{"id":"https://openalex.org/W7162647894","doi":"https://doi.org/10.48550/arxiv.2605.28634","title":"PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation","display_name":"PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation","publication_year":2026,"publication_date":"2026-05-27","ids":{"openalex":"https://openalex.org/W7162647894","doi":"https://doi.org/10.48550/arxiv.2605.28634"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.28634","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.28634","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":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.2605.28634","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137221120","display_name":"Yutai Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yutai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137266177","display_name":"Shaohui Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Shaohui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137239257","display_name":"Jiaming Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Jiaming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137289076","display_name":"Di Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Di","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137230400","display_name":"Zihao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137302357","display_name":"Yuxuan Guo","orcid":"https://orcid.org/0009-0006-7495-209X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114096938","display_name":"Yunkai Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yunkai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111153793","display_name":"Siming Lan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lan, Siming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137260270","display_name":"Ling Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Ling","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137238811","display_name":"Xing Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Xing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137267704","display_name":"Yunji Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yunji","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":0.3926999866962433,"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":0.3926999866962433,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3650999963283539,"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":0.08460000157356262,"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/motion","display_name":"Motion (physics)","score":0.6086999773979187},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5569000244140625},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5188999772071838},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5030999779701233},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4921000003814697},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.44359999895095825},{"id":"https://openalex.org/keywords/inefficiency","display_name":"Inefficiency","score":0.43540000915527344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41830000281333923}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7269999980926514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6473000049591064},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6086999773979187},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5569000244140625},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5188999772071838},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5030999779701233},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4921000003814697},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.44359999895095825},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.43540000915527344},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42149999737739563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41830000281333923},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.413100004196167},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.40720000863075256},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.366100013256073},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3352999985218048},{"id":"https://openalex.org/C30038468","wikidata":"https://www.wikidata.org/wiki/Q4354775","display_name":"Memorization","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2953000068664551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2922999858856201},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.28634","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.28634","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.28634","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.28634","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.4903595447540283}],"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":[2,36,117],"offer":[3],"a":[4,51,58,66,96],"promising":[5],"paradigm":[6,56],"for":[7,104],"generalist":[8],"robotic":[9],"policies,":[10],"yet":[11],"their":[12],"adaptation":[13],"is":[14],"hindered":[15],"by":[16,65],"data":[17,134],"inefficiency":[18],"and":[19,90,99,136,143],"poor":[20],"generalization.":[21],"We":[22,48],"argue":[23],"that":[24,53,130],"these":[25],"bottlenecks":[26],"stem":[27],"from":[28],"the":[29],"prevailing":[30],"Direct":[31],"Instruction-to-Control":[32],"Mapping,":[33],"which":[34,79,94],"forces":[35],"to":[37,84,118],"memorize":[38],"monolithic":[39],"trajectories":[40],"rather":[41],"than":[42],"reusable":[43,88,112],"motion":[44,121],"patterns,":[45],"i.e.,":[46],"primitives.":[47],"propose":[49],"PrimitiveVLA,":[50],"framework":[52,132],"shifts":[54],"this":[55],"toward":[57],"Primitive-Centric":[59],"Disassemble":[60],"&":[61],"Assemble":[62],"paradigm.":[63],"Supported":[64],"shared":[67],"Multimodal":[68],"Canonical":[69],"Representation":[70],"(MCR),":[71],"PrimitiveVLA":[72,114],"unifies":[73],"two":[74],"phases:":[75],"(1)":[76],"Fine-tuning-phase":[77],"Disassembly,":[78],"uses":[80],"an":[81,100],"automated":[82],"pipeline":[83],"disassemble":[85],"demonstrations":[86],"into":[87,111],"primitives;":[89],"(2)":[91],"Inference-phase":[92],"Assembly,":[93],"employs":[95],"VLM-based":[97],"planner":[98],"LLM-generated":[101],"switch":[102],"module":[103],"robust":[105],"closed-loop":[106],"execution.":[107],"By":[108],"disassembling":[109],"tasks":[110],"primitives,":[113],"enables":[115],"VLA":[116],"learn":[119],"invariant":[120],"patterns":[122],"instead":[123],"of":[124],"task-specific":[125],"trajectories.":[126],"Extensive":[127],"experiments":[128],"show":[129],"our":[131],"improves":[133],"efficiency":[135],"achieves":[137],"superior":[138],"zero-shot":[139],"generalization":[140],"across":[141],"unseen":[142],"long-horizon":[144],"tasks.":[145]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-29T00:00:00"}