Vision-Language-Action Models

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Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models
Jun 5, 2026Jinhao Wu, Shiduo Zhang, Yicheng Liu +9Vision-Language-Action Models Classical Planning
LARA: Latent Action Representation Alignment for Vision-Language-Action Models
Jun 5, 2026Mengya Liu, Baoxiong Jia, Jiangyong Huang +2Vision-Language-Action Models Latent Actions
ActionMap: Robot Policy Learning via Voxel Action Heatmap
Jun 5, 2026Pei Yang, Hai Ci, Yanzhe Chen +3Vision-Language-Action Models Robot Policies
TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
Jun 4, 2026Dong Jing, Jingchen Nie, Tianqi Zhang +4Vision-Language-Action Models
AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding
Jun 4, 2026Qize Yu, Jiadi You, Yuran Wang +10Vision-Language-Action Models Generalizable Robotic Manipulations
WorldFly: A World-Model-Based Vision-Language-Action Model for UAV Navigation
Jun 4, 2026Shengtao Zheng, Kai Li, Weichen Zhang +5Aerial Vision-Language Navigation Vision-Language-Action Models
Robots Need More than VLA and World Models
Jun 4, 2026Elis Karcini, Faisal Mehrban, Quang Nguyen +6Executable Robot Behavior Robot Systems
World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis
Jun 4, 2026Yi Yang, Zhihong Liu, Siqi Kou +9Efficient World-Action Model Vision-Language-Action Models
PiL-World: A Chunk-Wise World Model for VLA Policy-in-the-Loop Evaluation
Jun 4, 2026Chong Ma, Taiyi Su, Jian Zhu +4Vision-Language-Action Models Robot Policies
Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models
Jun 4, 2026Yitong Chen, Shiduo Zhang, Jingjing Gong +1Vision-Language-Action Models Noise-Aware
FlowPRO: Reward-Free Reinforced Fine-Tuning of Flow-Matching VLAs via Proximalized Preference Optimization
Jun 3, 2026Yihao Wu, He Zhang, Junbo Tan +2Flow-Matching Vision-Language-Action Reinforcement Fine-Tuning
Potential-Guided Flow Matching for Vision-Language-Action Policy Improvement
Jun 3, 2026Yunpeng Mei, Jiakai He, Hongjie Cao +12Flow-Matching Vision-Language-Action Behavior Cloning
VISTA: Vision-Grounded and Physics-Validated Adaptation of UMI data for VLA Training
Jun 3, 2026Siyuan Yang, Linzheng Guo, Ouyang Lu +10Vision-Language-Action Models Robotic Datasets
3DThinkVLA: Endowing Vision-Language-Action Models with Latent 3D Priors via 3D-Thinking-Guided Co-training
Jun 3, 2026Jiaxin Shi, Xidong Zhang, Fucai Zhu +33D Spatial Reasoning Vision-Language-Action Models
Revisiting Embodied Chain-of-Thought for Generalizable Robot Manipulation
Jun 2, 2026Nan Sun, Yuan Zhang, Yongkun Yang +10Vision-Language-Action Models Generalizable Robotic Manipulations
PHASER: Phase-Aware and Semantic Experience Replay for Vision-Language-Action Models
Jun 2, 2026Ziyang Chen, Shaoguang Wang, Weiyu Guo +5Vision-Language-Action Models Experience
Partially Observable Adversarial Patch Attacks on Vision-Language-Action Models in Robotics
Jun 2, 2026Xiaofei Wang, Mingliang Han, Tianyu Hao +3Vision-Language-Action Models Adversarial Examples
OpenEAI-Platform: An Open-source Embodied Artificial Intelligence Hardware-Software Unified Platform
Jun 2, 2026Jinyuan Zhang, Luoyi Fan, Leiyu Wang +4Pretrained Vision-Language-Action Intelligence
Dive into the Scene: Breaking the Perceptual Bottleneck in Vision-Language Decision Making via Focus Plan Generation
Jun 2, 2026Boyuan Xiao, Bohong Chen, Yumeng Li +3Vision-Language-Action Models Vision-Language
GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models
Jun 2, 2026Yizhi Chen, Zhanxiang Cao, Xinyi Peng +14Vision-Language-Action Models Beyond Retrieval
SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
Jun 1, 2026Jaehyeon Son, Junhyun Kim, Kyle Kam +7Pretrained Vision-Language-Action Vision-Language-Action Models
See Less, Specify More: Visual Evidence Budgets for Generalizable VLAs
Jun 1, 2026Yueh-Hua Wu, Tatsuya Matsushima, Kei OtaVision-Language-Action Models Visual Evidence
Intercepting the Future: Latent-Space Predictive World Model for Dynamic VLA Manipulation
