Author

Xiao-Jiang Peng

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Preprint Oct 2026

ATI-VLA: Action-Centric Predictive Vision-Language-Action Models via Actionable Alignment Then Adaptive Injection

Predictive Vision-Language-Action (VLA) models aim to improve robotic manipulation via future observation or world dynamics forecasting. However, existing approaches often fail to realize this potential and underperform direct action prediction models. We argue that these limitations stem from modality misalignment bet...

Yi-Jie Zhu, Rui Shao, Jie He et al. · 0 citations

Jul 2026

AC-VLA: Robust Out-of-Distribution Action Execution via Compositional Learning

AC-VLA is introduced, a plug-and-play Action Compositional learning framework comprising two architecture-agnostic components that achieves a ~28% absolute improvement on compositional OOD tasks while maintaining near-perfect in-distribution performance.

Xiaojiang Peng, Kai Peng, Jie Lu et al. · arXiv.org · 2 citations