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#OOD generalization

LangForce: Bayesian Decomposition of Vision Language Action Models via Latent Action Queries

Shijie Lian, Bin Yu et al.Jan 21arXiv

Robots often learn a bad habit called the vision shortcut: they guess the task just by looking, and ignore the words you tell them.

#Vision-Language-Action#Bayesian decomposition#Latent Action Queries

TwinBrainVLA: Unleashing the Potential of Generalist VLMs for Embodied Tasks via Asymmetric Mixture-of-Transformers

Bin Yu, Shijie Lian et al.Jan 20arXiv

TwinBrainVLA is a robot brain with two halves: a frozen generalist that keeps world knowledge safe and a trainable specialist that learns to move precisely.

#Vision-Language-Action#catastrophic forgetting#Asymmetric Mixture-of-Transformers