CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention | Paper Citation Record

Observation b6f71cab-e266-4bca-a4b2-a37a35ac6020 · outbound

This paper cites RT-1: Robotics Transformer for Real-World Control at Scale.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention RT-1: Robotics Transformer for Real-World Control at Scale

Reference 1

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Observation e0d3629f-de88-4a33-afae-05b55bf2769b · outbound

This paper cites RT-2: Vision-language-action models transfer web knowledge to robotic control.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention RT-2: Vision-language-action models transfer web knowledge to robotic control

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.659067Z

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Observation 8054f6bc-7f7d-49b3-8c2c-7d38459445be · outbound

This paper cites Vision-language foundation models as effective robot imitators.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Vision-language foundation models as effective robot imitators

Reference 3

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Observation 4e4d9d27-88a6-43eb-801b-a74f053256e0 · outbound

This paper cites Unleashing large-scale video generative pre-training for visual robot manipulation.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Unleashing large-scale video generative pre-training for visual robot manipulation

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.634338Z

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Observation de901bc5-da2d-4a13-8a56-60ef2f258d72 · outbound

This paper cites GR00T N1: An Open Foundation Model for Generalist Humanoid Robots.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.096156Z

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Observation a84c605b-de37-4893-b914-3ab9d360c93b · outbound

This paper cites Moto: Latent motion token as the bridging language for learning robot manipulation from videos.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Moto: Latent motion token as the bridging language for learning robot manipulation from videos

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.619984Z

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Observation fa97f0b7-d4f5-4d50-a2eb-f89691d234d0 · outbound

This paper cites TraceVLA: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention TraceVLA: Visual trace prompting enhances spatial-temporal awareness for generalist robotic policies

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.605687Z

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Observation 3dccfc03-3048-4a58-aa66-18bc8943b220 · outbound

This paper cites GraspVLA: a grasping foundation model pre-trained on billion-scale synthetic action data.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention GraspVLA: a grasping foundation model pre-trained on billion-scale synthetic action data

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.585764Z

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Observation 950d67d4-e34a-42e8-9020-189a221d7359 · outbound

This paper cites Hi Robot: Open-ended instruction following with hierarchical vision- language-action models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Hi Robot: Open-ended instruction following with hierarchical vision- language-action models

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.561099Z

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Observation b2e030c3-90e5-4512-a19b-bde21f40aaf4 · outbound

This paper cites LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.546418Z

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Observation 334f9ecf-77de-4d50-b55e-cc5c419d6bb2 · outbound

This paper cites CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.635635Z

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Observation 70fa75bf-ec1c-4514-ad6d-9a5b8400625d · outbound

This paper cites Counterfactual vla: Self-reflective vision-language-action model with adaptive reasoning.arXiv preprint arXiv:2512.24426, 2025.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Counterfactual vla: Self-reflective vision-language-action model with adaptive reasoning.arXiv preprint arXiv:2512.24426, 2025

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.716866Z

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Observation 76cc0ade-143d-440d-93dd-9885211e7555 · outbound

This paper cites Classifier-Free Diffusion Guidance.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Classifier-Free Diffusion Guidance

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.784864Z

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Observation a0e05596-ebcc-4894-b6e8-0fd1a317c0e0 · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention OpenVLA: An Open-Source Vision-Language-Action Model

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.872232Z

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Observation 328daaaf-493d-4209-ab76-dba55535505a · outbound

This paper cites SimpleVLA-RL: Scaling VLA training via reinforcement learning.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention SimpleVLA-RL: Scaling VLA training via reinforcement learning

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:23.973337Z

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Observation aa8e7fd5-2319-4cea-958d-92ed7357fc33 · outbound

This paper cites SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:24.060801Z

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Observation 96a12dda-f2d5-48a8-9880-5ec808568bd6 · outbound

This paper cites $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:24.175572Z

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Observation 1e64a4e7-578d-4e02-b565-a1dc4f37b850 · outbound

This paper cites Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:24.270042Z

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Observation 982ebd07-d75a-44f5-84ae-80905517c7cc · outbound

This paper cites LoRA: Low-rank adaptation of large language models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention LoRA: Low-rank adaptation of large language models

