arXiv: cs.AI preprintsInternational6 November 2026
Vision-Language Models Are Joint Denoisers in Robotic Action Generation
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arXiv:2611.01215v2 Announce Type: replace-cross Abstract: Diffusion-based vision-language-action (VLA) models cascade pretrained vision-language models (VLMs) with diffusion action experts, but typically restrict the VLM to providing static conditioning. This separation limits how much pretrained perception and reasoning can guide action generation, especially in out-of-distribution settings. We introduce JADE, a Joint Action DEnoiser that enables the VLM and action expert to jointly refine actions. Our key insight is that structured action latents allow the VLM to read the current noisy actio
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