@article{checkvlaexecutiontimeverificationwithact,
  title = {CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation},
  author = {Yushan Liu and Peibo Sun and Xintao Chao and Zhenyang Yang and Yifan Xie and Lingfeng Zhang and Shoujie Li and Chenyu Tang and Fang Chen and Xiao-Ping Zhang and Wenbo Ding},
  year = {2026},
  eprint = {2607.26789},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.26789},
}