PVI: Plug-in Visual Injection for Vision-Language-Action Models
VLA architectures that pair a pretrained VLM with a flow-matching action expert have emerged as a strong paradigm for language-conditioned manipulation. Yet the VLM, optimized for semantic abstraction and typically conditioned on static visual observations, tends to attenuate fine-grained geometric cues and often lacks explicit temporal evidence for the action expert. Prior work mitigates this by injecting auxiliary visual features, but existing approaches either focus on static spatial representations or require substantial architectural modifications to accommodate temporal inputs, leaving temporal information underexplored. We propose Plug-in Visual Injection (PVI), a lightweight, enco...
| Authors | Zezhou Zhang, Songxin Zhang, Xiao Xiong et al. |
|---|---|
| Primary category | cs.CV |
| Published | 13 March 2026 |
| Last updated at source | 13 March 2026 |
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