Preprint
Jul 2026
CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models
Vision-Language-Action (VLA) models have become a promising paradigm for generalist robot manipulation, where visual-language representations are used to condition continuous action generation. However, these representations are not explicitly optimized for action conditioning, leaving the action expert to bridge the g...
Y. Xiong, Wenhao Yu, Jiaxuan Lin et al.
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