{"id":"https://openalex.org/W7165679869","doi":"https://doi.org/10.48550/arxiv.2606.20867","title":"FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation","display_name":"FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation","publication_year":2026,"publication_date":"2026-06-18","ids":{"openalex":"https://openalex.org/W7165679869","doi":"https://doi.org/10.48550/arxiv.2606.20867"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.20867","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20867","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.2606.20867","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139205363","display_name":"Duc Minh Nguyen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Duc Minh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043734993","display_name":"Nghiem T. Diep","orcid":"https://orcid.org/0000-0002-2302-1109"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Diep, Nghiem Tuong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035638496","display_name":"Binh Gia Nguyen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Binh Gia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101944191","display_name":"Trong-Bao Ho","orcid":"https://orcid.org/0009-0002-1794-2814"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ho, Trong-Bao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139213518","display_name":"Doanh Le","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, Doanh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101669230","display_name":"Tan Nguyen","orcid":"https://orcid.org/0000-0003-2575-6296"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Tan Q.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139007748","display_name":"Thien-Loc Ha","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ha, Thien-Loc","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136588492","display_name":"Nhiem Tran","orcid":"https://orcid.org/0000-0002-0209-2434"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Nhiem","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085696250","display_name":"Bao Thach","orcid":"https://orcid.org/0009-0000-1128-8933"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thach, Bao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139173437","display_name":"Nhat X. Tran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Nhat X.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128663604","display_name":"Tuan A. Tran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Tuan A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139206353","display_name":"Artur Habuda","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Habuda, Artur","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104217175","display_name":"Philip Lund M\u00f8ller","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M\u00f8ller, Philip Lund","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124124270","display_name":"Tran Nguyen Le","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, Tran Nguyen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069432042","display_name":"Daniel Sonntag","orcid":"https://orcid.org/0000-0002-8857-8709"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sonntag, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139189203","display_name":"Matthias Niepert","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Niepert, Matthias","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080642445","display_name":"Khoa D. Doan","orcid":"https://orcid.org/0000-0002-1610-8206"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Doan, Khoa D.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139020707","display_name":"Vu Duong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duong, Vu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139130315","display_name":"Hung Ngo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ngo, Hung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063231826","display_name":"Minh N. Vu","orcid":"https://orcid.org/0000-0001-8727-0350"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vu, Minh N.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050539353","display_name":"Duy M. H. Nguyen","orcid":"https://orcid.org/0009-0008-6007-7786"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Duy M. H.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102888876","display_name":"An T. Le","orcid":"https://orcid.org/0000-0003-0929-3316"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, An Thai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5043775193","display_name":"Ngo Anh Vien","orcid":"https://orcid.org/0000-0001-9646-267X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vien, Ngo Anh","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":0.6202999949455261,"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":0.6202999949455261,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.09099999815225601,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.05990000069141388,"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/adaptation","display_name":"Adaptation (eye)","score":0.6363000273704529},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5194000005722046},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.48330000042915344},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4074000120162964},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.396699994802475},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.3903999924659729},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3785000145435333}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6363000273704529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6310999989509583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6093000173568726},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5194000005722046},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.48330000042915344},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40799999237060547},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4074000120162964},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.396699994802475},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3903999924659729},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3785000145435333},{"id":"https://openalex.org/C45262634","wikidata":"https://www.wikidata.org/wiki/Q5159291","display_name":"Conditioning","level":2,"score":0.3684000074863434},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C39617858","wikidata":"https://www.wikidata.org/wiki/Q212737","display_name":"Classical conditioning","level":3,"score":0.2612999975681305}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.20867","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20867","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.2606.20867","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20867","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":{"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":[2,29,99],"enable":[3],"general-purpose":[4],"robotic":[5],"control":[6],"via":[7],"large-scale":[8],"multimodal":[9],"pretraining,":[10],"yet":[11],"their":[12],"effectiveness":[13],"under":[14],"few-shot":[15,144],"imitation":[16],"learning":[17,105],"remains":[18],"limited.":[19],"We":[20],"conduct":[21],"a":[22,41,54,106,137],"systematic":[23],"stress":[24],"test":[25],"of":[26,44,66,140],"state-of-the-art":[27],"VLA":[28,60,145],"and":[30,100,126],"show":[31],"that":[32],"performance":[33],"degrades":[34],"sharply":[35],"as":[36,104],"demonstrations":[37,119],"are":[38],"reduced,":[39],"revealing":[40],"key":[42],"weakness":[43],"existing":[45],"adaptation":[46],"strategies.":[47],"To":[48],"address":[49],"this,":[50],"we":[51],"introduce":[52],"FOCA,":[53],"future-oriented":[55],"conditioning":[56],"framework":[57],"for":[58],"data-efficient":[59],"adaptation.":[61,146],"FOCA":[62,113],"combines":[63],"explicit":[64],"prediction":[65],"task-grounded":[67],"future":[68,75],"interaction":[69],"embeddings":[70],"with":[71,93,117],"implicit":[72],"alignment":[73],"to":[74,129],"goal":[76],"observations,":[77],"enabling":[78],"long-horizon":[79],"reasoning":[80],"in":[81,143],"latent":[82],"space":[83],"without":[84],"pixel-level":[85],"prediction.":[86],"This":[87],"formulation":[88],"naturally":[89],"supports":[90],"action-free":[91],"co-training":[92],"synthetic":[94],"videos":[95],"from":[96],"video":[97],"world":[98],"can":[101],"be":[102],"interpreted":[103],"future-conditioned":[107],"value-like":[108],"representation.":[109],"Extensive":[110],"experiments":[111],"demonstrate":[112],"achieves":[114],"95.7%":[115],"success":[116],"20":[118],"on":[120,124,133],"LIBERO,":[121],"improves":[122],"7-12%":[123],"RoboCasa,":[125],"delivers":[127],"up":[128],"26%":[130],"absolute":[131],"gains":[132],"real":[134],"robots,":[135],"establishing":[136],"new":[138],"state":[139],"the":[141],"art":[142]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-24T00:00:00"}