Jun 1, 2026Shahram Najam Syed, Arthur Jakobsson, Haoran Hao +1Vision-Language-Action Models Future Video Prediction
Towards Precise Intent-Aligned VLA Aerial Navigation via Expert-Guided GRPO
Jun 1, 2026Tianyang Chen, Wenjun Li, Xin zhou +2Aerial Vision-Language Navigation Vision-Language-Action Models
FATE-VLA:Failue-aware test generation for vision-language-action models
Jun 1, 2026Arusa Kanwal, Pablo Valle, Shaukat Ali +1Vision-Language-Action Models Robot Policies
RoboSemanticBench: Diagnosing Semantic Grounding in Action Prediction for VLA Models
Jun 1, 2026Bin Yu, Yao Zhang, Haishan Liu +9Vision-Language-Action Models Executable Robot Behavior
Co-training with Ego-centric Video and Demonstration for Robot Navigation Task
Jun 1, 2026Shoya Kuno, Yumo Ouchi, Kanata SuzukiRobotic Datasets Egocentric Video
LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
May 31, 2026Hojune Kim, Timothy Chen, Jiankai Sun +4Humanoid Loco-Manipulation Vision-Language-Action Models
OneVLA: A Unified Framework for Embodied Tasks
May 31, 2026Lingfeng Zhang, Xiaoshuai Hao, Yingbo Tang +10Vision-Language-Action Models Intelligence
ImagineUAV: Aerial Vision-Language Navigation via World-Action Modeling and Kinodynamic Planning
May 31, 2026Xuchen Liu, Jiawei Huang, Shihao Xia +3Aerial Vision-Language Navigation Autonomous Drone Navigation
Beyond Task Success: Behavioral and Representational Diagnostics for WAM and VLA
May 31, 2026Hung Mai, Bin Zhu, Tuan DoVision-Language-Action Models World Models
Make Your VLA More Robust Without More Data By Interleaving Motion Planning
May 31, 2026Dan BW Choe, Sundhar Vinodh Sangeetha, Samuel Coogan +1Vision-Language-Action Models Long-Horizon Planning
Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation
May 31, 2026Keith Truongcao, Christopher Nhu, Zijian An +3Vision-Language-Action Models Action Chunks
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
May 30, 2026Junnan Nie, Jiayi Li, Jiachen Zhang +4Action Chunks Robot Policies
PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
May 30, 2026Haofan Cao, Zhaoyang Li, Zhichao You +2Vision-Language-Action Models Passive
Closed-Loop Neural Activation Control in Vision-Language-Action Models
May 29, 2026Abhijith Babu, Ramneet Kaur, Nathaniel D. Bastian +5Vision-Language-Action Models Visuomotor Control
Per-Group Error, Not Total MSE: Fine-Tuning Vision-Language-Action Models for 11-DoF Mobile Manipulation
May 29, 2026Pau Montagut Bofi, Mario García Blasco, Tessa Pulli +1Vision-Language-Action Models Action Space
Continuous Reasoning for Vision-Language-Action
May 29, 2026Yueh-Hua Wu, Tatsuya Matsushima, Kei OtaVision-Language-Action Models Large Vision Language Models
DeMaVLA: A Vision-Language-Action Foundation Model for Generalizable Deformable Manipulation
May 29, 2026Taiyi Su, Jian Zhu, Tianjian Wang +9Vision-Language-Action Models Deformable Objects
DriveMA: Driving Vision-Language-Action Models with verifiable Meta-Actions
May 29, 2026Weicheng Zheng, Yixin Huang, Qiao Sun +2Drives Vision-Language-Action Models
HARP-VLA: Human-Robot Aligned Representation Learning for Vision-Language-Action Model
May 29, 2026Xiang Zhu, Puzhen Yuan, Yichen Liu +1Vision-Language-Action Models Latent Actions
Can Aerial VLA Models Cooperate? Evaluating Closed-Loop Air-Ground Coordination with CARLA-Air
May 29, 2026Tianle Zeng, Yanci Wen, Xueang Yu +1Aerial Vision-Language Navigation Multi-Uav Systems
Does Visual Information Play a Decisive Role in Vision-Language-Action Model Driving Behavior?
May 29, 2026Jingtao He, Hongliang Lu, Xiaoyun Qiu +2Autonomous Driving Vision-Language-Action Models
RDGen: Demonstration Generation for High-Quality Robot Learning via Reinforcement Learning
May 29, 2026Zijian Zhu, Menglin Zou, Zhuang Li +2Scalable Robot Learning Scalable Robot Data Synthesis
Wall-OSS-0.5 Technical Report
May 29, 2026Ryan Yu, Pushi Zhang, Starrick Liu +24Pretrained Vision-Language-Action Executable Robot Behavior
Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring
May 29, 2026Seongheon Park, Wendi Li, Changdae Oh +4Vision-Language-Action Models Executable Robot Behavior
