Pion modifies Muon's Newton-Schulz iterations into a controllable high-pass filter that anchors dominant singular values at 1 while suppressing noisy tails, outperforming Muon and AdamW in VLA and RLVR regimes.
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Discrete diffu- sion vla: Bringing discrete diffusion to action decod- ing in vision-language-action policies
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abstract
Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions. However, prevailing VLAs either generate actions autoregressively in a fixed left-to-right order with poor performance or attach separate diffusion heads outside the backbone that fragments information pathways and hinders unified, scalable architectures. Instead, we present Discrete Diffusion VLA that discretizes action chunks and models them with discrete diffusion pattern retaining progressive refinement inside the unified transformer backbone. Our method achieves an adaptive decoding order that resolves high-confidence action elements before harder ones and employs secondary re-masking to revisit uncertain predictions, enabling robust error correction. This design preserves pretrained vision-language priors, supports parallel decoding, and improves the efficiency. Discrete Diffusion VLA achieves 96.4% avg. success on LIBERO, 71.2% visual matching on SimplerEnv-Fractal, and 54.2% overall on SimplerEnv-Bridge. On out-of-distribution tests of LIBERO-Goal, our method exhibits only 0.8% language degradation versus 8.0% of parallel decoding, and 20.4% vision degradation versus 29.0% for continuous diffusion, demonstrating well retention of pretrained vision-language capabilities. We also conduct two real-robot evaluations on AgileX Cobot Magic platform to show the method's effectiveness.
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representative citing papers
BlockVLA accelerates autoregressive VLA models by 3.3x using block diffusion finetuning, with faster training convergence and better early performance on long-horizon robotic tasks.
Pace-and-Path Correction decomposes a quadratic cost minimization into orthogonal pace and path channels to correct chunked actions in VLA models, raising success rates by up to 28.8% in dynamic settings.
ΔLPS is a gradient-guided discrete posterior sampler for inverse problems that works with masked or uniform discrete diffusion priors and outperforms prior discrete methods on image restoration tasks.
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
EventVLA introduces foundational visual anchors and a Keyframe Evidence Memory module that predicts future keyframe probabilities from VLA embeddings to improve long-horizon task success by an average of 40% on 17 simulation and 4 real-world tasks.
X-DiffVLA proposes a diffusion VLA model using Embodiment Forcing and Morphological Tree Diffusion to achieve SOTA cross-embodied performance on simulation benchmarks with 15.3% and 12.5% gains.
GuidedVLA improves VLA generalization by supervising individual attention heads with manually defined auxiliary signals for three task-relevant factors.
PriorVLA preserves pretrained priors in VLA models through a frozen Prior Expert and trained Adaptation Expert, delivering better robot manipulation performance than full fine-tuning with only 25% of the parameter updates.
A discrete diffusion model tokenizes multimodal robotic data and uses a progress token to predict future states and task completion for scalable policy evaluation.
Temporal difference calibration aligns uncertainty estimates in vision-language-action models with their value functions for better sequential performance.
Pose-VLA uses a decoupled two-stage pre-training with discrete pose tokens to extract universal 3D spatial priors from 3D datasets and robotic trajectories, achieving 79.5% success on RoboTwin 2.0 and 96.0% on LIBERO.
Legato trains flow-based VLA policies with schedule-shaped action-noise mixtures and randomized conditions to achieve smoother trajectories and ~10% faster task completion than real-time chunking across five real-world manipulation tasks.
ABot-M0 unifies heterogeneous robot data into a 6-million-trajectory dataset and introduces Action Manifold Learning to predict stable actions on a low-dimensional manifold using a DiT backbone.
AsyncVLA adds asynchronous flow matching and a confidence rater to VLA models so they can generate actions on flexible schedules and selectively refine low-confidence tokens before execution.
QuoVLA introduces a quotient-space framework that compresses VLM latents into action-sufficient representations via quantization and dual-branch design for better VLA generalization.
The method uses multi-view diffusion priors and action manifold learning to resolve depth ambiguity and improve action prediction in VLA robotic manipulation models, reporting higher success rates than baselines on LIBERO, RoboTwin, and real-robot tasks.
The World-Value-Action model enables implicit planning for VLA systems by performing inference over a learned latent representation of high-value future trajectories instead of direct action prediction.
