SOURCE-LINKED INTELLIGENCE

V-Link: Recovering Lost Visual Representations in Action DiT for Vision-Language-Action Models

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Vision-language-action (VLA) models provide a scalable path toward generalist robotic manipulation by integrating visual perception, language understanding, and continuous action control. However, we reveal a critical limitation of VLA architectures: the action expert has limited access to the 3D geometric and 2D semantic information available in VLM features. This accessibility gap weakens perceptual grounding and limits performance on fine-grained robotic manipulation. To address this issue, we propose V-Link, which explicitly recovers visual representations during the vision-language (VL) t

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