FOCAL-VLA: Subtask-Guided Geometry Distillation and Implicit World Modeling for Vision-Language-Action Models
Vision-language-action (VLA) models built on pretrained vision-language models have demonstrated strong performance across diverse robotic manipulation tasks. However, VLA models that directly map current 2D observations to actions often lack sufficient spatial and temporal understanding, limiting their performance in...
Zhi-Yuan Gao, Di Wen, Yan Zhan et al.
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