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TS-Mask VLA is built upon two key designs: (1) a Discrete Diffusion Action Expert equipped with a Bridge Attention conditioning bridge, which enables multi-layer conditioning from the VLM and facilitates more accurate and stable action generati","title":"TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging","url":"https://arxiv.org/abs/2607.09818","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.09818v1 Announce Type: cross \nAbstract: Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents. Recently, autoregressive token-based action generation has driven the development of many representative VLA models. However, this paradigm often reduces action generation to next-token prediction, thereby lacking explicit modeling of the spatiotemporal structure of action sequences and the disentanglement between vision-language representations and actions, which can limit performance in long-horizon and complex scenarios. In this paper, we propose TS-Mask VLA, a vision-language-action framework for robot manipulation. TS-Mask VLA is built upon two key designs: (1) a Discrete Diffusion Action Expert equipped with a Bridge Attention conditioning bridge, which enables multi-layer conditioning from the VLM and facilitates more accurate and stable action generati","title":"TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-14T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.09818"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:540f2a4fcb25a48300ce4a0f932198f8fd2af32145e5c76a6a30b7faa6423d3d2f87192d887c4a3c4d6808e9330b8d1ef45341ad9b856fbfd614a69ab2792b06","signer":"crovia.substrate","subject":{"observed_at":"2026-07-14T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.09818"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"e139a3e728ec63e6503da14505d686d34a2b869e2ed4f1766eec7de640a9383a","leaf_index":312927,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"290f8491500549d25307d9f00f16be79922641218efb37a0c25b7ea06723a71e","side":"left"},{"sibling":"fe1b7be1dfaf14ef04e461520dd9c887c5d78852ff345e5df22819e6d5813e81","side":"left"},{"sibling":"909c36e134119d19df538ad82f675127c7622a9e68531056f249e209a9d11f69","side":"left"},{"sibling":"298832084c1c9c604a92fb37b5b85870c3ff2f6791c220fefe4a876f5947ee18","side":"left"},{"sibling":"2c71718839f703a459a7c47ded82c02795ed1cee3bd4a5fa5e95aac5c36aa22e","side":"left"},{"sibling":"b55341db964dff97d1f0bdf958511d9a0a5ebb763bd4091e5e5b0920e5f1b249","side":"right"},{"sibling":"fccac03eef6676a6350a95afcd277425f87c0fc8ca6ed34e68a7f13c01eec848","side":"left"},{"sibling":"b6420221ab220053217910d6a61ccf0d6e8ca1f1eb9e0cc40a25723c21042168","side":"right"},{"sibling":"ca17e703a3fca19bfbb090cbed9e2450594a9c237665dd9a566195d3ef3072f7","side":"right"},{"sibling":"8393dc03644000353c5d503b6ec261c022cd2aa85a649223916153bc8af2dc75","side":"left"},{"sibling":"1627ce6908965f2e5fbc7c16bc8e247867478c587014561d0de1359dc2dc0afc","side":"left"},{"sibling":"74e1ba9fd48bdd0f52777dd5b56c10706e73f42629013748eca13ef113cd59db","side":"right"},{"sibling":"682fd39539db5bce908d0ab6f180374728fed6b34a9a8c87c7b4eb5a726e30b8","side":"right"},{"sibling":"184927f71d667ac0c6ebeadb33394626973738b9107c6dc3c0c4949b44acf295","side":"right"},{"sibling":"f302542c38ba7c3aab7c9280dd60259ecec777dca6e6f71b6f0729b0b8791b72","side":"left"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"c4c189d79669979b59d9aa976ee249c54a7e065b4a05bf49463459cc7f37428e","side":"right"},{"sibling":"19475e206bdf2698769a286db2c97c4d3f089741319f9b29a139038c6e511975","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":313381,"merkle_root":"5f7d48580373d0ab0bc6bdf34f26de442f9a86d130946f7ee45addd1a55cb9f4","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260714T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-14T05:38:23Z","sig_algorithm":"ed25519","signature":"97364224142ed1b2a8925fed1bfba2e0a8a6a15f8ca0999b934846ad83584a78c7f0f5cd09dbc1c938b35383fcc5c8fa4b723118e30916628879d1c5fd3a9908","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_7ac474e3394926c76ce244576bcf76b79f86194d1e65730b07ca314f7d134f05"}}