HiF-VLA: Hindsight, Insight and Foresight through Motion Representation for Vision-Language-Action Models
Authors: name: Minghui Lin, name: Pengxiang Ding, name: Shu Wang, name: Zifeng Zhuang, name: Yang Liu, name: Xinyang Tong, name: Wenxuan Song, name: Shangke Lyu, name: Siteng Huang, name: Donglin Wang
Organization: Westlake Robotics Technology (Hangzhou) Co., Ltd.

Vision-Language-Action (VLA) models have recently enabled robotic manipulation by grounding visual and linguistic cues into actions. However, most VLAs assume the Markov property, relying only on the current observation and thus suffering from temporal myopia that degrades long-horizon coherence. In this work, we view motion as a more compact and informative representation of temporal context and world dynamics, capturing inter-state changes while filtering static pixel-level noise. Building on this idea, we propose HiF-VLA (Hindsight, Insight, and Foresight for VLAs), a unified framework that leverages motion for bidirectional temporal reasoning. HiF-VLA encodes past dynamics through hindsight priors, anticipates future motion via foresight reasoning, and integrates both through a hindsight-modulated joint expert to enable a ''think-while-acting'' paradigm for long-horizon manipulation. As a result, HiF-VLA surpasses strong baselines on LIBERO-Long and CALVIN ABC-D benchmarks, while incurring negligible additional inference latency. Furthermore, HiF-VLA achieves substantial improvements in real-world long-horizon manipulation tasks, demonstrating its broad effectiveness in practical robotic settings.