{"id":"https://openalex.org/W7163697373","doi":"https://doi.org/10.48550/arxiv.2606.05737","title":"Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models","display_name":"Let It Be Simple: One-Step Action Generation for Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163697373","doi":"https://doi.org/10.48550/arxiv.2606.05737"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.05737","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05737","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.2606.05737","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137971945","display_name":"Yitong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yitong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108933637","display_name":"Shiduo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shiduo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138002228","display_name":"Jingjing Gong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gong, Jingjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137984770","display_name":"Xipeng Qiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Xipeng","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":0.6215999722480774,"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":0.6215999722480774,"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":0.09520000219345093,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.0892999991774559,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.76419997215271},{"id":"https://openalex.org/keywords/decoding-methods","display_name":"Decoding methods","score":0.6504999995231628},{"id":"https://openalex.org/keywords/mnist-database","display_name":"MNIST database","score":0.5893999934196472},{"id":"https://openalex.org/keywords/rss","display_name":"RSS","score":0.40220001339912415},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.3930000066757202},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.35690000653266907},{"id":"https://openalex.org/keywords/action-recognition","display_name":"Action recognition","score":0.34529998898506165}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.76419997215271},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.6504999995231628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6010000109672546},{"id":"https://openalex.org/C190502265","wikidata":"https://www.wikidata.org/wiki/Q17069496","display_name":"MNIST database","level":3,"score":0.5893999934196472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4810999929904938},{"id":"https://openalex.org/C2385561","wikidata":"https://www.wikidata.org/wiki/Q45432","display_name":"RSS","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.3930000066757202},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.34529998898506165},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.3264000117778778},{"id":"https://openalex.org/C101454708","wikidata":"https://www.wikidata.org/wiki/Q17106019","display_name":"Standard Model (mathematical formulation)","level":3,"score":0.32269999384880066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3057999908924103},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28929999470710754},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2838999927043915},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.05737","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05737","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.2606.05737","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.05737","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Generating":[0],"diverse":[1],"images":[2],"from":[3,11],"sparse":[4],"text":[5],"is":[6,14],"hard;":[7],"generating":[8],"compact":[9],"actions":[10],"rich":[12],"observations":[13],"easier.":[15],"From":[16],"the":[17,33,86,90,94,115],"condition-target":[18,116],"view,":[19],"Vision-Language-Action":[20],"(VLA)":[21],"thus":[22],"aligns":[23],"with":[24,45],"image-to-text,":[25],"not":[26,109],"text-to-image.":[27],"We":[28,55],"formalize":[29],"this":[30],"view":[31],"through":[32],"irreducible":[34],"velocity":[35],"loss":[36],"$R_v(t,c)$":[37],"of":[38],"standard":[39,66],"flow":[40],"matching":[41],"and":[42,51,72,78],"validate":[43],"it":[44],"a":[46],"controlled":[47],"8-mode":[48],"toy":[49],"experiment":[50],"image-to-text":[52],"MNIST":[53],"task.":[54],"then":[56],"show":[57],"that":[58,84,100],"high-noise":[59],"training":[60],"boosts":[61],"one-step":[62,95,102],"VLA":[63,107],"decoding":[64],"on":[65,70,110,114],"LIBERO,":[67],"achieving":[68],"95.6%":[69],"LIBERO-Long,":[71],"remains":[73],"competitive":[74],"across":[75],"LIBERO-Plus,":[76],"LIBERO-Pro,":[77],"real-world":[79],"robot":[80],"tasks,":[81],"while":[82],"ablations":[83],"weaken":[85],"condition":[87],"or":[88],"expand":[89],"horizon":[91],"predictably":[92],"erase":[93],"gain.":[96],"These":[97],"results":[98],"suggest":[99],"whether":[101],"action":[103],"generation":[104],"works":[105],"in":[106],"depends":[108],"specialized":[111],"training,":[112],"but":[113],"structure.":[117]},"counts_by_year":[],"updated_date":"2026-07-15T05:50:42.429089","created_date":"2026-06-06T00:00:00"}
