# PLaCA: A Robot Action Generation Framework Based on Future Latent Change

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/pm0he51b83r8qi3sg6q9ma86k
- Original: https://arxiv.org/abs/2610.27657

## Summary

PLaCA proposes a world-to-action framework that directly predicts spatially structured patch-level future latent change from current multimodal input and explicitly incorporates it into action generation. On LIBERO-Long, PLaCA achieves a 79.0% success rate, a 5.0 percentage point improvement over the Action-only baseline; on CALVIN, the average sequence length improves from 2.784 to 3.564. The second-stage training updates only 2.95% of the model parameters.