Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models
Time-Frequency Geometric Cross-Attention (TFGCA), a drop-in module repairing both blind spots in vision-language-action policies, uses a per-dimension learnable stationary wavelet transform to decompose the action chunk into time-frequency tokens, and each time token retrieves information from them via a cross-attentio...
Sheng-Ye Dong, Hao-Chen Niu, Hao Liu et al.
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