{"paper":{"title":"EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"An Thai Le, Duy M. H. Nguyen, Gia-Binh Nguyen, Long Dinh, Minh Duc Nguyen, Minh N. Vu, Ngo Anh Vien, Pham Tri Quang, Quang-Tan Nguyen, Thien-Loc Ha, Trong-Bao Ho","submitted_at":"2026-06-18T04:36:57Z","abstract_excerpt":"Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet they lack geometric inductive biases: policies trained at specific orientations require substantially more data to generalize across rotational configurations. We present \\textsc{EquiVLA}, the first general framework for end-to-end $\\mathrm{SO}(2)$-equivariant VLA models, applicable to any architecture coupling a frozen vision-language backbone with a flow-matching Diffusion Transformer action head. \\textsc{EquiVLA} introduces \\textsc{EquiPerceptor}, which produces approximately $\\mat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19784","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.19784/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}