arXiv:2609.37250v1 Announce Type: cross Abstract: World-action models (WAMs) couple future visual-state prediction with action generation. By adapting video generators or image-editing models pretrai...
arXiv:2604. 16557v2 Announce Type: replace Abstract: Current post-training methodologies for adapting Large Vision-Language Models (LVLMs) generally fall into two paradigms: Supervised Fine-Tuning (SFT) and Reinforcement Learning (RL).
arXiv:2606. 12217v1 Announce Type: cross Abstract: World Action Models (WAMs) offer a promising route for robot manipulation by using video generation models to model future scene evolution before producing control actions.
arXiv:2609.36645v1 Announce Type: cross Abstract: Future prediction is increasingly used to improve vision-language-action (VLA) policies, based on the premise that anticipating scene evolution encou...
AWM‑VLA introduces a unified framework that embeds aligned world modeling directly into a diffusion‑transformer vision‑language‑action policy. By adding learnable future tokens aligned with vision‑language embeddings of future observations, the policy can anticipate long‑term consequences while generating actions. The method extends this with an object‑centric alignment objective and a principled weighting scheme, achieving up to 21% higher success rates on RoboCasa and humanoid tabletop benchmarks and producing object‑centric rationales preferred by human raters in 83% of cases.
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.
World Action Models (WAMs) offer a promising route for robot manipulation by using video generation models to model future scene evolution before producing control actions. However, our empirical observations reveal a phenomenon: generating plausible visual futures does not always guarantee the extraction of accurate actions.
arXiv:2608. 06544v1 Announce Type: new Abstract: World models for visual control typically learn compact latent states by reconstructing observations, implicitly encouraging representations to preserve information across the entire visual input.
The paper introduces Intention Distillation (INDI), a method that injects behavior-level intent into Vision‑Language‑Action (VLA) model decoders by leveraging a frozen teacher vision‑language model to interpret demonstrations. During training, the teacher processes the current observation, instruction, coarse action summary, and execution video, producing a multimodal intent representation that the VLA decoder uses alongside trajectory and execution features to predict actions. Experiments on SimplerEnv‑Bridge, RoboCasa Kitchen, and real‑world tasks show that INDI consistently improves success rates, especially on longer‑horizon tasks, demonstrating that explicit modeling of semantic intent benefits action decoders.
LoopVLA introduces a recurrent Vision‑Language‑Action architecture that learns to refine multimodal representations, predict actions, and estimate when further refinement is unnecessary. By iteratively applying a shared Transformer block and producing a sufficiency score at each step, it decouples refinement from fixed layer indices and aligns confidence scores with action quality through a self‑supervised objective. Experiments on LIBERO, LIBERO‑Plus, and VLA‑Arena demonstrate that LoopVLA reduces model parameters by 45% and boosts inference throughput up to 1.7× while matching or surpassing strong baselines in task success.
arXiv:2606. 27596v1 Announce Type: cross Abstract: Large Vision-Language Models (LVLMs) exhibit sophisticated reasoning but remain susceptible to object hallucination.
The paper argues that diffusion-based action policies can use a frozen, observation‑free backbone as a reusable trajectory prior, with task adaptation handled entirely by the conditioning pathway. By pretraining a general action head on forward‑kinematics data and then freezing it, the authors show that a single backbone can match or outperform normally trained models on MimicGen and LIBERO. Their experiments reveal that a small 5 M‑parameter MLP backbone can rival large U‑Net and transformer backbones, indicating that action backbones are often over‑parameterized and that image‑style architectures may not be the best fit for low‑dimensional action generation.