TempoBridge: Language-Guided Tempo Control for Vision-Language-Action Policies

arXiv:2610.09451 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Comments: 8 pages, 5 figures. Project page: https://lysees.github.io/tempobridge-page/

Project page: https://lysees.github.io/tempobridge-page

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

Terminology

• Accuracy — 10× in this paper · explained in 1 episode
• Fine-Tuning — 10× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Interpretability — 3× in this paper · explained in 15 episodes
• Vision-Language-Action (VLA) Models — 3× in this paper · explained in 2 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Distribution Matching — 1× in this paper · explained in 2 episodes

Sources

• TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
• Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models
• PaliGemma: A versatile 3B VLM for transfer

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• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies