arXiv — cs.AI preprintsInternational9 October 2026
ExecVLA: Following Fine-Grained Execution Constraints in Vision-Language-Action Models with Bi-Level Action Representation
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arXiv:2603.17524v2 Announce Type: replace-cross Abstract: We study fine-grained execution-constraint following in vision-language-action (VLA) models. Given an invariant task goal, the policy must follow instruction-specified execution constraints, including interaction targets, motion patterns, spatial relations, and terminal configurations. This setting exposes a limitation of goal-oriented VLAs: trajectories that complete the same task are not interchangeable when the instruction specifies how the task must be executed. We propose ExecVLA, a framework that separates a goal-oriented componen
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