Differentiate-and-Inject: Enhancing VLAs via Functional Differentiation Induced by In-Parameter Structural Reasoning

Description

As robots are expected to perform increasingly diverse tasks, they must understand not only low-level actions but also the higher-level structure that determines how a task should unfold. Existing vision-language-action (VLA) models struggle with this form of task-level reasoning. They either depend on prompt-based in-context decomposition, which is unstable and sensitive to linguistic variations, or end-to-end long-horizon training, which requires large-scale demonstrations and entangles task-l

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