arXiv:2606. 08962v1 Announce Type: new Abstract: World Action Models (WAMs) generalize better than standard Vision-Language-Action (VLA) policies to novel motions and environments, because a video-modeling objective lets them learn from abundant unlabeled video rather than scarce labeled robot demonstrations.
CF‑VLA introduces a two‑stage coarse‑to‑fine approach for vision‑language‑action policies, replacing multi‑step sampling with a coarse initialization that constructs an action‑aware starting point and a single‑step refinement that corrects residual errors. The coarse stage learns a conditional posterior over endpoint velocity to transform Gaussian noise into a structured initialization, while the fine stage performs a fixed‑time refinement. Experiments on CALVIN and LIBERO demonstrate that CF‑VLA achieves a strong efficiency‑performance trade‑off, reducing action sampling latency by 75.4 % and achieving an 83.0 % real‑robot success rate, outperforming existing NFE=2 methods and matching or surpassing NFE=10 baselines.
arXiv:2611.01215v2 Announce Type: replace-cross Abstract: Diffusion-based vision-language-action (VLA) models cascade pretrained vision-language models (VLMs) with diffusion action experts, but typic...
arXiv:2605. 21854v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models have rapidly converged on a small set of architectural patterns: discrete-token autoregression (e.
arXiv:2609.36471v1 Announce Type: cross Abstract: World-Action Models (WAMs) improve robotic manipulation by conditioning action generation on predicted future observations, but future prediction add...
arXiv:2607. 06370v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations.
arXiv:2609.38984v1 Announce Type: cross Abstract: World-action models (WAMs) leverage pretrained video models to improve generalization in robot control by jointly predicting future visual states and...
arXiv:2607. 06370v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models have emerged as a promising approach for generalizable robotic manipulations.
IMLE‑VLA replaces the iterative action head in vision‑language‑action policies with a single‑step conditional generator trained via conditional Implicit Maximum Likelihood Estimation (cIMLE). This eliminates multi‑step sampling, boosting inference frequency by 3.67× (55 Hz vs. 15 Hz) and achieving the highest average success rate (98.0 %) on the 40‑task LIBERO benchmark while maintaining robustness under perturbations. Real‑world tests on a Franka Emika Panda show smoother, faster motions and a 3.9×–6.6× reduction in inference time per episode.
MambaAct introduces a compact Mamba-based action expert to replace the transformer-based expert in flow‑matching vision‑language‑action models, preserving the pretrained visual‑language prefix encoder while reducing the action expert size by tenfold. The new design employs a lightweight Context Compressor to embed vision‑language conditioning into each Mamba block, eliminating repeated token‑level cross‑attention. Experiments show a 64.8 % reduction in denoising latency on LIBERO and 58.8 % in real‑world deployment, with a modest 1.08 % increase in mean success rate across multiple fine‑tuning seeds.
arXiv:2610.06617v2 Announce Type: replace-cross Abstract: World Action Models (WAMs) incorporate visual representations from video generation backbones to guide action prediction. Recent efficient WA...
arXiv:2610.02666v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models map visual observations and language instructions to continuous robot actions, but a diffusion-based action expert...