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:24.353418Z

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Observation 9da8812f-a214-4a2a-bc9b-7f517c603a13 · outbound

This paper cites Vla-adapter: An effective paradigm for tiny-scale vision-language-action model.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Vla-adapter: An effective paradigm for tiny-scale vision-language-action model

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.403862Z

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Observation 8f0d7a59-8f2c-4ec3-89a7-146f29d6cbb3 · outbound

This paper cites Modality-experts coordinated adaptation for large multimodal models.Science China Information Sciences, 67(12):220107, 2024.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Modality-experts coordinated adaptation for large multimodal models.Science China Information Sciences, 67(12):220107, 2024

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:30.177614Z

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Observation 989d7759-df49-48b8-8d10-8d5dc02bf9fd · outbound

This paper cites Reconvla: Reconstructive vision-language-action model as effective robot perceiver.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Reconvla: Reconstructive vision-language-action model as effective robot perceiver

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:29.928195Z

Source-reported events for the cited work

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Observation d027d5e6-f9fa-4b9e-b998-5674eb2b85ff · outbound

This paper cites Ren, Homer Walke, Quan Vuong, Lucy Xiaoyang Shi, and Sergey Levine.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Ren, Homer Walke, Quan Vuong, Lucy Xiaoyang Shi, and Sergey Levine

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:29.722818Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation ef64f7c8-53f2-411b-bfa1-bf139dc3d026 · outbound

This paper cites Mole-vla: Dynamic layer-skipping vision language action model via mixture-of-layers for efficient robot manipulation.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Mole-vla: Dynamic layer-skipping vision language action model via mixture-of-layers for efficient robot manipulation

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:29.576787Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 0bdd637b-2375-4ef6-ba94-f6dae6e81490 · outbound

This paper cites Spec-vla: speculative decoding for vision-language-action models with relaxed acceptance.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Spec-vla: speculative decoding for vision-language-action models with relaxed acceptance

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:29.370742Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 05c8d3a0-d08d-4427-87ed-eb25f436b9b0 · outbound

This paper cites CogVLA: Cognition-aligned vision-language- action models via instruction-driven routing & sparsification.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention CogVLA: Cognition-aligned vision-language- action models via instruction-driven routing & sparsification

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:29.232451Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 74a9e8c4-7ed1-45d4-82aa-6729f3ee0575 · outbound

This paper cites Denoising diffusion probabilistic models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Denoising diffusion probabilistic models

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:29.005648Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 9fbb998f-301e-4a7d-9d4d-c4c1c02f40df · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, 44(10-11):1684–1704, 2025.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, 44(10-11):1684–1704, 2025

Reference 28

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Observation f7bc1185-a8ee-46ef-b8be-95de4db797dd · outbound

This paper cites Scalable diffusion models with transformers.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Scalable diffusion models with transformers

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:28.771650Z

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No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 84406f65-ee5a-4195-a3f6-ab8de5a8e57c · outbound

This paper cites an unresolved cited work.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Unresolved cited work

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.326690Z

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Observation db5fcb8d-4137-4673-9b66-8116ba002fb0 · outbound

This paper cites Flow straight and fast: Learning to generate and transfer data with rectified flow.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Flow straight and fast: Learning to generate and transfer data with rectified flow

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.380701Z

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Observation 73767142-335e-4cc5-ac9a-25f01b4b4263 · outbound

This paper cites RDT-1b: a diffusion foundation model for bimanual manipulation.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention RDT-1b: a diffusion foundation model for bimanual manipulation

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.431921Z

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Observation 4434afed-374d-4c48-9a2a-b4f9a02ec9ad · outbound

This paper cites One-step diffusion policy: Fast visuomotor policies via diffusion distillation.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention One-step diffusion policy: Fast visuomotor policies via diffusion distillation

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.499650Z

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Observation e42e281f-9351-4c78-942a-60da2f88e4e6 · outbound

This paper cites $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.563377Z

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Observation b3445cde-6445-4ff2-8205-2ae91651aa53 · outbound

This paper cites HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.631024Z

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Observation c28f8b25-f58c-447a-98a8-e9e4117e7712 · outbound

