Temporal Modeling for VLA Models

VLA: Vision-Language-Action

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36 papers15 papers in the last four weeks, with none the four weeks before. 0.1% of all new papers.

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
ActECC: Action Chunk Temporal Harnessing for Edge-Cloud Collaborative VLA Inference System
Mar 9, 2026Zihao Zheng, Zhihao Mao, Hui Huang +9Temporal 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.
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

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TBD-VLA: Temporal Block Diffusion Vision Language Action Model

Sung-Wook Lee, Xuhui Kang, Yen-Ling Kuo

University of Virginia

Efficient VLA Model Inference Efficient VLA Models Robotic Manipulation Vision-Language-Action Models Temporal Modeling for VLA Models

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Discrete Vision-Language-Action (VLA) models typically formulate action generation as next-token prediction over discretized action spaces, conditioning each token autoregressively on prior context. While effective, this paradigm incurs high inference latency and largely ignores the temporal structure inherent in action trajectories. Recent efforts introduce parallel decoding to improve efficiency, enabling faster inference, but lack explicit mechanisms for modeling token dependencies. We introduce TBD-VLA, a discrete token-based VLA framework that incorporates block diffusion to enable temporal action generation. We partition action sequences into temporal blocks and perform masked discrete diffusion within each block, while maintaining autoregressive generation across blocks. This design unifies temporal autoregression and parallel action decoding, achieving both strong temporal coherence and improved inference speed. In addition, the explicit temporal modeling enables asynchronous execution of action chunks (e.g., Real-Time Chunking) via temporal in-painting. TBD-VLA significantly outperforms prior VLA approaches in both simulation and real-world manipulation tasks, offering a scalable path toward fast, temporally aware, discrete VLA models. Project webpage: https://tbd-vla.github.io/

Latest papers

TBD-VLA: Temporal Block Diffusion Vision Language Action Model

Masked Diffusion Vision-Language Models for Temporal Action Localization

AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models

ActECC: Action Chunk Temporal Harnessing for Edge-Cloud Collaborative VLA Inference System

TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation

Recursive Belief Vision Language Action Models