SpanVLA reduces action generation latency via flow-matching conditioned on history and improves robustness by training on negative-recovery samples with GRPO and a dedicated reasoning dataset.
arXiv preprint arXiv:2509.15968 (2025)
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SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model
SpanVLA reduces action generation latency via flow-matching conditioned on history and improves robustness by training on negative-recovery samples with GRPO and a dedicated reasoning dataset.