4 papers · 1 filter
NinA: Normalizing Flows in Action. Training VLA Models with Normalizing Flows
Denis Tarasov, Alexander Nikulin, Ilya Zisman +5
Recent advances in Vision-Language-Action (VLA) models have established a two-component architecture, where a pre-trained Vision-Language Model (VLM) encodes visual observations an…
Yes, Q-learning Helps Offline In-Context RL
Denis Tarasov, Alexander Nikulin, Ilya Zisman +6
Existing offline in-context reinforcement learning (ICRL) methods have predominantly relied on supervised training objectives, which are known to have limitations in offline RL set…
Object-Centric Latent Action Learning
Albina Klepach, Alexander Nikulin, Ilya Zisman +6
Leveraging vast amounts of unlabeled internet video data for embodied AI is currently bottlenecked by the lack of action labels and the presence of action-correlated visual distrac…
Latent Action Learning Requires Supervision in the Presence of Distractors
Alexander Nikulin, Ilya Zisman, Denis Tarasov +4
Recently, latent action learning, pioneered by Latent Action Policies (LAPO), have shown remarkable pre-training efficiency on observation-only data, offering potential for leverag…