# Let It Be Simple: Research on One-Step Action Generation for Vision-Language-Action Models

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/kdodsy10s7qjw25t7jl8dy6jj
- Original: https://arxiv.org/abs/2606.05737

## Summary

The paper finds that VLA action generation differs from text-to-image generation: merely biasing the training timestep distribution toward the noise endpoint yields strong one-step policies on LIBERO, LIBERO-Plus, LIBERO-Pro, and real-world robot tasks. For open-source VLA models with different architectures, directly replacing iterative decoding with a single forward pass often performs comparably to the original multi-step decoding on LIBERO, CALVIN, and SimplerEnv.