Preprint
Aug 2026
ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation
Humans perform long-horizon manipulation by retaining knowledge of what earlier actions have established while continuously adapting the motion underway. By contrast, action-chunked vision-language-action (VLA) policies repeatedly replan from the current input at each query. Existing methods preserve either long-term t...
Yuzhi Huang, Wei Bu, Ziyi Xiong et al.
· 1 citation