A Causality-aware Infer-diagnose-refine Framework for Test-time Modality Adaptation in VLA Models

arXiv:2607.25516v1 Announce Type: new Abstract: Vision-language-action (VLA) models predict sequential actions to execute tasks specified by language instructions, conditioned on visual observations and proprioceptive states. However, how to fuse modalities in VLA models remains an open problem, since robot manipulation involves dynamic phases, such as long-distance movements and close-range interactions, in which the importance of visual observations may vary over time. In this paper, we propos...