Agent tasks require sequences of interdependent decisions. Autoregressive models support more flexible decision interfaces than conventional classifiers but incur the latency of token-by-token generat...
RoboSPA is a large-scale robotic manipulation dataset and benchmark designed to evaluate Vision‑Language‑Action models on fine‑grained spatial reasoning and long‑horizon procedural planning. It contains 10 task categories, 56 base tasks, and 280 variants across five difficulty levels, with 527K trajectories collected from multiple embodiments and scenes. The benchmark introduces diagnostic metrics beyond binary success, revealing that current VLA models struggle with complex spatial relations, precise execution, and memory‑intensive planning.
The paper introduces STEP, a State‑Aware Task Estimator and Planner that uses multi‑modal large language models to explicitly estimate system states and predict state transitions during task planning. By forecasting future states alongside actions, STEP reduces hallucinated actions and improves task‑convergent planning. In a simulated robot assembly task, STEP outperforms the state‑of‑the‑art by 32.8% in action executability and 14.8% in final‑state error.
The paper introduces an LLM chaining architecture for General Purpose Service Robots that splits instruction classification and action generation into two stages, cutting prompt length by about 45% and boosting planning consistency. Evaluation on 100 synthetic GPSR commands across three language models shows consistent improvements over single-prompt methods, with up to +37 percentage points gain on local models. Real‑robot trials on the Toyota HSR confirm that while planning success improves, execution-layer failures remain the main obstacle to full task completion.
Intern-Decision is a family of multimodal decision models (0.8B, 2B, and 4B parameters) that output structured choices and candidate probabilities directly from text and optional images, avoiding the latency of free‑form responses. The models use an autoregressive masked language modeling objective, placing one decision placeholder per field in a complete assistant JSON skeleton, and evaluate all fields in a single causal forward pass. The 4B variant achieves 90.02 % unweighted average accuracy across seven evaluation suites, with a mean latency of 44.16 ms on an RTX 4090 for a 289‑token request, and shows improved calibration and accuracy when combined with temperature scaling and confidence‑based handoff.
arXiv:2507. 05116v5 Announce Type: replace-cross Abstract: Recent large-scale Vision Language Action (VLA) models have shown superior performance in robotic manipulation tasks guided by natural language.
Jev-Mobile introduces a new approach for mobile GUI agents by separating high‑frequency lightweight execution from low‑frequency vision‑language model (VLM) planning. The VLM sets local goals, the accessibility tree provides a structured action space, and Jev, a fast typed decision model, repeatedly selects actions within this space, allowing multiple GUI actions per VLM decision. On the AndroidWorld task suite, Jev-Mobile achieves 79% task success, reduces mean end‑to‑end execution time by 32.7%, and cuts model API cost by 73.4% compared to a step‑wise VLM baseline.
arXiv:2607. 13056v1 Announce Type: cross Abstract: Current vision-language-action (VLA) benchmarks primarily evaluate isolated manipulation skills while leaving human-robot interaction structure largely unmodeled.
Intern-Decision introduces 0.8B, 2B, and 4B multimodal decision models that output structured choices and probabilities directly from text and optional images, avoiding the latency of free‑form responses. The models use an autoregressive masked language modeling objective, placing decision placeholders in a JSON skeleton and evaluating all fields in a single causal pass. The 4B variant attains 90.02% unweighted accuracy across seven benchmarks, with sub‑45 ms latency on an RTX 4090, and demonstrates improved calibration and handoff performance in pilot studies.
arXiv:2511. 17855v5 Announce Type: replace Abstract: Robots must learn from both what people do and what they say, but either modality alone is often incomplete: physical corrections are grounded but ambiguous in intent, while language expresses high-level goals but lacks physical grounding.
EmbodiedSkills is a skill-based agent framework that enhances frozen vision‑language‑action (VLA) policies with world action models for consequence‑aware action selection. It defines reusable skills for observation, context encoding, candidate generation, consequence prediction, outcome evaluation, candidate comparison, and action execution, organized into five stages that support both continuous action chunks and pick‑and‑place primitives. The framework improves success rates on MetaWorld MT50, CLIPort, and CALVIN benchmarks by incorporating outcome predictions and lightweight comparators while keeping the core policy and observation encoders frozen.
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.