# Connecting VLA and world-action models with a unified model-to-policy formal framework

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ziiozg0rewy42shdrjtic7r1w
- Original: https://arxiv.org/abs/2610.23053

## Summary

The paper proposes an architecture-agnostic probabilistic formal framework based on stochastic kernels for uniformly describing embodied foundation models. The framework has two parts: characterizing models with conditional output distributions and action-realization kernels to induce task-conditioned robot policies, and connecting pretraining, post-training, and policy deployment. The authors instantiate it on OpenVLA and DreamZero, covering both autoregressive action-token prediction and joint video-action generation paradigms.