# Dynin-Robotics: Omnimodal Unified Diffusion Vision-Language-Action Model

arXiv: https://arxiv.org/abs/2609.13053 · HTML: https://mlsanity.com/paper/2609.13053/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Efficient VLA inference and adaptation, one of 13 directions in Vision-language-action models.
- Builds on 58 of its 89 references that are in the map.
- First posted on arXiv 11 Sep 2026.

## Placed in

- Vision-language-action models / [Efficient VLA inference and adaptation](https://mlsanity.com/vla/efficient-vla-inference-and-adaptation/)

## Builds on (most cited first, 30 of 58)

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- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Deep Unsupervised Learning using Nonequilibrium Thermodynamics](https://mlsanity.com/paper/1503.03585/) (2015)
- [Qwen2.5 Technical Report](https://mlsanity.com/paper/2412.15115/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Large Language Diffusion Models](https://mlsanity.com/paper/2502.09992/) (2025)
- [Emerging Properties in Unified Multimodal Pretraining](https://mlsanity.com/paper/2505.14683/) (2025)
- [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)
- [Janus-Pro: Unified Multimodal Understanding and Generation with Data and Model Scaling](https://mlsanity.com/paper/2501.17811/) (2025)
- [DeepSeek-V3 Technical Report](https://mlsanity.com/paper/2412.19437/) (2024)
- [Emu3: Next-Token Prediction is All You Need](https://mlsanity.com/paper/2409.18869/) (2024)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [Dream 7B: Diffusion Large Language Models](https://mlsanity.com/paper/2508.15487/) (2025)
- [SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model](https://mlsanity.com/paper/2501.15830/) (2025)
- [WorldVLA: Towards Autoregressive Action World Model](https://mlsanity.com/paper/2506.21539/) (2025)
- [Fast-WAM: Do World Action Models Need Test-time Future Imagination?](https://mlsanity.com/paper/2603.16666/) (2026)
- [SEED-X: Multimodal Models with Unified Multi-granularity Comprehension and Generation](https://mlsanity.com/paper/2404.14396/) (2024)
- [Causal World Modeling for Robot Control](https://mlsanity.com/paper/2601.21998/) (2026)
- [X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model](https://mlsanity.com/paper/2510.10274/) (2025)
- [LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models](https://mlsanity.com/paper/2510.13626/) (2025)
- [Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning](https://mlsanity.com/paper/2601.16163/) (2026)
- [DreamLLM: Synergistic Multimodal Comprehension and Creation](https://mlsanity.com/paper/2309.11499/) (2023)
- [Show-o2: Improved Native Unified Multimodal Models](https://mlsanity.com/paper/2506.15564/) (2025)
- [Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets](https://mlsanity.com/paper/2504.02792/) (2025)
- [mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs](https://mlsanity.com/paper/2512.15692/) (2025)

## Abstract (arXiv)

Visual goal and dynamics prediction can provide language-conditioned robot policies with both a target outcome and a representation of action-dependent scene changes. We bring these predictions into action generation and selection through a shared trajectory model. Dynin-Robotics implements this formulation on Dynin-Omni, an omnimodal masked-diffusion backbone, representing language, visual observations, goals, and actions as discrete tokens. By varying conditioning and target spans, the same model learns action prediction, action-conditioned next-observation prediction, terminal goal-state prediction, and trajectory-to-instruction reconstruction. These interfaces support test-time scaling through goal prediction, action-candidate evaluation, and joint refinement of action and future-state predictions. We continually pretrain the model on approximately 1.33 million trajectories from 48 Open X-Embodiment datasets and adapt it separately to downstream domains. On two VLABench tasks, robot pretraining improves adaptation within a fixed Stage-2 step budget, and the full objective mixture improves shifted-instruction success over Policy-only post-training under the same coupled decoder. Combining goal guidance with joint action-next-state denoising further improves shifted-instruction success over action-only decoding; the benefit depends on how the predictions are composed. Dynin-Robotics achieves competitive performance on LIBERO and zero-shot LIBERO-Plus, together with a 78.4% average success rate across four manipulation conditions on a Franka Research 3 robot. An optimized block-parallel implementation accelerates model-side action decoding by up to 29.2x relative to the base implementation under the reported profiling setup. These results support shared trajectory modeling as a common interface for learning complementary robot objectives and composing their predictions during control.