PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance

• URL: http://arxiv.org/abs/2604.20834v2
• Date: Fri, 24 Apr 2026 16:37:03 GMT
• Title: PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidance
• Abstract summary: PokeVLA is a lightweight model for embodied manipulation that infuses vision-language understanding into action learning.<n>Our framework introduces a two-stage training paradigm: first, we pre-train a compact vision-language model (PokeVLM) on a multimodal dataset of 2.4M samples.<n>Experiments demonstrate state-of-the-art performance on the LIBERO-Plus benchmark and in real-world deployment.
• Score: 24.102770290097435
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial awareness. To address these challenges, we propose PokeVLA, a lightweight yet powerful foundation model for embodied manipulation that effectively infuses vision-language understanding into action learning. Our framework introduces a two-stage training paradigm: first, we pre-train a compact vision-language model (PokeVLM) on a curated multimodal dataset of 2.4M samples encompassing spatial grounding, affordance, and embodied reasoning tasks; second, we inject manipulation-relevant representations into the action space through multi-view goal-aware semantics learning, geometry alignment, and a novel action expert. Extensive experiments demonstrate state-of-the-art performance on the LIBERO-Plus benchmark and in real-world deployment, outperforming comparable baselines in success rate and robustness under diverse perturbations. To foster reproducibility and community progress, we will open-source our code, model weights, and the scripts for the curated pre-training dataset. Project page: https://getterupper.github.io/PokeVLA

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