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Renmin University of China, University of North Carolina at Chapel Hill
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Pretraining action modules with motion priors can drastically enhance VLA model performance, achieving faster convergence and better success rates in complex robot manipulation tasks.
Robots can now adjust their manipulation speed on-the-fly, achieving both rapid execution in low-risk phases and precision in high-risk tasks.
VLAs often ignore your instructions and just do what they've seen before, but a simple "counterfactual comparison" trick can fix it.
