{"id":"https://openalex.org/W7162076850","doi":"https://doi.org/10.48550/arxiv.2605.21862","title":"EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control","display_name":"EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control","publication_year":2026,"publication_date":"2026-05-21","ids":{"openalex":"https://openalex.org/W7162076850","doi":"https://doi.org/10.48550/arxiv.2605.21862"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.21862","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21862","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.2605.21862","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133141018","display_name":"Chushan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chushan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133113225","display_name":"Ruihan Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Ruihan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136764529","display_name":"Jinguang Tong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tong, Jinguang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136809168","display_name":"Xuesong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xuesong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136731565","display_name":"Yikai Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yikai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136764453","display_name":"Hongdong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hongdong","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":0.7688999772071838,"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":0.7688999772071838,"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":0.07919999957084656,"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":0.03440000116825104,"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/action","display_name":"Action (physics)","score":0.6553999781608582},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6017000079154968},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5698999762535095},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5450000166893005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4747999906539917},{"id":"https://openalex.org/keywords/aggregate","display_name":"Aggregate (composite)","score":0.4564000070095062}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6553999781608582},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6545000076293945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6017000079154968},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5830000042915344},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5698999762535095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5616000294685364},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5450000166893005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4747999906539917},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C141603448","wikidata":"https://www.wikidata.org/wiki/Q134830","display_name":"Prefix","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.34869998693466187},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.28769999742507935}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.21862","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21862","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.2605.21862","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.21862","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":{"Chunked":[0],"vision-language-action":[1],"(VLA)":[2],"policies":[3],"predict":[4],"multi-step":[5],"robot":[6,18],"controls,":[7],"conditioning":[8],"each":[9,86],"update":[10,40,123],"on":[11,33],"the":[12,27,37,91,97,101,105,108,113,125,129,133,137,209],"current":[13,98],"visual":[14,39,157],"observation":[15,99,135],"alone.":[16],"Yet":[17],"actions":[19,154],"cause":[20],"contact,":[21],"occlusion,":[22],"and":[23,26,71,117,155,167,176,200],"object":[24],"motion,":[25],"geometry":[28],"that":[29,150],"later":[30],"decisions":[31],"depend":[32],"can":[34],"change":[35],"before":[36],"next":[38,114,126,138],"arrives.":[41,140],"Spatial":[42],"VLAs":[43,48],"improve":[44],"current-frame":[45],"geometry.":[46],"Temporal":[47],"aggregate":[49],"past":[50],"frames.":[51],"Neither":[52],"maintains":[53],"an":[54],"action-updated":[55,65,102],"scene":[56,66,76,81,94,120,148,171],"prior":[57,103,149],"across":[58,68,83],"chunks.":[59,84],"We":[60,179],"argue":[61],"for":[62],"a":[63,79,118,147],"persistent":[64],"state":[67,82],"control":[69,142],"calls,":[70],"introduce":[72],"EvoScene-VLA.":[73],"Its":[74],"recurrent":[75],"prefix":[77],"carries":[78],"geometry-aware":[80],"At":[85],"vision-language":[87],"model":[88],"(VLM)":[89],"call,":[90],"VLM":[92,130],"combines":[93],"information":[95],"from":[96,104,146,193,201],"with":[100,173],"previous":[106],"chunk;":[107],"action":[109,115],"decoder":[110],"outputs":[111],"both":[112,152,181],"chunk":[116],"compact":[119],"update.":[121],"This":[122],"becomes":[124],"prior,":[127],"which":[128],"corrects":[131],"against":[132],"new":[134],"when":[136],"call":[139,143],"Each":[141],"therefore":[144],"starts":[145],"reflects":[151],"recent":[153],"fresh":[156],"evidence.":[158],"During":[159],"training,":[160],"\\textbf{Scene":[161],"Predictor}":[162],"supplies":[163],"future":[164],"scene-token":[165],"targets,":[166],"Geometric":[168],"Anchor":[169],"aligns":[170],"slots":[172],"frozen":[174],"depth":[175],"3D":[177],"teachers.":[178],"discard":[180],"modules":[182],"at":[183],"deployment.":[184],"On":[185,208],"31":[186],"RoboTwin":[187],"tasks,":[188],"EvoScene-VLA":[189,214],"raises":[190],"average":[191],"success":[192],"87.2%":[194],"to":[195,203],"89.1%":[196],"in":[197,205],"fixed":[198],"evaluation":[199],"86.1%":[202],"88.5%":[204],"randomized":[206],"evaluation.":[207],"Galaxea":[210],"R1-Lite":[211],"real":[212],"robot,":[213],"outperforms":[215],"all":[216],"baselines.":[217]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-23T00:00:00"}
