4 papers
Notes-to-Self: Scratchpad Augmented VLAs for Memory Dependent Manipulation Tasks
Sanjay Haresh, Daniel Dijkman, Apratim Bhattacharyya +1
Many dexterous manipulation tasks are non-markovian in nature, yet little attention has been paid to this fact in the recent upsurge of the vision-language-action (VLA) paradigm. A…
Hybrid Training for Vision-Language-Action Models
Pietro Mazzaglia, Cansu Sancaktar, Markus Peschl +1
Using Large Language Models to produce intermediate thoughts, a.k.a. Chain-of-thought (CoT), before providing an answer has been a successful recipe for solving complex language ta…
From Code to Action: Hierarchical Learning of Diffusion-VLM Policies
Markus Peschl, Pietro Mazzaglia, Daniel Dijkman
Imitation learning for robotic manipulation often suffers from limited generalization and data scarcity, especially in complex, long-horizon tasks. In this work, we introduce a hie…
Focusing on What Matters: Object-Agent-centric Tokenization for Vision Language Action models
Rokas Bendikas, Daniel Dijkman, Markus Peschl +2
Vision-Language-Action (VLA) models offer a pivotal approach to learning robotic manipulation at scale by repurposing large pre-trained Vision-Language-Models (VLM) to output robot…