Yina Jian

Submitted: 08 January 2026 You are already at the latest version Vision–language–action (VLA) models often suffer from limited robustness in long-horizon manipulation tasks due to their inability to explicitly exploit structural symmetries and to react adaptively when such symmetries are violated by environmental uncertainty. To address this limitation, this paper proposes PI-VLA, a symmetry-aware predictive and interactive VLA framework for robust robotic manipulation.