Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models

Yitong Chen, Shiduo Zhang, Jingjing Gong, Xipeng Qiu

Jun 5, 2026 at 04:00

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arXiv:2606.05737v1 Announce Type: cross Abstract: Diffusion-based vision-language-action (VLA) models often inherit the image-generation view: actions are generated by iterative denoising. We argue that VLA action generation has a different condition-target structure: the policy is conditioned on rich observations, language, and state, but...

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