{"id":"https://openalex.org/W7163886407","doi":"https://doi.org/10.48550/arxiv.2606.07107","title":"Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models","display_name":"Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-06-05","ids":{"openalex":"https://openalex.org/W7163886407","doi":"https://doi.org/10.48550/arxiv.2606.07107"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.07107","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07107","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.2606.07107","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138163708","display_name":"Jinhao Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Jinhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138199451","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/A5138132685","display_name":"Yicheng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138180258","display_name":"Xiaopeng Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Xiaopeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138133806","display_name":"Sixian Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Sixian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017974335","display_name":"Siyin Wang","orcid":"https://orcid.org/0009-0008-7992-2476"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Siyin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138200817","display_name":"Hang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138125564","display_name":"Jing Huo","orcid":"https://orcid.org/0000-0002-8504-455X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huo, Jing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138111215","display_name":"Yang Gao","orcid":"https://orcid.org/0000-0002-2488-1813"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138146014","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":"middle","author":{"id":"https://openalex.org/A5138118431","display_name":"Xipeng Qiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Xipeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138134190","display_name":"Yu-Gang Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yu-Gang","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":0.5662000179290771,"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":0.5662000179290771,"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":0.14959999918937683,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.06469999998807907,"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/executable","display_name":"Executable","score":0.8173999786376953},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.7376000285148621},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.675000011920929},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6661999821662903},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.520799994468689},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.49939998984336853}],"concepts":[{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.8173999786376953},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7376000285148621},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6960999965667725},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.675000011920929},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6661999821662903},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.520799994468689},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.49939998984336853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4433000087738037},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.429500013589859},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.3693999946117401},{"id":"https://openalex.org/C2780210234","wikidata":"https://www.wikidata.org/wiki/Q422638","display_name":"Action plan","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C2780576329","wikidata":"https://www.wikidata.org/wiki/Q39045793","display_name":"Motor planning","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.07107","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07107","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.2606.07107","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.07107","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":0.5718706250190735,"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":{"Most":[0],"vision-language-action":[1],"(VLA)":[2],"models":[3],"map":[4],"observations":[5],"directly":[6,91],"to":[7,41,85,104],"actions":[8],"without":[9],"explicit":[10],"intermediate":[11],"planning,":[12],"which":[13],"limits":[14],"performance":[15],"on":[16,67,108,129],"long-horizon":[17,130],"tasks":[18,114],"where":[19],"early":[20],"mistakes":[21],"compound.":[22],"We":[23],"propose":[24],"Coarse-to-Control,":[25],"a":[26,47,76],"plan-execute":[27],"VLA":[28],"that":[29,54,99,116],"introduces":[30],"planning":[31,72,118],"natively":[32],"in":[33],"the":[34,43,56,81,86,126],"action-token":[35,117],"space.":[36],"The":[37],"key":[38],"idea":[39],"is":[40],"let":[42],"policy":[44],"first":[45],"predict":[46],"compact":[48],"sequence":[49],"of":[50],"coarse":[51],"action":[52,64,79,123],"tokens":[53,65],"summarize":[55],"intended":[57],"future":[58],"trajectory,":[59],"and":[60,73,89,111],"then":[61],"generate":[62],"executable":[63],"conditioned":[66],"this":[68],"plan.":[69],"Because":[70],"both":[71],"execution":[74],"share":[75],"unified":[77],"discrete":[78],"vocabulary,":[80],"plan":[82],"stays":[83],"close":[84],"control":[87],"manifold":[88],"provides":[90],"actionable":[92],"guidance":[93],"rather":[94],"than":[95],"an":[96],"abstract":[97],"hint":[98],"must":[100],"be":[101],"translated":[102],"back":[103],"motor":[105],"commands.":[106],"Experiments":[107],"LIBERO,":[109],"SimplerEnv-WidowX,":[110],"real-world":[112],"manipulation":[113],"show":[115],"consistently":[119],"improves":[120],"over":[121],"direct":[122],"generation,":[124],"with":[125],"largest":[127],"gains":[128],"multi-stage":[131],"tasks.":[132]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-09T00:00:00"}