This paper cites Toward causal representation learning.Proceedings of the IEEE, 109(5):612– 634, 2021.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Toward causal representation learning.Proceedings of the IEEE, 109(5):612– 634, 2021

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:28.480887Z

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Observation 4f17e05d-003b-4982-8a36-037f59e12389 · outbound

This paper cites Robust agents learn causal world models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Robust agents learn causal world models

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:28.267867Z

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Observation 7cfb8aa3-cc4b-4258-b3d7-2da483407873 · outbound

This paper cites Causalworld: A robotic manipulation benchmark for causal structure and transfer learning.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Causalworld: A robotic manipulation benchmark for causal structure and transfer learning

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:28.110818Z

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Observation 3f3d1f1c-b783-4c1d-8853-01868deeac0f · outbound

This paper cites CDP: Towards robust autoregressive visuomotor policy learning via causal diffusion.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention CDP: Towards robust autoregressive visuomotor policy learning via causal diffusion

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:28.007250Z

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Observation a797afcb-a6b0-4019-a748-25670f9c45f8 · outbound

This paper cites When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:25.944143Z

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Observation 66296234-8303-4ae9-bf87-c98c28877ba3 · outbound

This paper cites Libero: Benchmarking knowledge transfer for lifelong robot learning.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Libero: Benchmarking knowledge transfer for lifelong robot learning

Reference 41

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:27.941903Z

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Observation 691f0a42-a22b-4acd-9884-a271c21c9b58 · outbound

This paper cites DreamVLA: A vision-language-action model dreamed with comprehensive world knowledge.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention DreamVLA: A vision-language-action model dreamed with comprehensive world knowledge

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:27.844071Z

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Observation 8ed0afc1-d33b-4a28-8a35-021510895d9a · outbound

This paper cites X-VLA: Soft-prompted transformer as scalable cross-embodiment vision-language-action model.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention X-VLA: Soft-prompted transformer as scalable cross-embodiment vision-language-action model

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:27.648242Z

Source-reported events for the cited work

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Observation 08851ab8-5ee7-4209-ad8d-2bbaed0d8fd4 · outbound

This paper cites NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:26.194504Z

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Observation f043e5b6-9f45-40ab-87a8-37eee2e7b6d7 · outbound

This paper cites WorldVLA: Towards Autoregressive Action World Model.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention WorldVLA: Towards Autoregressive Action World Model

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:26.254317Z

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Observation 529042c5-7ed2-4491-881c-669a61b1ffc2 · outbound

This paper cites UniVLA: Learning to Act Anywhere with Task-centric Latent Actions.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention UniVLA: Learning to Act Anywhere with Task-centric Latent Actions

Reference 46

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:26.320751Z

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Observation 8976f62e-7d14-4537-a903-38dfc0e62830 · outbound

This paper cites FAST: Efficient Action Tokenization for Vision-Language-Action Models.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 47

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:26.384984Z

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Observation 45f4e954-eadb-44ce-b3d2-cce441c7b7ec · outbound

This paper cites Chance- constrained flow matching for high-fidelity constraint-aware generation.arXiv preprint arXiv:2509.25157, 2025.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention Chance- constrained flow matching for high-fidelity constraint-aware generation.arXiv preprint arXiv:2509.25157, 2025

Reference 48

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:26.448351Z

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Observation 3744e82a-5315-4c4b-bc5a-918182fb1a6b · outbound

This paper cites DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

Reference 49

Resolution: unresolved; no resolver link, observed 2026-08-07T00:50:26.507752Z

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Observation 0c11d84a-a8ba-4999-a779-48b54ea3248d · outbound

This paper cites LeRobot: An open- source library for end-to-end robot learning.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention LeRobot: An open- source library for end-to-end robot learning

Reference 50

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T00:50:27.475474Z

Source-reported events for the cited work

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Observation 485b8b7b-004a-4ad0-b326-07755b41e02b · outbound

This paper cites LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization.

CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization

Reference 51

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CofactVLA: Deconfounding Vision-Language-Action Models via Counterfactual Intervention remove the cuboid from the blue plate

Reference 52

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