{"id":"https://openalex.org/W7133300147","doi":"https://doi.org/10.48550/arxiv.2603.00926","title":"DAM-VLA: A Dynamic Action Model-Based Vision-Language-Action Framework for Robot Manipulation","display_name":"DAM-VLA: A Dynamic Action Model-Based Vision-Language-Action Framework for Robot Manipulation","publication_year":2026,"publication_date":"2026-03-01","ids":{"openalex":"https://openalex.org/W7133300147","doi":"https://doi.org/10.48550/arxiv.2603.00926"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.00926","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00926","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.00926","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078123332","display_name":"Xiongfeng Peng","orcid":"https://orcid.org/0009-0000-4207-1171"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Peng, Xiongfeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101721174","display_name":"Jiaqian Yu","orcid":"https://orcid.org/0000-0002-2612-1762"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jiaqian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127937563","display_name":"Dingzhe Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Dingzhe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034871663","display_name":"Yixiang Jin","orcid":"https://orcid.org/0000-0001-6286-278X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Yixiang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128025590","display_name":"Lu Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Lu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112135207","display_name":"Yamin Mao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mao, Yamin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127978222","display_name":"Chao Zhang (51048)","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128009184","display_name":"Weiming Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Weiming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127801040","display_name":"Sujin Jang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jang, Sujin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127886286","display_name":"Dongwook Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Dongwook","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5110223580","display_name":"Daehyun Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Daehyun","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5078123332"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4961000084877014,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4961000084877014,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.266400009393692,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.04749999940395355,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.7281000018119812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6234999895095825},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6047999858856201},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.6022999882698059},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5990999937057495},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5548999905586243},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5443000197410583},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5335000157356262}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7281000018119812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6847000122070312},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6234999895095825},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6047999858856201},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.6022999882698059},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5990999937057495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5983999967575073},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5548999905586243},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5443000197410583},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5335000157356262},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.40849998593330383},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3610999882221222},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34599998593330383},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3093999922275543},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2930999994277954},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.27970001101493835},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.00926","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00926","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.00926","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00926","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"dynamic":[1,58,104,128],"environments":[2],"such":[3],"as":[4],"warehouses,":[5],"hospitals,":[6],"and":[7,16,74,88,119,133,153,165],"homes,":[8],"robots":[9],"must":[10],"seamlessly":[11],"transition":[12],"between":[13,130],"gross":[14],"motion":[15],"precise":[17],"manipulations":[18],"to":[19,37,91,116,145,162],"complete":[20],"complex":[21],"tasks.":[22,167],"However,":[23],"current":[24],"Vision-Language-Action":[25],"(VLA)":[26],"frameworks,":[27],"largely":[28],"adapted":[29],"from":[30,159],"pre-trained":[31],"Vision-Language":[32],"Models":[33],"(VLMs),":[34],"often":[35],"struggle":[36],"reconcile":[38],"general":[39],"task":[40],"adaptability":[41],"with":[42,67,112],"the":[43,131],"specialized":[44,71],"precision":[45],"required":[46],"for":[47,72],"intricate":[48],"manipulation.":[49],"To":[50],"address":[51],"this":[52],"challenge,":[53],"we":[54],"propose":[55],"DAM-VLA,":[56],"a":[57,103,121],"action":[59,69,82,94,105,123],"model-based":[60],"VLA":[61,147],"framework.":[62],"DAM-VLA":[63,139],"integrates":[64],"VLM":[65,110],"reasoning":[66],"diffusion-based":[68],"models":[70,95],"arm":[73,97],"gripper":[75,100],"control.":[76],"Specifically,":[77],"it":[78],"introduces":[79],"(i)":[80],"an":[81],"routing":[83],"mechanism,":[84],"using":[85],"task-specific":[86],"visual":[87,114],"linguistic":[89],"cues":[90],"select":[92],"appropriate":[93],"(e.g.,":[96],"movement":[98],"or":[99],"manipulation),":[101],"(ii)":[102],"model":[106],"that":[107,126],"fuses":[108],"high-level":[109],"cognition":[111],"low-level":[113],"features":[115],"predict":[117],"actions,":[118],"(iii)":[120],"dual-scale":[122],"weighting":[124],"mechanism":[125],"enables":[127],"coordination":[129],"arm-movement":[132],"gripper-manipulation":[134],"models.":[135],"Across":[136],"extensive":[137],"evaluations,":[138],"achieves":[140],"superior":[141],"success":[142],"rates":[143],"compared":[144],"state-of-the-art":[146],"methods":[148],"in":[149],"simulated":[150],"(SIMPLER,":[151],"FurnitureBench)":[152],"real-world":[154],"settings,":[155],"showing":[156],"robust":[157],"generalization":[158],"standard":[160],"pick-and-place":[161],"demanding":[163],"long-horizon":[164],"contact-rich":[166]},"counts_by_year":[],"updated_date":"2026-03-04T07:09:34.246503","created_date":"2026-03-04T00:00:00"}
