Veo-Act: Enhancing VLA Policies with Frontier Video Models

arXiv:2604.04502 · cs.RO · Submitted 2026-04-06 · Read on arXiv

cs.RO

Submitted: 2026-04-06

Updated: 2026-09-16

Terminology

• Generalization — 14× in this paper · explained in 13 episodes
• Ablation — 9× in this paper · explained in 1 episode
• World Model — 6× in this paper · explained in 7 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Grounding — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Hierarchical Framework — 2× in this paper · explained in 2 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Action-Conditioned World Model — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• Improving Vision-Language-Action Model with Online Reinforcement Learning
• UP-VLA: A Unified Understanding and Prediction Model for Embodied Agent
• HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers
• UniJEPA: Enhancing Robot Policy via Unified Continuous and Discrete Representation Learning
• RT-1: Robotics Transformer for Real-World Control at Scale
• Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better
• Actions as Language: Fine-Tuning VLMs into VLAs Without Catastrophic Forgetting
• VLM4VLA: Revisiting Vision-Language-Models in Vision-Language-Action Models
• Imagen Video: High Definition Video Generation with Diffusion Models
• Make-A-Video: Text-to-Video Generation without Text-Video Data
• VideoPoet: A Large Language Model for Zero-Shot Video Generation
• Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
• Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning
• World Action Models are Zero-shot Policies
• VideoVLA: Video Generators Can Be Generalizable Robot Manipulators
• Ctrl-World: A Controllable Generative World Model for Robot Manipulation
• Video Generators are Robot Policies

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