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Juliette Marrie

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#machine learning Preprint Oct 2026

REKI: Registering Knowledge in VLAs

We introduce REKI, a 2.4B vision-language-action model (VLA) pretrained exclusively on public data that sets a new Pareto frontier between performance and model size: on LIBERO-Plus, RoboTwin Clean2Rand and RoboCasa365, it is outperformed only by models about twice its size. REKI consists of a vision-language model (VL...

Juliette Marrie, Paul Pacaud, Adrien Ramanana Rahary et al. · 0 citations