Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing approaches still exhibit limited generalization to tasks beyond their training distributions. In contrast, humans possess remarkable proficiency in acquiring novel skills by simply observing others performing them once. Inspired by this capability, we propose ViVLA, a generalist robotic manipulation policy that achieves efficient task learning from a single expert demonstration video at test time. Our approach jointly processes an expert demonstration video alongside the robot's visual observations to predict both the demonstrated action sequences and subsequent robot actions, effectively distilling fine-grained manipulation knowledge from expert behavior and transferring it seamlessly to the agent. To enhance the performance of ViVLA, we develop a scalable expert-agent pair data generation pipeline capable of synthesizing paired trajectories from easily accessible human videos, further augmented by curated pairs from publicly available datasets. This pipeline produces a total of 892,911 expert-agent samples for training ViVLA. Experimental results demonstrate that our ViVLA is able to acquire novel manipulation skills from only a single expert demonstration video at test time. Our approach achieves over 30% improvement on unseen LIBERO tasks and maintains above 35% gains with cross-embodiment videos. Real-world experiments demonstrate effective learning from human videos, yielding more than 38% improvement on unseen tasks.

Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underperform on robotic manipulation. We attribute this gap to two factors: the lack of state-action-state dynamics modeling and the unnecessary redundancy of explicit geometric reconstruction. We introduce AFRO, a self-supervised framework that learns dynamics-aware 3D representations without action or reconstruction supervision. AFRO casts state prediction as a generative diffusion process and jointly models forward and inverse dynamics in a shared latent space to capture causal transition structure. To prevent feature leakage in action learning, we employ feature differencing and inverse-consistency supervision, improving the quality and stability of visual features. When combined with Diffusion Policy, AFRO substantially increases manipulation success rates across 16 simulated and 4 real-world tasks, outperforming existing pre-training approaches. The framework also scales favorably with data volume and task complexity. Qualitative visualizations indicate that AFRO learns semantically rich, discriminative features, offering an effective pre-training solution for 3D representation learning in robotics. Project page: https://kolakivy.github.io/AFRO/

Conventional flow matching and diffusion-based policies sample through iterative denoising from standard noise distributions (e.g., Gaussian), and require conditioning modules to repeatedly incorporate visual information during the generative process, incurring substantial time and memory overhead. To reduce the complexity, we develop VITA(VIsion-To-Action policy), a noise-free and conditioning-free flow matching policy learning framework that directly flows from visual representations to latent actions. Since the source of the flow is visually grounded, VITA eliminates the need of visual conditioning during generation. As expected, bridging vision and action is challenging, because actions are lower-dimensional, less structured, and sparser than visual representations; moreover, flow matching requires the source and target to have the same dimensionality. To overcome this, we introduce an action autoencoder that maps raw actions into a structured latent space aligned with visual latents, trained jointly with flow matching. To further prevent latent space collapse, we propose flow latent decoding, which anchors the latent generation process by backpropagating the action reconstruction loss through the flow matching ODE (ordinary differential equation) solving steps. We evaluate VITA on 9 simulation and 5 real-world tasks from ALOHA and Robomimic. VITA achieves 1.5x-2x faster inference compared to conventional methods with conditioning modules, while outperforming or matching state-of-the-art policies. Codes, datasets, and demos are available at our project page: https://ucd-dare.github.io/VITA/.

Learning transferable latent actions from large-scale object manipulation videos can significantly enhance generalization in downstream robotics tasks, as such representations are agnostic to different robot embodiments. Existing approaches primarily rely on visual reconstruction objectives while neglecting physical priors, leading to sub-optimal performance in learning universal representations. T o address these challenges, we propose a Universal Latent Action Learning framework that takes task instructions and multiple frames as inputs, and optimizes both future frame reconstruction and action sequence prediction. Unlike prior works, incorporating action predictions (e.g., gripper or hand trajectories and orientations) allows the model to capture richer physical priors such as real-world distances and orientations, thereby enabling seamless transferability to downstream tasks. W e further decompose the latent actions into learnable motion and scene tokens to distinguish the robot's active movements from environmental changes, thus filtering out irrelevant dynamics. By distilling the learned latent actions into the latest VLA models, we achieve strong performance across both simulated (SIMPLER and LIBERO) and real-world robot settings. Notably, with only 10 real-world trajectories per task collected on a Franka robot, our approach successfully completes all five challenging tasks, demonstrating strong few-shot transferability in robotic manipulation.

