The paper introduces BAS‑VLA, a task‑semantic action calibration framework for vision‑language‑action models that addresses two failure modes: unnecessary action drift under appearance changes and insufficient behavioral change under semantic alterations. BAS‑VLA uses a breaking‑centered calibration core and a selective evidence‑gated preserving auxiliary to maintain performance on clean and semantics‑preserving conditions while suppressing stale‑task behavior. Experiments on OpenPI‑pi0.5 and LIBERO‑Object Milk‑Swap show high success rates on clean and preserved tasks, a dramatic drop under target‑object swaps, and improved robustness to style shifts from 42% to 70% without harming clean performance.
By Shuaijun Liu, Feiyang You, Chengyu Wu, Shuyang Hao, Chenglong Zhang, Jingyao Cai, Xingwei Chen, Ningxin Su
arXiv:2601. 03309v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models, which integrate pretrained large Vision-Language Models (VLM) into their policy backbone, are gaining significant attention for their promising generalization capabilities.
By Jianke Zhang, Xiaoyu Chen, Qiuyue Wang, Mingsheng Li, Yanjiang Guo, Yucheng Hu, Jiajun Zhang, Shuai Bai, Junyang Lin, Jianyu Chen
arXiv:2609.15005v1 Announce Type: cross
Abstract: Vision-Language-Action (VLA) policies perform robot manipulation tasks using multimodal inputs such as visual observations, proprioceptive states, an...
By Jinwoong Kim, Sangjin Park
arXiv:2609.24576v1 Announce Type: cross
Abstract: Modern Vision-Language Navigation (VLN) models rely mostly on pre-trained large Vision-Language Models (VLMs) to predict navigation actions. While th...
By D\'ebora Oliveira Makowski, Samiran Gode, Abhijeet Nayak, Marco Hutter, Cordelia Schmid, Lukas Rosenberger Schmid, Wolfram Burgard
arXiv:2607. 08974v1 Announce Type: cross Abstract: Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-training on robot data and architectural modifications can reshape the backbone so extensively that it becomes difficult to isolate what the VLM contributes to control.
By Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya, Kuniaki Saito, Cristian C. Beltran-Hernandez, Mai Nishimura
arXiv:2609.13458v1 Announce Type: cross
Abstract: Embodied language grounding requires more than identifying the referent of an instruction: recovered semantics must also control the action an agent...
By Baosheng Jin, Yushen Liang, Hua Shen
arXiv:2509. 25533v2 Announce Type: replace-cross Abstract: As Vision Language Models (VLMs) are deployed across safety-critical applications, understanding and controlling their behavioral patterns has become increasingly important.
By Ravikumar Balakrishnan, Mansi Phute
arXiv:2608.08273v2 Announce Type: replace-cross
Abstract: Vision-based embodied agents executing multi-step natural language instructions require feedback mechanisms that assess task progress over co...
By Hwanhee Kim, Jaehyun Jang, Seungmin Cha, Hyeonseo Yun, Donghoon Lee, Chang D. Yoo
arXiv:2608. 04510v1 Announce Type: cross Abstract: Diffusion-based vision-language-action (VLA) policies can generate plausible actions even when their predictions are weakly grounded in the visual and language evidence defining the task.
By Suhas Hegde, Jitendra Yasaswi Bharadwaj Katta
arXiv:2609.37165v1 Announce Type: cross
Abstract: Vision-Language-Action (VLA) models remain brittle under visual distribution shifts, often relying on spurious correlations tied to domain-specific f...
By Junghyun Kim, Ngseo Kim, ChungWoo Lee, Seoyeon Lee, Woo-Jeong Baek, Adam Zhou, Chip Huyen, Jun-Ki Lee, Gi-Cheon Kang, Byoung-Tak Zhang
arXiv:2609.06079v1 Announce Type: new
Abstract: Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hier...
By Zheng Lu, Haoran Liao, Wanqi Zhong, Yunhe Ni, Lijie Wang, Xingjie Fan, Zhisheng Chen, Yantang Qu, Meijia Chen, Tianyu Xin, Zirui Song, Yiming Li
arXiv:2607. 14635v1 Announce Type: new Abstract: Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction.
By Yufeng Ji, Wenhao Tang, Haoyi Niu, Koushil Sreenath, Yi Wu, Zhongyu Li