OneVLA is a unified VLA model using a shared action head and multi-stage progressive training with CoT fine-tuning that reports state-of-the-art results on both navigation and manipulation in simulation and real-world settings.
Reasoning emerges from constrained inference manifolds in large language models
2 Pith papers cite this work. Polarity classification is still indexing.
abstract
Reasoning in large language models is predominantly evaluated through labeled benchmarks, conflating task performance with the quality of internal inference. Here we study reasoning as an intrinsic dynamical process by examining the evolution of internal representations during inference. We find that inference-time dynamics consistently self-organize into low-dimensional manifolds embedded within high-dimensional representation spaces. we find that such geometric compression, although pervasive, is not sufficient for stable or reliable reasoning. Instead, effective reasoning dynamics emerge within a constrained structural regime characterized by three conditions: adequate representational expressivity, spontaneous manifold compression, and preservation of non-degenerate information volume within the compressed subspace. Models outside this regime exhibit characteristic pathological inference dynamics. Based on these insights, we introduce a unified, label-free diagnostic computed solely from internal dynamics. These findings suggest that reasoning in LLMs is fundamentally governed by geometric and informational constraints, offering a complementary framework to benchmark-centric assessment.
fields
cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
FutureNav proposes a 4B-scale VLM that jointly optimizes action prediction, inverse/forward dynamics, and future state generation for VLN and reports SOTA results on multiple benchmarks.
citing papers explorer
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OneVLA: A Unified Framework for Embodied Tasks
OneVLA is a unified VLA model using a shared action head and multi-stage progressive training with CoT fine-tuning that reports state-of-the-art results on both navigation and manipulation in simulation and real-world settings.
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FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
FutureNav proposes a 4B-scale VLM that jointly optimizes action prediction, inverse/forward dynamics, and future state generation for VLN and reports SOTA results on multiple benchmarks.