MedVLA: A Hierarchical Vision-Language-Action Framework for Closed-Loop Precision Medical Robot Manipulation

arXiv:2609.25756 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-10-11

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Alignment — 12× in this paper · explained in 1 episode
• Accuracy — 10× in this paper · explained in 1 episode
• Verification — 9× in this paper · explained in 2 episodes
• Redundancy — 7× in this paper · explained in 2 episodes
• Action Space — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Hierarchical Framework — 3× in this paper · explained in 2 episodes
• Multi-agent Collaboration — 3× in this paper · explained in 2 episodes
• Multimodal Reasoning — 3× in this paper · explained in 5 episodes
• User Prompt — 3× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Closed-Loop Control — 2× in this paper · explained in 2 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• State Management — 2× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Exact Match — 1× in this paper
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Large Vision-Language Model — 1× in this paper
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Reasoning Traces — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Speculative Decoding — 1× in this paper · explained in 2 episodes
• Structured Reasoning — 1× in this paper · explained in 3 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Verifiability — 1× in this paper · explained in 2 episodes

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

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