DeicticVLA: Unifying Instruction Modes Based on Language and Deictic Gestures in a Single VLA
Vision-Language-Action models (VLAs) allow users to specify manipulation tasks in natural language, but distinguishing a target or placement goal among objects of the same category or similar appearance requires detailed expressions that VLAs may not use reliably. We propose DeicticVLA, which canonicalizes Language Instruction (LI), Vision-Language Instruction (VLI), and Visual Instruction (VI) into a text prompt and deictic masks through text-prompt completion and deictic gesture grounding, enabling a single pretrained VLA to handle all three instruction modes. With a shared backbone, demonstrations, and matched training steps, we compare two RGB visual prompting methods, two separate-ch...
| Authors | Kango Yanagida, Tatsuya Aoki, Yuichiro Yoshikawa et al. |
|---|---|
| Primary category | cs.RO |
| Published | 28 August 2026 |
| Last updated at source | 28 August 2026 |
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