PermVLA: Factorization Order as a Regularizer for VLA Learning
Vision-language-action (VLA) policies commonly learn action chunks through a fixed left-to-right (LTR) factorization, although the same expert trajectory distribution admits many valid chain-rule factorizations. We identify factorization order as an overlooked regularization choice and introduce causally anchored permu...
Yan-Qiao Chen, Yu-Han Rui, Dong-Sheng Hou et al.
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