Beyond Actions: Learning Future Operation Targets for Vision-Language-Action Models
Actions specify what a robot should execute, but do not describe what those commands will achieve. Vision-language-action (VLA) policies nevertheless learn primarily by predicting action chunks from images, language, and state. We introduce Action--Future Coupled Effect Learning (AFCE), which makes a future-grounded ph...
Min Lin, Bo-Kai Zhou, Jian-Qi Lin et al.
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