Author

Shunichi Kasahara

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Preprint Aug 2026

PredVLA: Predictive Sensorimotor Modeling for Sub-Million-Parameter Robot Manipulation

A mechanism-by-mechanism transition to the recurrent behavior-cloning baseline shows that replacing the predictive pathway with direct observation input produces the largest single performance drop, accounting for approximately $70\% of the endpoint gap.

Hiroki Sawada, Shunichi Kasahara · 0 citations

#small language model Preprint Aug 2026

PredVLA: A Sub-Million-Parameter Predictive-Coding Policy for Robot Manipulation

Results show that a sub-million-parameter recurrent generative policy can achieve strong performance on modern language-conditioned manipulation benchmarks while providing an explicit mechanism for prediction-error-driven online state correction.

Hiroki Sawada, Shunichi Kasahara · 0 citations