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Achieve 100% success rates in visually ambiguous manipulation tasks by fusing high-frequency tactile data with low-frequency visual planning, outperforming visual-only baselines and satisfying hard real-time constraints.
Flow-based VLAs can now learn online without likelihoods or value networks, unlocking better generalization in complex embodied control tasks.
By compressing future observations into a learned "condition space," WoG enables VLA models to generate more precise actions and generalize better than models relying on direct future prediction.
