mlsanityData to 14 Oct 2026

NebulaVLA: A Dual-Frequency Vision-Language-Action Model With Guide Action for Robotic Manipulation

arXiv 2608.16503 ↗First posted 17 Aug 2026cs.RO cs.AIcited by 0

On the map: Vision-language-action models → Generalist VLA models and benchmarks

Abstract (arXiv)

Real-world deployment of Vision-Language-Action (VLA) models is often bottlenecked by efficiency-performance trade-offs, cross-embodiment generalization, and execution smoothness. We present NebulaVLA, an asynchronous dual-frequency architecture that decouples high-level semantic reasoning from low-level action control, optimizing computational resources and modularity. To bridge semantic gaps across heterogeneous robots, we introduce GESTURE-7, a unified language-grounded action representation. Furthermore, our Guide Action algorithm enforces kinematic continuity via mask-based smoothness constraints. Comprehensive evaluations demonstrate that NebulaVLA significantly outperforms synchronous baselines, achieving an 85.5% average success rate on LIBERO-Plus and accelerating action generation by textasciitilde 2.7×. This asynchronous design enables highly efficient and responsive control for practical robotics.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Generalist VLA models and benchmarks, one of 13 directions in Vision-language-action models. Builds on 31 of its 36 references that are in the map. First posted on arXiv 17 Aug 2026.

Builds on

31 of 36 references.

Closest ancestors · 9

Same direction, newest first

  1. 2026KineVLA: Towards Kinematics-Aware Vision-Language-Action Models with Bi-Level Action Decomposition18 Mar
  2. 2025NoTVLA: Semantics-Preserving Robot Adaptation via Narrative Action Interfaces4 Oct
  3. 2025GR-3 Technical Report21 Jul
  4. 2025π0.5: a Vision-Language-Action Model with Open-World Generalization22 Apr
  5. 2025Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success27 Feb
  6. 2024π0: A Vision-Language-Action Flow Model for General Robot Control31 Oct
  7. 2024HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers12 Sep
  8. 2024OpenVLA: An Open-Source Vision-Language-Action Model13 Jun
  9. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control28 Jul

Other references · 22

  1. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,863
  2. 2024DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Modelscited by 9,379
  3. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  4. 2025Qwen3-VL Technical Reportcited by 2,793
  5. 2023PaLM-E: An Embodied Multimodal Language Modelcited by 2,071
  6. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,061
  7. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  8. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,410
  9. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,225
  10. 2025FAST: Efficient Action Tokenization for Vision-Language-Action Modelscited by 665
  11. 2023Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulationcited by 364
  12. 2025LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Modelscited by 303
10 more
  1. 2024GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulationcited by 296
  2. 2025Real-Time Execution of Action Chunking Flow Policiescited by 216
  3. 2020MediaPipe Hands: On-device Real-time Hand Trackingcited by 161
  4. 2026π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilitiescited by 138
  5. 2025InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policycited by 84
  6. 2026Towards Generalizable Robotic Manipulation in Dynamic Environmentscited by 20
  7. 2025VLA-RAIL: A Real-Time Asynchronous Inference Linker for VLA Models and Robotscited by 19
  8. 2026ABPolicy: Asynchronous B-Spline Flow Policy for Real-Time and Smooth Robotic Manipulationcited by 10
  9. 2025Mind to Hand: Purposeful Robotic Control via Embodied Reasoningcited by 8
  10. 2026SmoothVLA: Aligning Vision-Language-Action Models with Physical Constraints via Intrinsic Smoothness Optimizationcited by 3

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  1. 2026Libra-VLA: Achieving Learning Equilibrium via Asynchronous Coarse-to-Fine Dual-System
  2. 2026Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
  3. 2025Asynchronous Fast-Slow Vision-Language-Action Policies for Whole-Body Robotic Manipulation
  4. 2025Efficient Vision-Language-Action Models for Embodied Manipulation: A Systematic Survey
  5. 2026AC^2-VLA: Action-Context-Aware Adaptive Computation in Vision-Language-Action Models for Efficient Robotic Manipulation
  6. 2026TAO-DA: Towards Autonomous Operation--A Dual-Arm Vision-Language-Action Model for Coordinated Manipulation
  7. 2025Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training
  8. 2026ElegantVLA: Learning When to Think for Efficient Vision-Language-Action Models