arxivcs.RO2026-07-09
FabriVLA: A Lightweight Vision-Language-Action Model for Precise Multi-Task Manipulation
Shiyuan Yang, Borong Zhang, Jizheng Zhang, Zhijia Tao, Junfei Guo, Donglai Ran, et al.
We present FabriVLA, a lightweight Vision-Language-Action model for Precise Multi-Task Manipulation. FabriVLA combines an InternVL3.5 vision-language backbone with a flow-matching action head featuring gated self-attention across action tokens and shallow VLM layer fusion for enr…