CorridorVLA: Explicit Spatial Constraints for Generative Action Heads via Sparse Anchors

Vision--Language--Action (VLA) models often use intermediate representations to connect multimodal inputs with continuous control, yet spatial guidance is often injected implicitly through latent features. We propose $CorridorVLA$, which predicts sparse spatial anchors as incremental physical changes (e.g., $Δ$-positions) and uses them to impose an explicit tolerance region in the training objective for action generation. The anchors define a corridor that guides a flow-matching action head: trajectories whose implied spatial evolution falls outside it receive corrective gradients, while minor deviations from contacts and execution noise are permitted. On the more challenging LIBERO-Plus benchmark, CorridorVLA yields consistent gains across both SmolVLA and GR00T, improving success rate by $3.4\%$--$12.4\%$ over the corresponding baselines; notably, our GR00T-Corr variant reaches a success rate of $83.21\%$. These results indicate that action-aligned physical cues can provide direct and interpretable constraints for generative action policies, complementing spatial guidance encoded in visual or latent forms. Code is available at https://github.com/corridorVLA.

Shift-ConvNets: Small Convolutional Kernel with Large Kernel Effects

Recent studies reveal that the remarkable performance of Vision transformers (ViTs) benefits from large receptive fields. For this reason, the large convolutional kernel design becomes an ideal solution to make Convolutional Neural Networks (CNNs) great again. However, the typical large convolutional kernels turn out to be hardware-unfriendly operators, resulting in discount compatibility of various hardware platforms. Thus, it is unwise to simply enlarge the convolutional kernel size. In this paper, we reveal that small convolutional kernels and convolution operations can achieve the closing effects of large kernel sizes. Then, we propose a shift-wise operator that ensures the CNNs capture long-range dependencies with the help of the sparse mechanism, while remaining hardware-friendly. Experimental results show that our shift-wise operator significantly improves the accuracy of a regular CNN while markedly reducing computational requirements. On the ImageNet-1k, our shift-wise enhanced CNN model outperforms the state-of-the-art models. Code & models at https://github.com/lidc54/shift-wiseConv.