FRAM: Trajectory-Guided Visual Feature Selection for Compact Language-Conditioned Robot Manipulation

arXiv:2609.30965 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-10-01

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

Terminology

• Robustness — 11× in this paper · explained in 5 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Feature Extraction — 5× in this paper · explained in 2 episodes
• Flow Matching — 5× in this paper · explained in 8 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Embeddings — 2× in this paper · explained in 2 episodes
• Feature Selection — 2× in this paper · explained in 4 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Future Representation Action Model — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Tokenization — 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
• RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches
• Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
• Interactive Post-Training for Vision-Language-Action Models
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
• CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models
• ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planning
• FAST: Efficient Action Tokenization for Vision-Language-Action Models

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