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arXiv AI By Zhiyuan Gao, Di Wen, Yanxiang Zhan, Mohammad Khoshnazar, Jeroen Sch\"afer, Kunyu Peng, Michael Beetz

FOCAL-VLA: Subtask-Guided Geometry Distillation and Implicit World Modeling for Vision-Language-Action Models

Read the original on arXiv AI →

FOCAL‑VLA is a framework that improves vision‑language‑action models by combining subtask‑guided geometry distillation with implicit world modeling. It transfers geometric knowledge from VGGT to focus on subtask‑relevant image regions and uses Track4World features to capture future 3D evolution, guiding action generation without running these models at inference time. Experiments demonstrate that FOCAL‑VLA outperforms baselines on both simulation benchmarks and real‑world manipulation tasks.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv AI.

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