra

llms diffusion robotics multimodal

arXiv AI

Jun 16

Sample from What You See: Visuomotor Policy Learning via Diffusion Bridge with Observation-Embedded Stochastic Differential Equation

arXiv:2512. 07212v3 Announce Type: replace Abstract: Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions.

By Zhaoyang Liu, Mokai Pan, Zhongyi Wang, Kaizhen Zhu, Haotao Lu, Haipeng Zhang, Jingya Wang, Ye Shi

diffusion robotics multimodal benchmarks

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