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SkipVLA is a hybrid policy that combines a pretrained VLA with a classical motion planner, using the planner for free-space motion and querying the VLA only for contact-rich skills such as grasping and placing, demonstrating up to 2.5x faster task completion and significantly lower energy consumption.
Trade strict equivariance for a performance boost: this weight-space projection method lets you dial in the right amount of symmetry for your task, even on ImageNet.
