The Layer Mystery of VLA: An Information-Theoretical Analysis of VLA Latent Interface
A reweighting equivalence is derived between the proposed information-bottleneck objectives for action-conditioned InfoNCE and action prediction, motivating InfoNCE as a proxy for layer quality and providing the most consistent positive association with policy success among four evaluated proxies.
Yu-Xia Liu, Li-Zhi Yang, Feng-Ze Xie et al.
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