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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villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models
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abstract
Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of latent actions, abstract representations of motion between two frames, into VLA pre-training. In this paper, we introduce villa-X, a novel Vision-Language-Latent-Action (ViLLA) framework that advances latent action modeling for learning generalizable robot manipulation policies. Our approach improves both how latent actions are learned and how they are incorporated into VLA pre-training. We demonstrate that villa-X can generate latent action plans in a zero-shot fashion, even for unseen embodiments and open-vocabulary symbolic understanding. This capability enables villa-X to achieve superior performance across diverse simulation tasks in SIMPLER and on two real-world robotic setups involving both gripper and dexterous hand manipulation. These results establish villa-X as a principled and scalable paradigm for learning generalizable robot manipulation policies. We believe it provides a strong foundation for future research.
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UNVERDICTED 27representative citing papers
RotVLA models latent actions as continuous SO(n) rotations with triplet-frame supervision and flow-matching to reach 98.2% success on LIBERO and 89.6%/88.5% on RoboTwin2.0 using a 1.7B-parameter model.
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.
AC-LAM enforces additive composition on latent actions from visual transitions, yielding more structured and calibrated motion latents that improve downstream embodied policy learning over prior LAMs.
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
PhysGen uses video models to learn physics for robots, outperforming baselines by up to 13.8% on Libero and matching specialized models in real-world tasks.
DreamDojo is a foundation world model pretrained on the largest human video dataset to date that uses continuous latent actions to transfer interaction knowledge and achieves controllable physics simulation after robot post-training.
UAM adds a Dorsal Expert initialized from a generative model and trained on visual dynamics prediction to preserve over 95% of VLM multimodal ability in VLA training while achieving top success rates on manipulation tasks including OOD cases.
SCAR proposes a joint inverse-forward dynamics framework to learn transferable continuous action representations across embodiments from visual data using regularization and adversarial invariance.
CUBic learns a shared tokenized representation for bimanual robot perception and control via unidirectional aggregation, bidirectional codebook coordination, and a unified diffusion policy, yielding higher coordination accuracy and task success on the RoboTwin benchmark.
RAW-Dream disentangles world-model learning from task data by using a pre-trained task-agnostic world model and VLM rewards, with dual-noise filtering, to enable zero-shot VLA adaptation in simulation and real settings.
UniSteer unifies human corrective actions and noise-space RL for VLA adaptation by inverting actions to noise targets, raising success rates from 20% to 90% in 66 minutes across four real-world manipulation tasks.
ALAM introduces algebraic consistency regularization on latent action transitions from videos, raising VLA success rates from 47.9% to 85.0% on MetaWorld MT50 and 94.1% to 98.1% on LIBERO.
Anchor-Centric Adaptation escapes the diversity trap by prioritizing repeated demonstrations at core anchors over broad coverage, yielding higher success rates under fixed data budgets in robotic manipulation.
A unified comparison of latent action supervision strategies for VLA models reveals task-specific benefits, with image-based approaches aiding reasoning and generalization, action-based aiding motor control, and discrete tokens proving most effective.
GazeVLA pretrains on large human egocentric datasets to capture gaze-based intention, then finetunes on limited robot data with chain-of-thought reasoning to achieve better robotic manipulation performance than baselines.
UniT creates a unified physical language via visual anchoring and tri-branch reconstruction to enable scalable human-to-humanoid transfer for policy learning and world modeling.
Vision-geometry backbones using pretrained 3D world models outperform vision-language and video models for robotic manipulation by enabling direct mapping from visual input to geometric actions.
Veo-3 video predictions enable approximate task-level robot trajectories in zero-shot settings but require hierarchical integration with low-level VLA policies for reliable manipulation performance.
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
CoLA-World jointly trains latent action models and world models with a warm-up phase to achieve co-evolution, matching or exceeding prior two-stage methods in video simulation quality and visual planning performance.
VLA-GSE uses spectral decomposition of the VLA backbone to create generalized and specialized experts, enabling effective robot task adaptation while updating only 2.51% of parameters and achieving 81.2% zero-shot success on LIBERO-Plus.
GeoPredict improves VLA manipulation accuracy by adding predictive kinematic trajectories and 3D Gaussian workspace geometry as training-time depth-rendering supervision.
This survey organizes large VLM-based VLA models for robotic manipulation into monolithic and hierarchical paradigms, reviews their integrations and datasets, and outlines future directions.
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.
-
RotVLA: Rotational Latent Action for Vision-Language-Action Model
RotVLA models latent actions as continuous SO(n) rotations with triplet-frame supervision and flow-matching to reach 98.2% success on LIBERO and 89.6%/88.5% on RoboTwin2.0 using a 1.7B-parameter model.
-
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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Learning Additively Compositional Latent Actions for Embodied AI
AC-LAM enforces additive composition on latent actions from visual transitions, yielding more structured and calibrated motion latents that improve downstream embodied policy learning over prior LAMs.
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UniLACT: Depth-Aware RGB Latent Action Learning for Vision-Language-Action Models
UniLACT improves VLA models by adding depth-aware unified latent action pretraining that outperforms RGB-only baselines on seen and unseen manipulation tasks.
