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arXiv · 2606.09572

CT-VAM: A Cerebello-Thalamic-Inspired Vision-Action Model for Efficient Visuomotor Control

Jiacheng Li·Yize Guo·Jiabin Guo·Qingchen Liu·Jiahu Qin
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Abstract

Vision-language-action models have shown strong promise for robot manipulation, yet raw language is primarily needed to specify task intent rather than to be repeatedly processed during high-frequency low-level execution. Motivated by this separation, we propose a cerebello-thalamic-inspired vision-action model (CT-VAM) for efficient task-conditioned visuomotor control. CT-VAM acts as a compact local execution policy that predicts action chunks from dualview visual observations, proprioception, and a lightweight task condition, potentially enabling a practical cloud-edge paradigm in which high-level semantic reasoning can be handled by large models while fast closed-loop control runs on local hardware. To fuse heterogeneous inputs effectively, CT-VAM introduces TARS (Thalamic Action Routing Stream), a stream-separated conditional attention decoder that independently routes action, visual and task streams, preventing dense sensory tokens from overwhelming compact task-relevant conditions. With only 68M parameters, CT-VAM achieves LIBERO success rates competitive with substantially larger VLA models, while reducing inference latency. Together with flow-consistent inpainting for asynchronous chunk execution, CT-VAM supports high-frequency control and demonstrates robust realworld deployment on resource-constrained robotic platforms.

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Jiacheng Li, Yize Guo, Jiabin Guo, Qingchen Liu, Jiahu Qin. 2026-06-08. CT-VAM: A Cerebello-Thalamic-Inspired Vision-Action Model for Efficient Visuomotor Control. https://arxiv.org/abs/2606.09572

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