@article{nora15avisionlanguageactionmodeltrainedu,
  title = {NORA-1.5: A Vision-Language-Action Model Trained using World Model- and Action-based Preference Rewards},
  author = {Chia-Yu Hung and Navonil Majumder and Haoyuan Deng and Liu Renhang and Yankang Ang and Amir Zadeh and Chuan Li and Dorien Herremans and Ziwei Wang and Soujanya Poria},
  year = {2025},
  eprint = {2511.14659},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.14659},
}