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Learning Physics from Pretrained Video Models: A Multimodal Continuous and Sequential World Interaction Models for Robotic Manipulation
PhysGen uses video models to learn physics for robots, outperforming baselines by up to 13.8% on Libero and matching specialized models in real-world tasks.
-
DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos
DreamDojo is a foundation world model pretrained on the largest human video dataset to date that uses continuous latent actions to transfer interaction knowledge and achieves controllable physics simulation after robot post-training.
-
UAM: A Dual-Stream Perspective on Forgetting in VLA Training
UAM adds a Dorsal Expert initialized from a generative model and trained on visual dynamics prediction to preserve over 95% of VLM multimodal ability in VLA training while achieving top success rates on manipulation tasks including OOD cases.
-
SCAR: Self-Supervised Continuous Action Representation Learning
SCAR proposes a joint inverse-forward dynamics framework to learn transferable continuous action representations across embodiments from visual data using regularization and adversarial invariance.
-
CUBic: Coordinated Unified Bimanual Perception and Control Framework
CUBic learns a shared tokenized representation for bimanual robot perception and control via unidirectional aggregation, bidirectional codebook coordination, and a unified diffusion policy, yielding higher coordination accuracy and task success on the RoboTwin benchmark.
-
Reinforcing VLAs in Task-Agnostic World Models
RAW-Dream disentangles world-model learning from task data by using a pre-trained task-agnostic world model and VLM rewards, with dual-noise filtering, to enable zero-shot VLA adaptation in simulation and real settings.
-
Unified Noise Steering for Efficient Human-Guided VLA Adaptation
UniSteer unifies human corrective actions and noise-space RL for VLA adaptation by inverting actions to noise targets, raising success rates from 20% to 90% in 66 minutes across four real-world manipulation tasks.
-
ALAM: Algebraically Consistent Latent Action Model for Vision-Language-Action Models
ALAM introduces algebraic consistency regularization on latent action transitions from videos, raising VLA success rates from 47.9% to 85.0% on MetaWorld MT50 and 94.1% to 98.1% on LIBERO.
-
Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation
Anchor-Centric Adaptation escapes the diversity trap by prioritizing repeated demonstrations at core anchors over broad coverage, yielding higher success rates under fixed data budgets in robotic manipulation.
-
From Pixels to Tokens: A Systematic Study of Latent Action Supervision for Vision-Language-Action Models
A unified comparison of latent action supervision strategies for VLA models reveals task-specific benefits, with image-based approaches aiding reasoning and generalization, action-based aiding motor control, and discrete tokens proving most effective.
-
GazeVLA: Learning Human Intention for Robotic Manipulation
GazeVLA pretrains on large human egocentric datasets to capture gaze-based intention, then finetunes on limited robot data with chain-of-thought reasoning to achieve better robotic manipulation performance than baselines.
-
UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling
UniT creates a unified physical language via visual anchoring and tri-branch reconstruction to enable scalable human-to-humanoid transfer for policy learning and world modeling.
-
Robotic Manipulation is Vision-to-Geometry Mapping ($f(v) \rightarrow G$): Vision-Geometry Backbones over Language and Video Models
Vision-geometry backbones using pretrained 3D world models outperform vision-language and video models for robotic manipulation by enabling direct mapping from visual input to geometric actions.
-
Veo-Act: How Far Can Frontier Video Models Advance Generalizable Robot Manipulation?
Veo-3 video predictions enable approximate task-level robot trajectories in zero-shot settings but require hierarchical integration with low-level VLA policies for reliable manipulation performance.
-
PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
-
Co-Evolving Latent Action World Models
CoLA-World jointly trains latent action models and world models with a warm-up phase to achieve co-evolution, matching or exceeding prior two-stage methods in video simulation quality and visual planning performance.
-
VLA-GSE: Boosting Parameter-Efficient Fine-Tuning in VLA with Generalized and Specialized Experts
VLA-GSE uses spectral decomposition of the VLA backbone to create generalized and specialized experts, enabling effective robot task adaptation while updating only 2.51% of parameters and achieving 81.2% zero-shot success on LIBERO-Plus.
-
GeoPredict: Leveraging Predictive Kinematics and 3D Gaussian Geometry for Precise VLA Manipulation
GeoPredict improves VLA manipulation accuracy by adding predictive kinematic trajectories and 3D Gaussian workspace geometry as training-time depth-rendering supervision.
-
Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey
This survey organizes large VLM-based VLA models for robotic manipulation into monolithic and hierarchical paradigms, reviews their integrations and datasets, and outlines future directions.
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Towards Robotic Dexterous Hand Intelligence: A Survey
A structured survey of dexterous robotic hand research that reviews hardware, control methods, data resources, and benchmarks while identifying major limitations and future directions.
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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.
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RLDX-1 Technical Report
RLDX-1 outperforms frontier VLAs such as π0.5 and GR00T N1.6 on dexterous manipulation benchmarks, reaching 86.8% success on ALLEX humanoid tasks versus around 40% for the baselines.