# GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization

arXiv: https://arxiv.org/abs/2605.12369 · HTML: https://mlsanity.com/paper/2605.12369/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 95 of its 110 references that are in the map.
- First posted on arXiv 12 May 2026.

## Placed in

- Multimodal LLMs / vision-language models / [Embodied and 3D vision-language models](https://mlsanity.com/mllm/embodied-and-3d-vision-language-models/)
- Vision-language-action models / [Generalist VLA models and benchmarks](https://mlsanity.com/vla/generalist-vla-models-and-benchmarks/)

## Builds on (most cited first, 30 of 95)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Shortcut Learning in Deep Neural Networks](https://mlsanity.com/paper/2004.07780/) (2020)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [ImageNet-trained CNNs are biased towards texture; increasing shape bias improves accuracy and robustness](https://mlsanity.com/paper/1811.12231/) (2018)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [PaliGemma: A versatile 3B VLM for transfer](https://mlsanity.com/paper/2407.07726/) (2024)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation](https://mlsanity.com/paper/2410.07864/) (2024)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [BridgeData V2: A Dataset for Robot Learning at Scale](https://mlsanity.com/paper/2308.12952/) (2023)

## Built on by (most cited first, 10 of 10)

- [World Engine: Towards the Era of Post-Training for Autonomous Driving](https://mlsanity.com/paper/2606.19836/) (2026)
- [ELAN4D: Embodiment-Centric 4D Supervision for Vision-Language-Action Models via Plug-and-Play Adaptation](https://mlsanity.com/paper/2605.30484/) (2026)
- [UniMPA: A Unified Memory-Prediction-Action Model via Action-Grounded Transition Modeling](https://mlsanity.com/paper/2609.11875/) (2026)
- [GRAFT: Grounded and Efficient Online Reinforcement Adaptation for Fine-Grained Robot Manipulation](https://mlsanity.com/paper/2608.27079/) (2026)
- [Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies](https://mlsanity.com/paper/2609.03142/) (2026)
- [What Matters, When? Diagnosing and Improving Conditional Visual Grounding in Visuomotor Imitation Policies](https://mlsanity.com/paper/2609.05376/) (2026)
- [Correcting WHERE, Preserving HOW: Compositional Generalization for Vision-Language-Action Models via Referential Guidance](https://mlsanity.com/paper/2609.38616/) (2026)
- [PerturBot: Breaking Shortcut Priors in Vision-Language-Action Models with Perturbative Training](https://mlsanity.com/paper/2610.04616/) (2026)
- [GuidedNav: Shaping Vision-Language Navigation Representations through Pre-action Attention and Spatial Guidance](https://mlsanity.com/paper/2610.13122/) (2026)
- [Disentangling Task-Relevant Latent Dynamics for Reward Modeling](https://mlsanity.com/paper/2610.14159/) (2026)

## Abstract (arXiv)

Vision-Language-Action (VLA) models aim for general robot learning by aligning action as a modality within powerful Vision-Language Models (VLMs). Existing VLAs rely on end-to-end supervision to implicitly enable the action decoding process to learn task-relevant features. However, without explicit guidance, these models often overfit to spurious correlations, such as visual shortcuts or environmental noise, limiting their generalization. In this paper, we introduce GuidedVLA, a framework designed to manually guide the action generation to focus on task-relevant factors. Our core insight is to treat the action decoder not as a monolithic learner, but as an assembly of functional components. Individual attention heads are supervised by manually defined auxiliary signals to capture distinct factors. As an initial study, we instantiate this paradigm with three specialized heads: object grounding, spatial geometry, and temporal skill logic. Across simulation and real-robot experiments, GuidedVLA improves success rates in both in-domain and out-of-domain settings compared to strong VLA baselines. Finally, we show that the quality of these specialized factors correlates positively with task performance and that our mechanism yields decoupled, high-quality features. Our results suggest that explicitly guiding action-decoder learning is a promising direction for building more robust and general VLA models.