Feat2Go: Visual Feature-Grounded Value Estimation for Embodied Reinforcement Learning
May 29, 2026Junyang Shu, Zhiwei Lin, Bingqing Wei +1Vision-Language-Action Models Imitation Learning
Primitive Subspaces Mediate Few-Shot Transfer in VLAs
May 29, 2026Anya Singh, Cabrel Happi, Jai Relan +2Vision-Language-Action Models Few-Shot Learning
BOKBO (Best of K Bad Options): Calibrated Abstention for VLA Policies
May 28, 2026Anya Singh, Cabrel Happi, Jai Relan +2Efficient Vision-Language-Action Models Vision-Language-Action Models
ELAN4D: Embodiment-Centric 4D Supervision for Vision-Language-Action Models via Plug-and-Play Adaptation
May 28, 2026Zeyuan He, Bowen Yang, Zhirui Fang +9Vision-Language-Action Models Real-World Manipulation Tasks
Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments
May 28, 2026Qiuyue Wang, Mingsheng Li, Jian Guan +37Vision-Language-Action Models Intelligence
VLA-Trace: Diagnosing Vision-Language-Action Models through Representation and Behavior Tracing
May 28, 2026Haoyuan Shi, Xiancong Ren, Yingji Zhang +9Vision-Language-Action Models Representation Quality
VisualThink-VLA: Visual Intermediate Reasoning for Effective and Low-Latency Vision-Language-Action Policies
May 28, 2026Mingjian Gao, Wenqiao Zhang, Yuqian Yuan +9Flow-Matching Vision-Language-Action Vision-Language-Action Models
PhAIL: A Real-Robot VLA Benchmark and Distributional Methodology
May 28, 2026Sergey ArkhangelskiyVision-Language-Action Models
SAFE-Pruner: Semantic Attention-Guided Future-Aware Token Pruning for Efficient Vision-Language-Action Manipulation
May 28, 2026Shilin Ma, Chubin Zhang, Changyuan Wang +6Visual Token Pruning Vision-Language-Action Models
VLAConf: Calibrated Task-Success Confidence for Vision-Language-Action Models
May 28, 2026Dehao Huang, Aoxiang Gu, Chengjie Zhang +5Vision-Language-Action Models Confidence Estimation
Mitigating State Aliasing in Vision-Language-Action Models via Inverse Dynamics Learning
May 28, 2026Kyujin Lee, Injae Kim, Jihwan Park +3Vision-Language-Action Models Visuomotor Control
VLA-Pro: Cross-Task Procedural Memory Transfer for Vision-Language-Action Models
May 28, 2026Shengyu Si, Yuanzhuo Lu, Ruimeng Yang +3Vision-Language-Action Models Generalizable Robotic Manipulations
ElegantVLA: Learning When to Think for Efficient Vision-Language-Action Models
May 28, 2026Ye Li, Huanan Liu, Kangye Ji +7Vision-Language-Action Models Perceptual Understanding
3DVLA: Enhancing Vision-Language-Action Models via 3D Spatial and Instance Understanding
May 28, 2026Zhongyu Xia, Yousen Tang, Bingqing Wei +1Vision-Language-Action Models 3D Spatial Reasoning

Jun 5, 2026 · cs.ROJ/K move · Enter open · S save

Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models

Jinhao Wu, Shiduo Zhang, Yicheng Liu, Xiaopeng Yu+8

1Nanjing University · 2Shanghai Innovation Institute · 3Fudan University · 4Tsinghua University

Most vision-language-action (VLA) models map observations directly to actions without explicit intermediate planning, which limits performance on long-horizon tasks where early mistakes compound. We propose Coarse-to-Control, a plan-execute VLA that introduces planning natively in the action-token space. The key idea is to let the policy first predict a compact sequence of coarse action tokens that summarize the intended future trajectory, and then generate executable action tokens conditioned on this plan. Because both planning and execution share a unified discrete action vocabulary, the plan stays close to the control manifold and provides directly actionable guidance rather than an abstract hint that must be translated back to motor commands. Experiments on LIBERO, SimplerEnv-WidowX, and real-world manipulation tasks show that action-token planning consistently improves over direct action generation, with the largest gains on long-horizon multi-stage tasks.

Vision-Language-Action Models Classical Planning Real-World Manipulation Tasks Planning Methods

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