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arXiv · 2512.06951

Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challenge

Ilia Larchenko·Gleb Zarin·Akash Karnatak
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Abstract

We present a vision-action policy that won 1st place in the 2025 BEHAVIOR Challenge - a large-scale benchmark featuring 50 diverse long-horizon household tasks in photo-realistic simulation, requiring bimanual manipulation, navigation, and context-aware decision making. Building on the Pi0.5 architecture, we introduce several innovations. Our primary contribution is correlated noise for flow matching, which improves training efficiency and enables correlation-aware inpainting for smooth action sequences. We also apply learnable mixed-layer attention and System 2 stage tracking for ambiguity resolution. Training employs multi-sample flow matching to reduce variance, while inference uses action compression and challenge-specific correction rules. Our approach achieves 26% q-score across all 50 tasks on both public and private leaderboards.

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Ilia Larchenko, Gleb Zarin, Akash Karnatak. 2025-12-07. Task adaptation of Vision-Language-Action model: 1st Place Solution for the 2025 BEHAVIOR Challenge. https://arxiv.org/abs/2512.06951

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