Central University of Finance and Economics

Vision-language-action models usually predict a whole future action chunk in one pass, and adjacent chunks lack explicit temporal consistency constraints, so actions can jump at chunk boundaries. ODEAction recasts generation as continuous evolution from the current action: it learns an action transition field and integrates it with an ordinary differential equation to produce subsequent actions, instead of jointly predicting a fixed-length chunk. Average success rate rises from 96.85% to 98.25% on LIBERO and from 15.28% to 24.72% on EBench, a 61.8% relative gain; on five RoboTwin tasks it reaches 84.4% average success against the 82.4% baseline.

Vision-language-action models usually predict a whole future action chunk in one pass, and adjacent chunks lack explicit temporal consistency constraints, so actions can jump at chunk boundaries. ODEAction recasts generation as continuous evolution from the current action: it learns an action transition field and integrates it with an ordinary differential equation to produce subsequent actions, instead of jointly predicting a fixed-length chunk. Average success rate rises from 96.85% to 98.25% on LIBERO and from 15.28% to 24.72% on EBench, a 61.8% relative gain; on five RoboTwin tasks it reaches 84.4% average success against the 82.4% baseline.

Rubric construction now filters candidate decompositions by semantics first and then picks the final structure from how criteria behave on six responses of differing quality, reaching the highest pairwise accuracy on five of six preference benchmarks.

Rubric construction now filters candidate decompositions by semantics first and then picks the final structure from how criteria behave on six responses of differing quality, reaching the highest pairwise accuracy on five of six preference benchmarks.