villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models
About
Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of latent actions, abstract representations of motion between two frames, into VLA pre-training. In this paper, we introduce villa-X, a novel Vision-Language-Latent-Action (ViLLA) framework that advances latent action modeling for learning generalizable robot manipulation policies. Our approach improves both how latent actions are learned and how they are incorporated into VLA pre-training. We demonstrate that villa-X can generate latent action plans in a zero-shot fashion, even for unseen embodiments and open-vocabulary symbolic understanding. This capability enables villa-X to achieve superior performance across diverse simulation tasks in SIMPLER and on two real-world robotic setups involving both gripper and dexterous hand manipulation. These results establish villa-X as a principled and scalable paradigm for learning generalizable robot manipulation policies. We believe it provides a strong foundation for future research.
Related benchmarks
| Task | Dataset | Result | Rank | |
|---|---|---|---|---|
| Robot Manipulation | LIBERO | Goal Achievement91.5 | 700 | |
| Robotic Manipulation | LIBERO | Spatial Success Rate97.5 | 314 | |
| Robot Manipulation | SimplerEnv WidowX Robot tasks (test) | Success Rate (Spoon)48.3 | 79 | |
| Robot Manipulation | SimplerEnv Google Robot tasks Visual Matching | Pick Coke Can Success Rate81.7 | 62 | |
| Robot Manipulation | SimplerEnv WidowX | Success Rate: Put Spoon on Towel77.9 | 58 | |
| Robotic Manipulation | SIMPLER Visual Matching WidowX robot | Put Spoon on Towel Score48.3 | 51 | |
| Robotic Manipulation | LIBERO v1 (test) | Average Success Rate90.1 | 46 | |
| Robotic Manipulation | LIBERO Spatial Object Goal Long | Overall Success Rate (Long)74.5 | 31 | |
| Robotic Manipulation | SIMPLER Google Robot Visual Matching | PickCan Success Rate81.7 | 24 | |
| Robot Manipulation | SimplerEnv Google Robot (test) | Pick Coke Can98.7 | 11 |