LingBot-VA combines video world modeling with policy learning via Mixture-of-Transformers, closed-loop rollouts, and asynchronous inference to improve robot manipulation in simulation and real settings.
citing papers explorer
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Rethinking Muon Beyond Pretraining: Spectral Failures and High-Pass Remedies for VLA and RLVR
Pion modifies Muon's Newton-Schulz iterations into a controllable high-pass filter that anchors dominant singular values at 1 while suppressing noisy tails, outperforming Muon and AdamW in VLA and RLVR regimes.
-
BlockVLA: Accelerating Autoregressive VLA via Block Diffusion Finetuning
BlockVLA accelerates autoregressive VLA models by 3.3x using block diffusion finetuning, with faster training convergence and better early performance on long-horizon robotic tasks.
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Overcoming Dynamics-Blindness: Training-Free Pace-and-Path Correction for VLA Models
Pace-and-Path Correction decomposes a quadratic cost minimization into orthogonal pace and path channels to correct chunked actions in VLA models, raising success rates by up to 28.8% in dynamic settings.
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Discrete Langevin-Inspired Posterior Sampling
ΔLPS is a gradient-guided discrete posterior sampler for inverse problems that works with masked or uniform discrete diffusion priors and outperforms prior discrete methods on image restoration tasks.
-
Being-H0.7: A Latent World-Action Model from Egocentric Videos
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
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EventVLA: Event-Driven Visual Evidence Memory for Long-Horizon Vision-Language-Action Policies
EventVLA introduces foundational visual anchors and a Keyframe Evidence Memory module that predicts future keyframe probabilities from VLA embeddings to improve long-horizon task success by an average of 40% on 17 simulation and 4 real-world tasks.
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X-DiffVLA: X-Embodied Diffusion Action Heads for Vision-Language-Action Models
X-DiffVLA proposes a diffusion VLA model using Embodiment Forcing and Morphological Tree Diffusion to achieve SOTA cross-embodied performance on simulation benchmarks with 15.3% and 12.5% gains.
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GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
GuidedVLA improves VLA generalization by supervising individual attention heads with manually defined auxiliary signals for three task-relevant factors.
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PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
PriorVLA preserves pretrained priors in VLA models through a frozen Prior Expert and trained Adaptation Expert, delivering better robot manipulation performance than full fine-tuning with only 25% of the parameter updates.
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dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
A discrete diffusion model tokenizes multimodal robotic data and uses a progress token to predict future states and task completion for scalable policy evaluation.
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Temporal Difference Calibration in Sequential Tasks: Application to Vision-Language-Action Models
Temporal difference calibration aligns uncertainty estimates in vision-language-action models with their value functions for better sequential performance.
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Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
Pose-VLA uses a decoupled two-stage pre-training with discrete pose tokens to extract universal 3D spatial priors from 3D datasets and robotic trajectories, achieving 79.5% success on RoboTwin 2.0 and 96.0% on LIBERO.
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Learning Native Continuation for Action Chunking Flow Policies
Legato trains flow-based VLA policies with schedule-shaped action-noise mixtures and randomized conditions to achieve smoother trajectories and ~10% faster task completion than real-time chunking across five real-world manipulation tasks.
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ABot-M0: VLA Foundation Model for Robotic Manipulation with Action Manifold Learning
ABot-M0 unifies heterogeneous robot data into a 6-million-trajectory dataset and introduces Action Manifold Learning to predict stable actions on a low-dimensional manifold using a DiT backbone.
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AsyncVLA: Asynchronous Flow Matching for Vision-Language-Action Models
AsyncVLA adds asynchronous flow matching and a confidence rater to VLA models so they can generate actions on flexible schedules and selectively refine low-confidence tokens before execution.
-
QuoVLA: Quotient Space for Vision-Language-Action Models
QuoVLA introduces a quotient-space framework that compresses VLM latents into action-sufficient representations via quantization and dual-branch design for better VLA generalization.
-
Learning Action Manifold with Multi-view Latent Priors for Robotic Manipulation
The method uses multi-view diffusion priors and action manifold learning to resolve depth ambiguity and improve action prediction in VLA robotic manipulation models, reporting higher success rates than baselines on LIBERO, RoboTwin, and real-robot tasks.
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World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems
The World-Value-Action model enables implicit planning for VLA systems by performing inference over a learned latent representation of high-value future trajectories instead of direct action prediction.
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Causal World Modeling for Robot Control
LingBot-VA combines video world modeling with policy learning via Mixture-of-Transformers, closed-loop rollouts, and asynchronous inference to improve robot manipulation in simulation and real settings.
- DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors