{"id":"https://openalex.org/W7162789316","doi":"https://doi.org/10.48550/arxiv.2605.30280","title":"Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments","display_name":"Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments","publication_year":2026,"publication_date":"2026-05-28","ids":{"openalex":"https://openalex.org/W7162789316","doi":"https://doi.org/10.48550/arxiv.2605.30280"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.30280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30280","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.2605.30280","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137364326","display_name":"Qiuyue Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Qiuyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137321738","display_name":"Mingsheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Mingsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137361789","display_name":"Jian Guan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan, Jian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137335832","display_name":"Jinhui Ye","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ye, Jinhui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137399328","display_name":"Sicheng Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Sicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137329746","display_name":"Yitao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yitao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137323445","display_name":"Junhao Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Junhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137360264","display_name":"Zhixuan Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Zhixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137367589","display_name":"Jie Zhang","orcid":"https://orcid.org/0000-0002-4380-1655"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101349278","display_name":"Xintong Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Xintong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137380614","display_name":"Xuhong Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Xuhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124215881","display_name":"Pei Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Pei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137368034","display_name":"Junyang Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Junyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137385176","display_name":"Dayiheng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Dayiheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137328000","display_name":"Shuai Bai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Shuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137369565","display_name":"Jingren Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jingren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137326887","display_name":"Jiazhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiazhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137319101","display_name":"Haoqi Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Haoqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045879629","display_name":"Gengze Zhou","orcid":"https://orcid.org/0000-0003-0279-9277"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Gengze","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137387847","display_name":"Hang Yin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yin, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137320066","display_name":"Ye Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137321464","display_name":"Yiyang Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yiyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","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/A5101798999","display_name":"Wujian Peng","orcid":"https://orcid.org/0009-0001-6428-276X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Wujian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137339714","display_name":"Delin Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Delin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137358542","display_name":"Yingming Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yingming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009031467","display_name":"Jiahao Fan","orcid":"https://orcid.org/0000-0002-6915-7271"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Jingyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007384127","display_name":"Xianwei Zhuang","orcid":"https://orcid.org/0009-0004-4392-6126"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhuang, Xianwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137389582","display_name":"Xin Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137380951","display_name":"Haoyang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137376863","display_name":"Anzhe Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Anzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137329106","display_name":"Tong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Tong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137383763","display_name":"Xuejing Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xuejing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137321470","display_name":"Yuchong Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Yuchong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137345671","display_name":"Ruizhe Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Ruizhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137387631","display_name":"Zhaohai Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhaohai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137398924","display_name":"Chenxu L\u00fc","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"L\u00fc, Chenxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137368942","display_name":"Zhibo Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Zhibo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137324653","display_name":"Tao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135935659","display_name":"Xionghui Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xionghui","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":0.8429999947547913,"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":0.8429999947547913,"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":0.033900000154972076,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.027499999850988388,"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/robot","display_name":"Robot","score":0.7354000210762024},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6072999835014343},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5995000004768372},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5662000179290771},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5194000005722046},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5121999979019165},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5117999911308289},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.4968999922275543}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7354000210762024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6829000115394592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6779000163078308},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6072999835014343},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5995000004768372},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5662000179290771},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5194000005722046},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5121999979019165},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4968999922275543},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.4959999918937683},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46650001406669617},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4246000051498413},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4122999906539917},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3303000032901764},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.323199987411499},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3231000006198883},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2935999929904938},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.29109999537467957},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2615000009536743},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2612999975681305},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2533999979496002},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.30280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30280","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.2605.30280","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30280","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":[{"display_name":"Peace, Justice and strong institutions","score":0.7425046563148499,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Embodied":[0],"intelligence":[1],"is":[2,78],"often":[3],"studied":[4],"through":[5,72],"specialized":[6],"models":[7],"for":[8],"individual":[9],"tasks":[10],"such":[11],"as":[12],"manipulation":[13,92],"or":[14],"navigation,":[15,134,164],"resulting":[16],"in":[17,177,210],"fragmented":[18],"capabilities":[19],"and":[20,26,64,69,105,127,135,150,159,165,172,184,214],"limited":[21],"generalization":[22,174],"across":[23,154],"tasks,":[24],"environments,":[25],"robot":[27,112,155,185],"embodiments.":[28],"In":[29],"this":[30],"work,":[31],"we":[32,114],"study":[33],"whether":[34],"heterogeneous":[35],"embodied":[36,52],"decision-making":[37],"problems":[38],"can":[39],"be":[40],"unified":[41,51,140],"within":[42],"a":[43,50,73,81,139],"single":[44],"vision-language-action":[45],"model.":[46],"We":[47,130],"present":[48],"Qwen-VLA,":[49],"foundation":[53],"model":[54],"that":[55],"extends":[56],"Qwen's":[57],"vision-language":[58,107],"modeling":[59],"stack":[60],"from":[61],"perception,":[62],"understanding,":[63],"reasoning":[65],"to":[66],"continuous":[67,151],"action":[68,75,152],"trajectory":[70,136],"generation":[71,153],"DiT-based":[74],"decoder.":[76],"Qwen-VLA":[77],"trained":[79],"with":[80],"large-scale":[82],"joint":[83],"pretraining":[84],"recipe":[85],"over":[86],"diverse":[87],"data":[88],"sources,":[89],"including":[90],"robotics":[91],"trajectories,":[93],"human":[94],"egocentric":[95],"demonstrations,":[96],"synthetic":[97],"simulation":[98],"data,":[99,102],"vision-and-language":[100],"navigation":[101],"trajectory-centric":[103,166],"supervision,":[104],"auxiliary":[106],"data.":[108],"To":[109],"support":[110],"multiple":[111],"platforms,":[113],"introduce":[115],"embodiment-aware":[116],"prompt":[117],"conditioning,":[118],"where":[119],"robot-specific":[120],"textual":[121],"descriptions":[122],"specify":[123],"the":[124],"current":[125],"embodiment":[126],"control":[128],"convention.":[129],"further":[131],"cast":[132],"manipulation,":[133,163],"prediction":[137,142],"into":[138],"action-and-trajectory":[141],"framework,":[143],"enabling":[144],"transferable":[145],"visual":[146],"grounding,":[147],"spatial":[148],"reasoning,":[149],"morphologies,":[156],"task":[157],"families,":[158],"environments.":[160],"Experiments":[161],"on":[162,190,193,196,200,204,218],"benchmarks":[167],"show":[168],"consistent":[169],"multi-task":[170],"performance":[171],"out-of-distribution":[173],"under":[175],"variations":[176],"scene":[178],"layout,":[179],"background,":[180],"lighting,":[181],"object":[182],"configuration,":[183],"embodiment.":[186],"Qwen-VLA-Instruct":[187],"achieves":[188],"97.9%":[189],"LIBERO,":[191],"73.7%":[192],"Simpler-WidowX,":[194],"86.1%/87.2%":[195],"RoboTwin-Easy/Hard,":[197],"69.0%":[198],"OSR":[199],"R2R,":[201],"59.6%":[202],"SR":[203],"RxR,":[205],"76.9%":[206],"average":[207],"OOD":[208],"success":[209,217],"real-world":[211],"ALOHA":[212],"experiments,":[213],"26.6%":[215],"zero-shot":[216],"DOMINO":[219],"dynamic":[220],"manipulation.":[221]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-30T00:00:00"}