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This work studies what determines whether predictive supervision improves the visual representation used by a VLA policy, and finds that different prediction interfaces produce markedly different forecasts and visual representations, including in the spatial, dynamics, and action information that transfers beyond famil...
It is shown that attention heads with high BOS sink scores are strongly associated with functional redundancy: such heads, especially in deeper layers, contribute little to predictive performance and effectively serve as dumping grounds for superfluous attention weights.
Masked diffusion language models revise many masked output positions in parallel and call a response answer-first when the final answer commits before the reasoning printed ahead of it, which limits how far the intervention result can be generalized.
These results reframe existing window-style samplers, previously motivated by efficiency, as the minimal fix for a reasoning pathology they were never designed to address.
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