arXiv:2606. 19297v1 Announce Type: new Abstract: Embodied Vision-Language-Action (VLA) models are typically obtained by fine-tuning powerful pretrained VLMs on robotics data, yet it is unclear how much commonsense and factual knowledge they retain after adaptation.
Embodied Vision-Language-Action (VLA) models are typically obtained by fine-tuning powerful pretrained VLMs on robotics data, yet it is unclear how much commonsense and factual knowledge they retain after adaptation. Failures on knowledge-sensitive tasks are ambiguous, conflating missing knowledge with poor generalization of low-level control.
arXiv:2603. 06001v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models enable robots to perform manipulation tasks directly from natural language instructions and are increasingly viewed as a foundation for generalist robotic policies.
arXiv:2606. 16898v1 Announce Type: cross Abstract: Detecting unanswerable user queries remains essential for the reliable deployment of real-world embodied agents.
arXiv:2511. 15669v3 Announce Type: replace-cross Abstract: Does Chain-of-Thought (CoT) reasoning genuinely improve Vision Language Action (VLA) models, or does it merely add overhead?
Vision-language-action (VLA) models commonly adopt an LLM-centric $V \to L \to A$ pathway, where visual observations are projected into the representation space of a large language model before being decoded into robot actions. Although effective, this design incurs substantial computation and memory overhead at every policy invocation.
arXiv:2607. 12815v1 Announce Type: new Abstract: Chain-of-Thought (CoT) prompting is widely used as a test-time scaling strategy for Vision-Language Models (VLMs), but it remains unclear what is extended when VLMs generate longer reasoning traces.
AnchorVLN is an open‑vocabulary vision‑language navigation system that separates semantic proposals from geometric metrics. It uses a VLM to generate semantics while a geometry module supplies reliable metric quantities such as range and bearing, all within a Model Context Protocol server. The system achieves 64.4% on instruction following and improves object‑reference accuracy, reducing median center error from 3.37 m to 2.48 m.
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.
The paper introduces Visual Retrieval Heads (VRHs), a small fraction of attention heads in vision‑language models that are causally responsible for grounding text descriptions to image regions. By recasting head‑scoring methods and evaluating across eleven VLMs and five benchmarks, the authors show that masking the top 20 VRHs can drop grounding accuracy by up to 80 percentage points, while random masking has little effect. VRHs generalize across various visual reference tasks, preserve output format while corrupting localization, and transfer causally across models sharing an LLM backbone.
arXiv:2606. 12299v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models provide a natural language interface to robot control, but the mapping from language to behavior is often brittle and unintuitive: semantically similar instructions can induce drastically different behaviors, while some capabilities may not be elicitable through prompting alone.
The paper explores soft prompting for few‑shot object detection with vision‑language models, showing that optimizing a small number of continuous prompt tokens—especially when placed at the cross‑modal boundary and initialized from an empty space token—can match LoRA performance while training far fewer parameters. Soft prompting also avoids catastrophic forgetting, transfers to newer models, and can be verbalized into readable prompts. The study extends these findings to manipulation tasks, indicating that VLMs already contain much of the necessary knowledge for specialized domains, and the main challenge is learning how to ask for it.