Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore, their perception is largely constrained to static two-dimensional observations, lacking the capability to model three-dimensional interactions between the robot and its environment. To address these challenges, this paper proposes GraphCoT-VLA, an efficient end-to-end model. To enhance the model's ability to interpret ambiguous instructions and improve task planning, we design a structured Chain-of-Thought reasoning module that integrates high-level task understanding and planning, failed task feedback, and low-level imaginative reasoning about future object positions and robot actions. Additionally, we construct a real-time updatable 3D Pose-Object graph, which captures the spatial configuration of robot joints and the topological relationships between objects in 3D space, enabling the model to better understand and manipulate their interactions. We further integrates a dropout hybrid reasoning strategy to achieve efficient control outputs. Experimental results across multiple real-world robotic tasks demonstrate that GraphCoT-VLA significantly outperforms existing methods in terms of task success rate and response speed, exhibiting strong generalization and robustness in open environments and under uncertain instructions.

Current representation learning methods for whole slide image (WSI) with pyramidal resolutions are inherently homogeneous and flat, which cannot fully exploit the multiscale and heterogeneous diagnostic information of different structures for comprehensive analysis. This paper presents a novel graph neural network-based multiple instance learning framework (i.e., H^2-MIL) to learn hierarchical representation from a heterogeneous graph with different resolutions for WSI analysis. A heterogeneous graph with the “resolution” attribute is constructed to explicitly model the feature and spatial-scaling relationship of multi-resolution patches. We then design a novel resolution-aware attention convolution (RAConv) block to learn compact yet discriminative representation from the graph, which tackles the heterogeneity of node neighbors with different resolutions and yields more reliable message passing. More importantly, to explore the task-related structured information of WSI pyramid, we elaborately design a novel iterative hierarchical pooling (IHPool) module to progressively aggregate the heterogeneous graph based on scaling relationships of different nodes. We evaluated our method on two public WSI datasets from the TCGA project, i.e., esophageal cancer and kidney cancer. Experimental results show that our method clearly outperforms the state-of-the-art methods on both tumor typing and staging tasks.