Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models. - Huoren Yang; Jianchao Zhao; Hu Yusong; Qiguan Ou; Yuyang Gao; Wei Ke 003; Yuhang He 001; Songlin Dong; Zhiheng Ma; Yihong Gong (CoRR, 2026)