ExecVLA: Following Fine-Grained Execution Constraints in Vision-Language-Action Models with Bi-Level Action Representation
ExecVLA introduces a vision-language-action framework that handles tasks where goals are fixed but motion needs precise kinematic control. It achieves this by using a bi-level action representation, splitting actions into coarse goal levels and fine kinematics levels. This allows the model to align natural language instructions with detailed motion constraints, leading to superior performance on tasks requiring fine execution control.