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cs.RO2026
DIDO: Distilling Interaction-Centric Dynamics into One-Step Denoising for World Action Models
Jing Lyu, Shuanghao Bai, Runze Xiao +11
World Action Models (WAMs) use video generation models to predict future visual dynamics for robotic manipulation, but iterative denoising introduces additional latency for closed-…
cs.RO2026
Reshaping Action Error Distributions for Reliable Vision-Language-Action Models
Shuanghao Bai, Dakai Wang, Cheng Chi +8
In robotic manipulation, vision-language-action (VLA) models have emerged as a promising paradigm for learning generalizable and scalable robot policies. Most existing VLA framewor…
cs.RO2026
Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models
Shuanghao Bai, Jing Lyu, Wanqi Zhou +9
Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representati…