{"id":"https://openalex.org/W7224850307","doi":"https://doi.org/10.48550/arxiv.2610.40373","title":"HiFOR: Hierarchical Foresight with Action-Guided World Grounding for Vision-Language-Action Model","display_name":"HiFOR: Hierarchical Foresight with Action-Guided World Grounding for Vision-Language-Action Model","publication_year":2026,"publication_date":"2026-10-29","ids":{"openalex":"https://openalex.org/W7224850307","doi":"https://doi.org/10.48550/arxiv.2610.40373"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2610.40373","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.40373","pdf_url":"https://arxiv.org/pdf/2610.40373","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2610.40373","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5150037741","display_name":"Rongxing Ding","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ding, Rongxing","raw_affiliation_strings":["Nanjing University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122790017","display_name":"Hongyu Qu","orcid":"https://orcid.org/0009-0001-5064-4993","observed_orcids":["https://orcid.org/0009-0001-5064-4993"]},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Qu, Hongyu","raw_affiliation_strings":["Nanjing University of Science and Technology","National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160177361","display_name":"Kehong Wu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu, Kehong","raw_affiliation_strings":["Nanjing University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160235860","display_name":"Xudong Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Wang, Xudong","raw_affiliation_strings":["National University of Singapore","Shenyang Institute of Automation , Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Shenyang Institute of Automation , Chinese Academy of Sciences","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160218316","display_name":"Fan Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhang, Fan","raw_affiliation_strings":["The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077029839","display_name":"Xinguang Xiang","orcid":"https://orcid.org/0000-0002-2344-6174","observed_orcids":["https://orcid.org/0000-0002-2344-6174"]},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang, Xinguang","raw_affiliation_strings":["Nanjing University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040437528","display_name":"Xiangbo Shu","orcid":"https://orcid.org/0000-0003-4902-4663","observed_orcids":["https://orcid.org/0000-0003-4902-4663"]},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shu, Xiangbo","raw_affiliation_strings":["Nanjing University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8515999913215637,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8515999913215637,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.12710000574588776,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.007799999788403511,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vision-language-action-models","display_name":"vision-language-action models","score":0.9800000190734863},{"id":"https://openalex.org/keywords/future-prediction","display_name":"future prediction","score":0.6150000095367432},{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.6510000228881836},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"noise reduction","score":0.5040000081062317},{"id":"https://openalex.org/keywords/action-generation","display_name":"action generation","score":0.5540000200271606}],"concepts":[{"id":"https://openalex.org/C64848388","wikidata":"https://www.wikidata.org/wiki/Q188867","display_name":"Futures studies","level":2,"score":0.8388000130653381},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6779000163078308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.635200023651123},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6306999921798706},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.6205000281333923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5580000281333923},{"id":"https://openalex.org/C106306483","wikidata":"https://www.wikidata.org/wiki/Q183984","display_name":"Futures contract","level":2,"score":0.4986000061035156},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3986999988555908},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3961000144481659},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.3736000061035156},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.31049999594688416},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.2987000048160553},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C18785705","wikidata":"https://www.wikidata.org/wiki/Q1931373","display_name":"Scenario analysis","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.2696000039577484},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2581999897956848}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2610.40373","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.40373","pdf_url":"https://arxiv.org/pdf/2610.40373","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2610.40373","doi":"https://doi.org/10.48550/arxiv.2610.40373","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2610.40373","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2610.40373","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2610.40373","pdf_url":"https://arxiv.org/pdf/2610.40373","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7224850307.pdf","grobid_xml":"https://content.openalex.org/works/W7224850307.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7204783650","https://openalex.org/W7171620441","https://openalex.org/W7223154590","https://openalex.org/W7114896704","https://openalex.org/W7135085452","https://openalex.org/W4415346794","https://openalex.org/W7083697555","https://openalex.org/W7131686095","https://openalex.org/W7128607668","https://openalex.org/W7117241752"],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2],"have":[3,21],"demonstrated":[4],"promising":[5],"capabilities":[6],"in":[7],"robotic":[8,166],"manipulation":[9,167],"by":[10],"integrating":[11],"visual":[12],"perception,":[13],"language":[14],"understanding,":[15],"and":[16,33,43,91,122,163],"action":[17,54,63,147,155],"generation.":[18,156],"Recent":[19],"advances":[20],"further":[22],"incorporated":[23],"future":[24,115,137],"prediction":[25],"to":[26,61,125],"enhance":[27],"the":[28,119,140,170],"understanding":[29],"of":[30,172],"environmental":[31],"dynamics":[32,42],"task":[34,45],"progression.":[35],"However,":[36],"existing":[37],"methods":[38],"often":[39],"model":[40],"short-term":[41,86],"long-term":[44],"objectives":[46],"separately,":[47],"while":[48],"directly":[49],"incorporating":[50],"predicted":[51],"futures":[52],"into":[53],"policies":[55],"without":[56],"sufficiently":[57],"considering":[58],"their":[59],"relevance":[60],"current":[62],"requirements.":[64],"To":[65],"address":[66],"these":[67,108],"limitations,":[68],"we":[69],"propose":[70],"HiFOR,":[71],"a":[72,96],"hierarchical":[73],"foresight":[74],"framework":[75],"with":[76],"action-guided":[77],"world":[78,143],"retrieval.":[79,128],"Specifically,":[80],"Hierarchical":[81,97],"Foresight":[82],"Prediction":[83],"jointly":[84],"predicts":[85],"state":[87],"evolution,":[88],"semantic":[89],"milestones,":[90],"final":[92],"goal":[93],"states":[94],"through":[95],"Dependency":[98],"Mask":[99],"(HDM),":[100],"establishing":[101],"dependencies":[102],"across":[103],"temporal":[104],"horizons.":[105],"Building":[106],"upon":[107],"predictions,":[109],"Structure-Aware":[110],"Latent":[111],"World":[112,132],"Modeling":[113],"organizes":[114],"latent":[116,142],"representations":[117,148],"along":[118],"horizon,":[120],"view,":[121],"spatial":[123],"dimensions":[124],"facilitate":[126],"fine-grained":[127],"Furthermore,":[129],"Action-Guided":[130],"Factorized":[131],"Retrieval":[133],"adaptively":[134],"retrieves":[135],"relevant":[136],"information":[138],"from":[139],"structured":[141],"based":[144],"on":[145,159],"evolving":[146],"during":[149],"denoising,":[150],"providing":[151],"targeted":[152],"guidance":[153],"for":[154],"Extensive":[157],"experiments":[158],"two":[160],"simulation":[161],"benchmarks":[162],"six":[164],"real-world":[165],"tasks":[168],"demonstrate":[169],"effectiveness":[171],"our":[173],"approach.":[174]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-10-31T00:00:00"}