Recent advances in Vision-Language-Action (VLA) models demonstrate that visual signals can effectively complement sparse action supervisions. However, letting VLA directly predict high-dimensional visual states can distribute model capacity and incur prohibitive training cost, while compressing visual states into more compact supervisory signals inevitably incurs information bottlenecks. Moreover, existing methods often suffer from poor comprehension and reasoning capabilities due to the neglect of language supervision. This paper introduces Mantis, a novel framework featuring a Disentangled Visual Foresight (DVF) to tackle these issues. Specifically, Mantis decouples visual foresight prediction from the backbone with the combination of meta queries and a diffusion Transformer (DiT) head. With the current visual state provided to the DiT via a residual connection, a simple next-state prediction objective enables the meta queries to automatically capture the latent actions that delineate the visual trajectory, and hence boost the learning of explicit actions. The disentanglement reduces the burden of the VLA backbone, enabling it to maintain comprehension and reasoning capabilities through language supervision. Empirically, pretrained on human manipulation videos, robot demonstrations, and image-text pairs, Mantis achieves a 96.7% success rate on LIBERO benchmark after fine-tuning, surpassing powerful baselines while exhibiting high convergence speed. Real-world evaluations show that Mantis outperforms $π_{0.5}$, a leading open-source VLA model, particularly in instruction-following capability, generalization to unseen instructions, and reasoning ability. Code and weights are released to support the open-source community.

Learning latent actions from large-scale videos is crucial for the pre-training of scalable embodied foundation models, yet existing methods often struggle with action-irrelevant distractors. Although incorporating action supervision can alleviate these distractions, its effectiveness is restricted by the scarcity of available action labels. Optical flow represents pixel-level motion between consecutive frames, naturally suppressing background elements and emphasizing moving objects. Motivated by this, we propose robust Latent Action learning with Optical Flow constraints (LAOF), a pseudo-supervised framework that leverages the agent's optical flow as an action-driven signal to learn latent action representations robust to distractors. Experimental results show that the latent representations learned by LAOF outperform existing methods on downstream imitation learning and reinforcement learning tasks. This superior performance arises from optical flow constraints, which substantially stabilize training and improve the quality of latent representations under extremely label-scarce conditions, while remaining effective as the proportion of action labels increases to 10%. Importantly, even without action supervision, LAOF matches or surpasses action-supervised methods trained with 1% of action labels. Code can be found at https://github.com/XizoB/LAOF

Latent action models (LAMs) aim to learn action-relevant changes from unlabeled videos by compressing changes between frames as latents. However, differences between video frames can be caused by controllable changes as well as exogenous noise, leading to an important concern -- do latents capture the changes caused by actions or irrelevant noise? This paper studies this issue analytically, presenting a linear model that encapsulates the essence of LAM learning, while being tractable.This provides several insights, including connections between LAM and principal component analysis (PCA), desiderata of the data-generating policy, and justification of strategies to encourage learning controllable changes using data augmentation, data cleaning, and auxiliary action-prediction. We also provide illustrative results based on numerical simulation, shedding light on the specific structure of observations, actions, and noise in data that influence LAM learning.

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We present Video Prediction for Robot Actions (ViPRA), a simple pretraining-finetuning framework that learns continuous robot control from these actionless videos. Instead of directly predicting actions, we train a video-language model to predict both future visual observations and motion-centric latent actions, which serve as intermediate representations of scene dynamics. We train these latent actions using perceptual losses and optical flow consistency to ensure they reflect physically grounded behavior. For downstream control, we introduce a chunked flow matching decoder that maps latent actions to robot-specific continuous action sequences, using only 100 to 200 teleoperated demonstrations. This approach avoids expensive action annotation, supports generalization across embodiments, and enables smooth, high-frequency continuous control upto 22 Hz via chunked action decoding. Unlike prior latent action works that treat pretraining as autoregressive policy learning, explicitly models both what changes and how. Our method outperforms strong baselines, with a 16% gain on the SIMPLER benchmark and a 13% improvement across real world manipulation tasks. We will release models and code at https://vipra-project.github.io

Vision-language-action (VLA) models hold the promise to attain generalizable embodied control. To achieve this, a pervasive paradigm is to leverage the rich vision-semantic priors of large vision-language models (VLMs). However, the fundamental question persists: How do VLAs effectively inherit the prior knowledge from VLMs? To address this critical question, we introduce a diagnostic benchmark, GrinningFace, an emoji tabletop manipulation task where the robot arm is asked to place objects onto printed emojis corresponding to language instructions. This task design is particularly revealing -- knowledge associated with emojis is ubiquitous in Internet-scale datasets used for VLM pre-training, yet emojis themselves are largely absent from standard robotics datasets. Consequently, they provide a clean proxy: successful task completion indicates effective transfer of VLM priors to embodied control. We implement this diagnostic task in both simulated environment and a real robot, and compare various promising techniques for knowledge transfer. Specifically, we investigate the effects of parameter-efficient fine-tuning, VLM freezing, co-training, predicting discretized actions, and predicting latent actions. Through systematic evaluation, our work not only demonstrates the critical importance of preserving VLM priors for the generalization of VLA but also establishes guidelines for future research in developing truly generalizable embodied AI systems.