NarrativeFlow: Flow-Based Vision-Language-Action Model Using Robot Velocity Fields

arXiv:2610.00981 · cs.RO, cs.CV · Submitted 2026-10-01 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-10-01

Updated: 2026-10-01

Project page: https://shota0520.github.io/NarrativeFlow-project-page

Terminology

• Ablation — 8× in this paper · explained in 1 episode
• Transformer — 8× in this paper · explained in 2 episodes
• Cosine Similarity — 7× in this paper · explained in 3 episodes
• Ablation Studies — 6× in this paper · explained in 1 episode
• Foundation Model — 5× in this paper · explained in 3 episodes
• Foundation Models — 5× in this paper · explained in 7 episodes
• Flow Matching — 4× in this paper · explained in 7 episodes
• Loss Function — 3× in this paper · explained in 2 episodes
• World Model — 3× in this paper · explained in 7 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Annotation Errors — 2× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Entanglement — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Human Support Robot — 1× in this paper
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• Qwen2.5-VL Technical Report
• Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation
• DINOv3
• All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents
• Qwen3 Embedding: Advancing Text Embedding and Reranking Through Foundation Models
• A Survey on Vision-Language-Action Models: An Action Tokenization Perspective

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