Imagine the Future, Internalize the Gist: Efficient VLA Reasoning via Internalized Spatiotemporal Imagination

arXiv:2610.02626v2 Announce Type: cross Abstract: Vision-language-action (VLA) models increasingly incorporate intermediate reasoning to improve robotic manipulation, yet existing approaches primarily reason about observed states without explicitly anticipating future scene evolution. Extending such reasoning to explicit future rollouts at every inference step, however, introduces substantial computational overhead. We propose IG-VLA, a VLA reasoning framework that enables models to imagine the future and internalize the gist. Our Latent Spatiotemporal Reasoning learns to imagine task-relevant

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