Preprint Open access
DSDyn-VLA: A Dual-Stream Dynamic Manipulation Framework with Motion Perception, Future Awareness, and Realtime Correction
While Vision-Language-Action (VLA) models excel in static tasks, they struggle in dynamic environments where objects are in motion (e.g., conveyor belt manipulation). We identify three fundamental limitations hindering current VLAs in these scenarios: the \textbf{perception gap}, where static visual inputs lack tempora …