JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
Unified diffusion vla: Vision-language-action model via joint discrete denoising diffusion process
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A multimodal transformer generates and caches interleaved text-image traces to guide closed-loop actions, achieving 92.4% success on LIBERO-Long and 95.5% average on LIBERO.
Discrete diffusion policies act as natural asynchronous executors for robotics by treating action generation as iterative unmasking, yielding higher success rates and lower computation than flow-matching real-time chunking in dynamic tasks.
DFM-VLA uses discrete flow matching to iteratively refine action tokens in VLA models, outperforming autoregressive and diffusion baselines with 4.44 average success length on CALVIN and 95.7% success on LIBERO.
GuidedVLA improves VLA generalization by supervising individual attention heads with manually defined auxiliary signals for three task-relevant factors.
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.
Coarse-to-Control adds planning via coarse action tokens in the same vocabulary as control actions, improving VLA performance on long-horizon manipulation tasks.
Parameter differences from two training runs on a small task set are treated as auxiliary capability vectors that are merged into a pretrained VLA model, yielding auxiliary-task gains at the cost of ordinary supervised finetuning plus a simple regularization term.
The paper introduces World Action Models as a new paradigm unifying predictive world modeling with action generation in embodied foundation models and provides a taxonomy of existing approaches.
citing papers explorer
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Point Tracking Improves World Action Models
JOPAT jointly models pixels, point tracks, and actions in a diffusion transformer and reports gains over pixel-only baselines on long-horizon robot tasks with occlusion and off-screen motion.
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Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation
A multimodal transformer generates and caches interleaved text-image traces to guide closed-loop actions, achieving 92.4% success on LIBERO-Long and 95.5% average on LIBERO.
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DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Discrete diffusion policies act as natural asynchronous executors for robotics by treating action generation as iterative unmasking, yielding higher success rates and lower computation than flow-matching real-time chunking in dynamic tasks.
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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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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.
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Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models
Coarse-to-Control adds planning via coarse action tokens in the same vocabulary as control actions, improving VLA performance on long-horizon manipulation tasks.
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Fast-dVLA: Accelerating Discrete Diffusion VLA to Real-Time Performance
Parameter differences from two training runs on a small task set are treated as auxiliary capability vectors that are merged into a pretrained VLA model, yielding auxiliary-task gains at the cost of ordinary supervised finetuning plus a simple regularization term.
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World Action Models: The Next Frontier in Embodied AI
The paper introduces World Action Models as a new paradigm unifying predictive world modeling with action generation in embodied foundation models and provides a taxonomy of existing approaches.