← 研踪 PaperTrailCVF · CVPR 2026:cvf:6d2e8a2fc1199600f14c65c0db38a770 · 记录 #1
From Manuals to Actions: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulation
Gu, ChenyangLiu, JiamingChen, HaoHuang, RunzhongWuwu, QingpoLi, XiaoqiLiu, ZhuoyangLi, YingZhang, RenruiJia, PengHeng, Pheng-AnnZhang, Shanghang 来源日期（仅到年份） 2026
来源记录日期 2026
雷达观测 2026-11-05 04:25
摘要
Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO assembly or object rearrangement, existing VLA models still face challenges in coordinating long-horizon planning with precise manipulation.Therefore, we aim to endow a VLA model with the capability to infer the "how" process from the "what" outcomes, transforming goal states into executable procedures. In this paper, we introduce ManualVLA, a unified VLA framework built upon a Mixture-of-Transformers (MoT) architecture, enabling coherent collaboration between multimodal manual generation and action execution. Unlike prior VLA models that directly map sensory inputs to actions, we first equip ManualVLA with a planning expert that generates intermediate manuals consisting of images, visual prompts, and textual instructions. Building upon these multimodal manuals, we design a Manual Chain-of-Thought (ManualCoT) reasoning process that feeds them into the action expert, where each manual step provides explicit control conditions, while its latent representation offers implicit guidance for accurate manipulation. To alleviate the burden of data collection, we develop a high-fidelity digital-twin toolkit based on 3D Gaussian Splatting, which automatically generates manual data for planning expert training. ManualVLA demonstrates strong real-world performance, achieving an average success rate 32% higher than the previous hierarchical SOTA baseline on LEGO assembly and object rearrangement tasks.
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记录 #1 · 2026 · 最新观测版本
From Manuals to Actions: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulation
Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO assembly or object rearrangement, existing VLA models still face challenges in coordinating long-horizon planning with precise manipulation.Therefore, we aim to endow a VLA model with the capability to infer the "how" process from the "what" outcomes, transforming goal states into executable procedures. In this paper, we introduce ManualVLA, a unified VLA framework built upon a Mixture-of-Transformers (MoT) architecture, enabling coherent collaboration between multimodal manual generation and action execution. Unlike prior VLA models that directly map sensory inputs to actions, we first equip ManualVLA with a planning expert that generates intermediate manuals consisting of images, visual prompts, and textual instructions. Building upon these multimodal manuals, we design a Manual Chain-of-Thought (ManualCoT) reasoning process that feeds them into the action expert, where each manual step provides explicit control conditions, while its latent representation offers implicit guidance for accurate manipulation. To alleviate the burden of data collection, we develop a high-fidelity digital-twin toolkit based on 3D Gaussian Splatting, which automatically generates manual data for planning expert training. ManualVLA demonstrates strong real-world performance, achieving an average success rate 32% higher than the previous hierarchical SOTA baseline on LEGO assembly and object rearrangement tasks.
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