Temporal Modeling for VLA Models

VLA: Vision-Language-Action

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19 papers0 papers in the last four weeks, against 2 the four weeks before. 0.0% of all new papers.

When Plans Change, Remember: Replanning-Guided Visual Memory for Vision-Language-Action Models
Oct 15, 2026Victoria Smelova, Daniil Kazachkov, Georgiy Kazantsev +6Memory-Augmented VLMs Vision-Language-Action Models
MIRAI · Independent Researcher · Central University +2
What Matters for World Modeling in Vision-Language-Action Models?
Oct 14, 2026Qisen Ma, Yixiang Chen, Yuan Xu +10World Models for VLA Models Temporal Modeling for VLA Models
New Laboratory of Pattern Recognition (NLPR), Institute of Automation, Chinese Academy of Sciences · School of Artificial Intelligence, University of Chinese Academy of Sciences · Alibaba Group +1
Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models
Aug 31, 2026Xingyu Ding, Yuzhong Zhao, Chunhai Zhao +3Representation Learning Temporal Representation Learning
Nanjing University, Nanjing, China · Institute of Automation, Chinese Academy of Sciences, Beijing, China · University of Chinese Academy of Sciences, Beijing, China
StreamPI: Streaming Multimodal Temporal Modeling for Vision-Language-Action Models
Aug 26, 2026Zhe Liu, Jinghua Hou, Yuxiang Lu +7Temporal Modeling for VLA Models Vision-Language-Action Models
The University of Hong Kong · ACE Robotics
Explicit Language Memory for Long-Horizon Planning in Vision-Language-Action Models
Aug 5, 2026Houze Xu, Jizhong Li, Ziyi YeMemory-Augmented VLMs Vision-Language-Action Models
Fudan University
FibVLA: An Efficient Temporal Vision-Language-Action Model with Fibonacci Sampling
Jul 31, 2026Li Lin, Wujun Xu, Weiwei Meng +3Temporal Modeling for VLA Models Efficient VLA Model Inference
Southeast University, Nanjing, Jiangsu, China · Nanyang Technological University, Singapore.
TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging
Jul 10, 2026Shengzhuo Yang, Ronghao Yu, Chuanjie Lv +5Vision-Language-Action Models Robot Motion Generation
Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China
Dual Latent Memory in Vision-Language-Action Models for Robotic Manipulation
Jul 8, 2026Hongyu Qu, Jianzhe Gao, Xiaobin Hu +6Memory-Augmented VLMs Robotic Manipulation
Nanjing University of Science and Technology · Zhejiang University · National University of Singapore
Present but Not Remembered: Auditing How Frozen VLAs Encode, Deploy, and Steer Visual History
Jul 3, 2026Chih-Ting Liao, Xin CaoTemporal Modeling for VLA Models VLM Interpretability
University of New South Wales
MIRTH: Mutual-Information Reasoning with Temporal Hubs for Vision-Language-Action Agents
Jun 30, 2026Hao Sun, Yu Song, Shiyu Teng +2Temporal Modeling for VLA Models Vision-Language-Action Models
College of Information Science and Engineering, Ritsumeikan University, Japan · College of Computer Science and Technology, Zhejiang University, China
DAM-VLA: Decoupled Asynchronous Multimodal Vision Language Action model
Jun 10, 2026Pankhuri Vanjani, Zhuoyue Li, Jakub Suliga +4AI Control Robotic Manipulation
Intuitive Robots Lab, Karlsruhe Institute of Technology (KIT), Germany · NVIDIA · Robotics Institute of Germany
MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Models
Jun 8, 2026Hao Shi, Weiye Li, Bin Xie +6Long-Horizon Robotic Manipulation World Models for Robotics
Department of Automation, BNRist, Tsinghua University, Beijing, China · Department of Computer Science, The University of Hong Kong, Hong Kong, China · Dexmal, Beijing, China +1
MotionVLA: Injecting Geometric Motion into Vision-Language-Action Model
Jun 6, 2026Shanglin Yuan, Weiheng Zhao, Xianda Guo +4Long-Horizon Robotic Manipulation Visuomotor Policy Learning
Huazhong University of Science and Technology · D-Robotics · Wuhan University
TBD-VLA: Temporal Block Diffusion Vision Language Action Model
Jun 5, 2026Sung-Wook Lee, Xuhui Kang, Yen-Ling KuoEfficient VLA Model Inference Efficient VLA Models
University of Virginia
Masked Diffusion Vision-Language Models for Temporal Action Localization
May 28, 2026Fengshun Wang, Zhengbo Zhang, Zhigang TuTemporal Action Detection Temporal Action Localization
Wuhan University · Singapore University of Technology and Design
AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
Mar 10, 2026Yutong Hu, Jan-Nico Zaech, Nikolay Nikolov +6Temporal Modeling for VLA Models Vision-Language-Action Models
∗INSAIT, Sofia University “St. Kliment Ohridski” · †KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics · ‡KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images
RAPID: Redundancy-Aware and Compatibility-Optimal Edge-Cloud Partitioned Inference for Diverse VLA Models
Mar 9, 2026Zihao Zheng, Sicheng Tian, Hangyu Cao +7Temporal Modeling for VLA Models Edge-Cloud Collaborative Inference
School of Computer Science, Peking University, Beijing, China. · School of Artificial Intelligence, Beijing Normal University, Beijing, China. · School of Software Engineering, South China University of Technology, Guangzhou, China. +1
TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation
Mar 8, 2026Jun Sun, Boyu Yang, Jiahao Zhang +7Temporal Modeling for VLA Models Memory-Augmented VLMs
Xi’an Jiaotong-Liverpool University
Recursive Belief Vision Language Action Models
Feb 24, 2026Vaidehi Bagaria, Bijo Sebastian, Nirav Kumar PatelVision-Language-Action Models Long-Horizon Robotic Manipulation
Department of Engineering Design, Indian Institute of Technology, Madras, Chennai, India

Oct 15, 2026J/K move · Enter open · S save

When Plans Change, Remember: Replanning-Guided Visual Memory for Vision-Language-Action Models

Victoria Smelova, Daniil Kazachkov, Georgiy Kazantsev, Iuliia Tsvetkova+5

MIRAI · Independent Researcher · Central University+2

Memory-Augmented VLMs Vision-Language-Action Models Temporal Modeling for VLA Models

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Long-horizon, multi-stage Vision-Language-Action (VLA) policies often require visual information that is no longer present in the current observation. Retaining the complete observation history is computationally expensive and highly redundant, motivating selective visual memory. We introduce RePlanMem-VLA (Replanning-Guided Keyframe Memory for VLA), which turns a policy's own plan revisions into an online memory-write signal. Under receding-horizon execution, consecutive action chunks predict some of the same future actions. RePlanMem-VLA treats unusually large disagreement between these temporally aligned predictions as evidence of a task-relevant event. We first compare 35 disagreement measures across single-task autoregressive decoder-only and Flow-Matching Transformers trained from scratch, then validate the selected signals on pretrained OpenVLA-OFT and

π_{0.5}

policies over MIKASA-Robo-VLA tasks. The resulting detectors achieve ROC-AUC of 0.981-0.997. We then use the selected signals in RePlanMem-VLA to trigger updates to a bounded visual memory, with a robot-masked write filter suppressing redundant frames. In the evaluated memory-retention experiments, RePlanMem-VLA preserves task-relevant observations until the later decision point in 100% of episodes. Real-robot replay data further show that event selection and redundancy suppression extend beyond simulation. These results establish plan revision as a policy-internal signal for controlling what a VLA remembers. Website: https://vika787.github.io/RePlanMem/.