arXiv: cs.AI preprintsInternational6 November 2026
Concertina: Embodying Manipulation and Cognition in One Diffusion Vision-Language Model
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arXiv:2611.07513v1 Announce Type: cross Abstract: Most vision-language-action (VLA) policies decouple manipulation from cognition by bolting an external action mechanism onto a vision-language model (VLM)--either quantizing actions into discrete tokens whose errors bear no stable correspondence to physical displacements, or delegating continuous trajectory generation to a separate action expert whose gradients compete with or are blocked from updating the VLM backbone. We argue that manipulation and cognition should instead be embodied in the same model, shifting from a decoupled VLA to an Emb
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