NebulaVLA: A Dual-Frequency Vision-Language-Action Model With Guide Action for Robotic Manipulation

Real-world deployment of Vision-Language-Action (VLA) models is often bottlenecked by efficiency-performance trade-offs, cross-embodiment generalization, and execution smoothness. We present NebulaVLA, an asynchronous dual-frequency architecture that decouples high-level semantic reasoning from low-level action control, optimizing computational resources and modularity. To bridge semantic gaps across heterogeneous robots, we introduce GESTURE-7, a unified language-grounded action representation. Furthermore, our Guide Action algorithm enforces kinematic continuity via mask-based smoothness constraints. Comprehensive evaluations demonstrate that NebulaVLA significantly outperforms synchronous baselines, achieving an 85.5% average success rate on LIBERO-Plus and accelerating action generation by \textasciitilde 2.7\times. This asynchronous design enables highly efficient and responsive control for practical robotics.