{"id":"https://openalex.org/W7134820098","doi":"https://doi.org/10.48550/arxiv.2603.07648","title":"AtomicVLA: Unlocking the Potential of Atomic Skill Learning in Robots","display_name":"AtomicVLA: Unlocking the Potential of Atomic Skill Learning in Robots","publication_year":2026,"publication_date":"2026-03-08","ids":{"openalex":"https://openalex.org/W7134820098","doi":"https://doi.org/10.48550/arxiv.2603.07648"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.07648","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","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":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090935481","display_name":"Likui Zhang","orcid":"https://orcid.org/0000-0002-4662-1107"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhang, Likui","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128690208","display_name":"Tao Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Tao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128663147","display_name":"Zhihao Zhan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhan, Zhihao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128659808","display_name":"Xiuwei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xiuwei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128634164","display_name":"Zisheng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zisheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128680572","display_name":"Jianhua Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Jianhua","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128678023","display_name":"Jiangtong Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Jiangtong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128637671","display_name":"Pei Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Pei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128660028","display_name":"Hang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Hang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128675412","display_name":"Hefeng Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Hefeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128657626","display_name":"Liang Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Liang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128663331","display_name":"Xiaodan Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Xiaodan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5090935481"],"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":0.8098000288009644,"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":0.8098000288009644,"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":0.05429999902844429,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.01899999938905239,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6456000208854675},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6323000192642212},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5929999947547913},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5895000100135803},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.570900022983551},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5432999730110168},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5252000093460083},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.487199991941452}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7278000116348267},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6456000208854675},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6323000192642212},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5929999947547913},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5895000100135803},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.570900022983551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5479000210762024},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5432999730110168},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5252000093460083},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.487199991941452},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4706999957561493},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44679999351501465},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39640000462532043},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C108771440","wikidata":"https://www.wikidata.org/wiki/Q368475","display_name":"Lifelong learning","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C147358964","wikidata":"https://www.wikidata.org/wiki/Q1200992","display_name":"Abstraction layer","level":3,"score":0.26269999146461487},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.07648","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.07648","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07648","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.07648","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","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":{"Recent":[0],"advances":[1],"in":[2,55,96,150,166],"Visual-Language-Action":[3],"(VLA)":[4],"models":[5],"have":[6],"shown":[7],"promising":[8],"potential":[9],"for":[10,26,41,186],"robotic":[11,16,190],"manipulation":[12],"tasks.":[13,191],"However,":[14],"real-world":[15,167],"tasks":[17,169],"often":[18],"involve":[19],"long-horizon,":[20],"multi-step":[21],"problem-solving":[22],"and":[23,77,141,144,148,164,170,182,188],"require":[24],"generalization":[25],"continual":[27,120,171],"skill":[28,75,85,180],"acquisition,":[29],"extending":[30],"beyond":[31],"single":[32],"actions":[33],"or":[34],"skills.":[35,102],"These":[36,173],"challenges":[37],"present":[38],"significant":[39],"barriers":[40],"existing":[42],"VLA":[43],"models,":[44],"which":[45],"use":[46],"monolithic":[47],"action":[48],"decoders":[49],"trained":[50],"on":[51,136,139,154],"aggregated":[52],"data,":[53],"resulting":[54],"poor":[56],"scalability.":[57],"To":[58],"address":[59],"these":[60],"challenges,":[61],"we":[62,104],"propose":[63],"AtomicVLA,":[64],"a":[65,82,88,106],"unified":[66],"planning-and-execution":[67],"framework":[68],"that":[69,110],"jointly":[70],"generates":[71],"task-level":[72],"plans,":[73],"atomic":[74,84,101,114,179],"abstractions,":[76],"fine-grained":[78],"actions.":[79],"AtomicVLA":[80,131,158],"constructs":[81],"scalable":[83],"library":[86],"through":[87,126],"Skill-Guided":[89],"Mixture-of-Experts":[90],"(SG-MoE),":[91],"where":[92],"each":[93],"expert":[94,184],"specializes":[95],"mastering":[97],"generic":[98],"yet":[99],"precise":[100],"Furthermore,":[103],"introduce":[105],"flexible":[107],"routing":[108],"encoder":[109],"automatically":[111],"assigns":[112],"dedicated":[113],"experts":[115],"to":[116],"new":[117],"skills,":[118],"enabling":[119],"learning.":[121,172],"We":[122],"validate":[123],"our":[124,157],"approach":[125],"extensive":[127],"experiments.":[128],"In":[129],"simulation,":[130],"outperforms":[132,142],"$\u03c0_{0}$":[133,143],"by":[134,146,162],"2.4\\%":[135],"LIBERO,":[137],"10\\%":[138],"LIBERO-LONG,":[140],"$\u03c0_{0.5}$":[145],"0.22":[147],"0.25":[149],"average":[151],"task":[152],"length":[153],"CALVIN.":[155],"Additionally,":[156],"consistently":[159],"surpasses":[160],"baselines":[161],"18.3\\%":[163],"21\\%":[165],"long-horizon":[168,187],"results":[174],"highlight":[175],"the":[176],"effectiveness":[177],"of":[178],"abstraction":[181],"dynamic":[183],"composition":[185],"lifelong":[189],"The":[192],"project":[193],"page":[194],"is":[195],"\\href{https://zhanglk9.github.io/atomicvla-web/}{here}.":[196]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}
