{"id":"https://openalex.org/W7161145657","doi":"https://doi.org/10.48550/arxiv.2605.13119","title":"Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models","display_name":"Towards Long-horizon Embodied Agents with Tool-Aligned Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-05-13","ids":{"openalex":"https://openalex.org/W7161145657","doi":"https://doi.org/10.48550/arxiv.2605.13119"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.13119","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13119","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.13119","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004564311","display_name":"Zixing Lei","orcid":"https://orcid.org/0000-0001-7074-2307"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei, Zixing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127973791","display_name":"Changxing Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Changxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070277096","display_name":"Yu Xiong","orcid":"https://orcid.org/0000-0001-7170-6201"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Yichen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081780969","display_name":"Moulin Xiong","orcid":"https://orcid.org/0000-0002-7511-1640"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Minhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035211637","display_name":"Yudan Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Yuanzhuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136089385","display_name":"Zhipeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhipeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136161294","display_name":"Weixin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Weixin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136135399","display_name":"Siheng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Siheng","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8651999831199646,"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":0.8651999831199646,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.03929999843239784,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.01640000008046627,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5568000078201294},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5217000246047974},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5097000002861023},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4823000133037567},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4560000002384186},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.41600000858306885},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4025999903678894},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.3903999924659729}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.737500011920929},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5568000078201294},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5217000246047974},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5097000002861023},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4823000133037567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4659999907016754},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4560000002384186},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44040000438690186},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.41600000858306885},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4025999903678894},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.3903999924659729},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3828999996185303},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.3449999988079071},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3330000042915344},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.32120001316070557},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3073999881744385},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.3028999865055084},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.2791999876499176},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2743000090122223},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.2603999972343445}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.13119","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13119","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.13119","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13119","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":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"models":[2],"are":[3],"effective":[4],"robot":[5],"action":[6],"executors,":[7],"but":[8],"they":[9],"remain":[10],"limited":[11],"on":[12,161,166],"long-horizon":[13,88],"tasks":[14],"due":[15],"to":[16],"the":[17,153],"dual":[18],"burden":[19,37],"of":[20,52,156],"extended":[21],"closed-loop":[22],"planning":[23,82],"and":[24,49,68,101,139,163,168],"diverse":[25,57,116],"physical":[26,59],"operations.":[27,60],"We":[28],"therefore":[29],"propose":[30,127],"VLAs-as-Tools,":[31],"a":[32,39,50,75,92],"strategy":[33],"that":[34,96,120,150],"distributes":[35],"this":[36],"across":[38],"high-level":[40],"vision":[41],"language":[42],"model":[43],"(VLM)":[44],"agent":[45,81,108,112,123],"for":[46,56,136,144],"temporal":[47],"reasoning":[48],"family":[51],"specialized":[53,117],"VLA":[54,72,84,93,118],"tools":[55,119],"local":[58],"The":[61],"VLM":[62],"handles":[63],"scene":[64],"analysis,":[65],"global":[66],"planning,":[67],"recovery,":[69],"while":[70],"each":[71],"tool":[73,85,99,146],"executes":[74],"bounded":[76],"subtask.":[77],"To":[78,114],"tightly":[79],"couple":[80],"with":[83],"execution":[86],"in":[87],"tasks,":[89],"we":[90,125],"introduce":[91],"tool-family":[94,141],"interface":[95],"exposes":[97],"explicit":[98],"selection":[100],"in-execution":[102],"progress":[103],"feedback,":[104],"enabling":[105],"efficient":[106,145],"event-triggered":[107],"replanning":[109],"without":[110],"continuous":[111],"polling.":[113],"obtain":[115],"faithfully":[121],"follow":[122],"invocations,":[124],"further":[126,169],"Tool-Aligned":[128],"Post-Training":[129],"(TAPT),":[130],"which":[131],"constructs":[132],"invocation-aligned":[133],"training":[134],"units":[135],"instruction":[137],"following":[138],"adopts":[140],"residual":[142],"adapters":[143],"specialization.":[147],"Experiments":[148],"show":[149],"VLAs-as-Tools":[151],"improves":[152],"success":[154],"rate":[155],"$\u03c0_{0.5}$":[157],"by":[158,173,178],"4.8":[159],"points":[160,165,175],"LIBERO-Long":[162],"23.1":[164],"RoboTwin,":[167],"enhances":[170],"invocation":[171],"fidelity":[172],"15.0":[174],"as":[176],"measured":[177],"Non-biased":[179],"Rate.":[180],"Code":[181],"will":[182],"be":[183],"released.":[184]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-15T00:00:00"}
