OneVLA: A Unified Framework for Embodied Tasks

• URL: http://arxiv.org/abs/2606.01241v2
• Date: Tue, 02 Jun 2026 03:11:27 GMT
• Title: OneVLA: A Unified Framework for Embodied Tasks
• Abstract summary: navigation and manipulation are fundamental capabilities of embodied intelligence.<n>OneVLA is a unified architecture that integrates these distinct tasks into a single, cohesive framework.<n>Experiments in both simulated and real-world environments demonstrate that OneVLA achieves state-of-the-art performance.
• Score: 42.816376426057275
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Navigation and manipulation are fundamental capabilities of embodied intelligence, enabling robots to interpret natural language commands and interact physically with their surroundings. However, current Vision-Language-Action (VLA) models remain constrained by task-specific architectures, specializing in either navigation or manipulation, which hinders the development of general-purpose robotic agents. To bridge this gap, we introduce OneVLA, a unified architecture that integrates these distinct tasks into a single, cohesive framework. Specifically, we design a unified action head capable of generating both navigation and manipulation actions without requiring task-specific variants. Furthermore, we propose a multi stage progressive training strategy-incorporating curated data construction and Chain-of-Thought (CoT) fine-tuning that facilitates strong positive transfer and mutual reinforcement between the two domains. Extensive experiments in both simulated and real-world environments demonstrate that OneVLA achieves state-of-the-art performance, significantly outperforming both specialized single-task and existing cross-task models. By unifying these core capabilities, OneVLA paves the way for truly general-purpose robotic systems. The model and source code will be publicly released.

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