{"id":"https://openalex.org/W7138094956","doi":"https://doi.org/10.48550/arxiv.2603.13925","title":"SmoothVLA: Aligning Vision-Language-Action Models with Physical Constraints via Intrinsic Smoothness Optimization","display_name":"SmoothVLA: Aligning Vision-Language-Action Models with Physical Constraints via Intrinsic Smoothness Optimization","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138094956","doi":"https://doi.org/10.48550/arxiv.2603.13925"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.13925","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13925","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,"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"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.13925","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129687432","display_name":"Jiashun Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiashun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662669","display_name":"Xiaoyu Shi","orcid":"https://orcid.org/0000-0002-4267-7795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Xiaoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129752919","display_name":"Hong Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Hong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109774158","display_name":"Mingsheng Shang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shang, Mingsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129721408","display_name":"Yun Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10653","display_name":"Robot Manipulation and Learning","score":0.7857000231742859,"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":0.7857000231742859,"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":0.11729999631643295,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.013700000010430813,"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/smoothness","display_name":"Smoothness","score":0.789900004863739},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7817000150680542},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6926000118255615},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.677299976348877},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5691999793052673},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5103999972343445},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5080999732017517},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.47839999198913574},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43479999899864197}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.789900004863739},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7817000150680542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7289000153541565},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6926000118255615},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.677299976348877},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5691999793052673},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5103999972343445},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5080999732017517},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.47839999198913574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4733999967575073},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39309999346733093},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.382999986410141},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.3741999864578247},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35589998960494995},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C196340769","wikidata":"https://www.wikidata.org/wiki/Q7698910","display_name":"Temporal difference learning","level":3,"score":0.3215000033378601},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.31150001287460327},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.30559998750686646},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2770000100135803},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2632000148296356}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.13925","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13925","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,"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.13925","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13925","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,"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"},"sustainable_development_goals":[{"score":0.6351644396781921,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2,174],"have":[3],"emerged":[4],"as":[5,126],"a":[6,17,57,75,87,168],"powerful":[7],"paradigm":[8],"for":[9],"robotic":[10],"manipulation.":[11],"However,":[12],"existing":[13],"post-training":[14],"methods":[15],"face":[16],"dilemma":[18],"between":[19],"stability":[20],"and":[21,31,68,137,156],"exploration:":[22],"Supervised":[23],"Fine-Tuning":[24],"(SFT)":[25],"is":[26,74,98],"constrained":[27],"by":[28,152],"demonstration":[29],"quality":[30],"lacks":[32],"generalization,":[33],"whereas":[34],"Reinforcement":[35],"Learning":[36],"(RL)":[37],"improves":[38],"exploration":[39],"but":[40],"often":[41],"induces":[42],"erratic,":[43],"jittery":[44],"trajectories":[45],"that":[46,63,80,100,147],"violate":[47],"physical":[48],"constraints.":[49],"To":[50],"bridge":[51],"this":[52,96],"gap,":[53],"we":[54],"propose":[55],"SmoothVLA,":[56],"novel":[58],"reinforcement":[59],"learning":[60],"fine-tuning":[61],"framework":[62],"synergistically":[64],"optimizes":[65],"task":[66,84],"performance":[67],"motion":[69],"smoothness.":[70],"The":[71],"technical":[72],"core":[73],"physics-informed":[76],"hybrid":[77],"reward":[78,97,113,180],"function":[79],"integrates":[81],"binary":[82],"sparse":[83],"rewards":[85],"with":[86,175],"continuous":[88],"dense":[89],"term":[90],"derived":[91],"from":[92,103],"trajectory":[93,124],"jerk.":[94],"Crucially,":[95],"intrinsic,":[99],"computing":[101],"directly":[102],"policy":[104],"rollouts,":[105],"without":[106],"requiring":[107],"extrinsic":[108],"environment":[109],"feedback":[110],"or":[111],"laborious":[112],"engineering.":[114],"Leveraging":[115],"the":[116,132,143],"Group":[117],"Relative":[118],"Policy":[119],"Optimization":[120],"(GRPO),":[121],"SmoothVLA":[122,148],"establishes":[123],"smoothness":[125,155],"an":[127],"explicit":[128],"optimization":[129],"prior,":[130],"guiding":[131],"model":[133],"toward":[134],"physically":[135],"feasible":[136],"stable":[138],"control.":[139],"Extensive":[140],"experiments":[141],"on":[142],"LIBERO":[144],"benchmark":[145],"demonstrate":[146],"outperforms":[149],"standard":[150],"RL":[151],"13.8\\%":[153],"in":[154,160],"significantly":[157],"surpasses":[158],"SFT":[159],"generalization":[161],"across":[162],"diverse":[163],"tasks.":[164],"Our":[165],"work":[166],"offers":[167],"scalable":[169],"approach":[170],"to":[171],"aligning":[172],"VLA":[173],"physical-world":[176],"constraints":[177],"through":[178],"intrinsic":[179],"optimization.":[181]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-18T00:00:00"}