Preprint Open access
LiMA: Bridging Long-term Imagination to Real-time Dexterous Manipulation via Asynchronous Diffusion
Dexterous manipulation demands long-term foresight and rapid reactive control. Vision-Language-Action (VLA) models, while proficient in high-level reasoning, often lack a fine-grained understanding of physical dynamics and spatial perception. Conversely, World-Action Models (WAMs) typically suffer from high inference l …