DS-VLA: A Dendritic-inspired Vision-Language-Action Model for Robust Action Control

arXiv:2609.32253 · cs.RO, cs.AI, cs.NE · Submitted 2026-09-26 · Read on arXiv

cs.RO, cs.AI, cs.NE

Submitted: 2026-09-26

Updated: 2026-09-26

Code: https://github.com/ASTAR123/DS-VLA

Terminology

• Robustness — 13× in this paper · explained in 5 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Flow Matching — 3× in this paper · explained in 7 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Tokenization — 3× in this paper · explained in 2 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Action Decoder — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Energy Efficiency — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Gated Recurrent Unit — 1× in this paper
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Multimodal Reasoning — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Spiking Neural Networks (SNNs) — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling
• StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing
• A Brain-inspired Embodied Intelligence for Fluid and Fast Reflexive Robotics Control
• Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
• OpenVLA: An Open-Source Vision-Language-Action Model
• RMA: Rapid Motor Adaptation for Legged Robots
• From Passive Observer to Active Critic: Reinforcement Learning Elicits Process Reasoning for Robotic Manipulation
• The Llama 3 Herd of Models
• FAST: Efficient Action Tokenization for Vision-Language-Action Models
• STRONG-VLA: Decoupled Robustness Learning for Vision-Language-Action Models under Multimodal Perturbations
• RobustVLA: Robustness-Aware Reinforcement Post-Training for Vision-Language-Action Models

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