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arXiv Computer Vision By Yehao Lu, Jiarui Yang, Yuning Su, Yufeng Xie, Yu Zhong, Yazhou Zhang, Haiyu Lan, Kaixiang Lu, Peiwen Lin, Chuang Wang, Zequn Qin, Enyu Li, Xi Li

V-Link: Recovering Lost Visual Representations in Action DiT for Vision-Language-Action Models

Read the original on arXiv Computer Vision →

V-Link is a method designed to enhance Vision‑Language‑Action (VLA) models by recovering visual representations during the transfer from vision‑language (VL) features to action (A) features. It introduces complementary Spatial and Semantic Query representations that are injected into Action DiT through asymmetric pathways, providing both semantic augmentation and dedicated geometric conditioning for action generation. Experiments on LIBERO, LIBERO‑Plus, RoboTwin 2.0, and real‑world AGIBOT A3 Ultra tasks show significant performance gains over the base GR00T N1.6 model.

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 Computer Vision.

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